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Use meters instead of millimeters for PyRoboViz

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This commit is contained in:
simondlevy
2019-01-03 18:20:12 -05:00
parent 2677ee3333
commit e2e6ce53a1
6 changed files with 16 additions and 14 deletions
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5
examples/logmovie.py
View File

@@ -45,7 +45,6 @@ from roboviz import Visualizer
from sys import argv, exit
from time import sleep
from threading import Thread
import pickle
def threadfunc(robot, slam, timestamps, lidars, odometries, mapbytes, pose):
'''
@@ -112,7 +111,7 @@ def main():
else Deterministic_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display, named by dataset
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, dataset)
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, dataset)
# Pose will be modified in our threaded code
pose = [0,0,0]
@@ -127,7 +126,7 @@ def main():
# Display map and robot pose
display.displayMap(mapbytes)
display.setPose(*pose)
display.setPose(pose[0]/1000., pose[1]/1000., pose[2])
# Refresh the display, exiting gracefully if user closes it
if not display.refresh():

1
examples/mines.py
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@@ -33,7 +33,6 @@ along with this code. If not, see <http://www.gnu.org/licenses/>.
from breezyslam.vehicles import WheeledVehicle
from breezyslam.sensors import URG04LX
import math
# Method to load all from file ------------------------------------------------

4
examples/rpslam.py
View File

@@ -43,7 +43,7 @@ if __name__ == '__main__':
slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
# Initialize an empty trajectory
trajectory = []
@@ -90,7 +90,7 @@ if __name__ == '__main__':
display.displayMap(mapbytes)
# Display the robot's pose in the map
display.setPose(x, y, theta)
display.setPose(x/1000., y/1000., theta)
# Break on window close
if not display.refresh():

6
examples/rpslam_scipy.py
View File

@@ -47,7 +47,7 @@ if __name__ == '__main__':
slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
# Initialize an empty trajectory
trajectory = []
@@ -98,9 +98,11 @@ if __name__ == '__main__':
# Get current map bytes as grayscale
slam.getmap(mapbytes)
# Display map
display.displayMap(mapbytes)
display.setPose(x, y, theta)
# Display pose after converting from mm to meters
display.setPose(x/1000., y/1000., theta)
# Break on window close
if not display.refresh():

6
examples/urgslam.py
View File

@@ -39,7 +39,7 @@ if __name__ == '__main__':
slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
# Initialize empty map
mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS)
@@ -55,9 +55,11 @@ if __name__ == '__main__':
# Get current map bytes as grayscale
slam.getmap(mapbytes)
# Display map
display.displayMap(mapbytes)
display.setPose(x, y, theta)
# Display pose after converting from mm to meters
display.setPose(x/1000., y/1000., theta)
# Exit on window close
if not display.refresh():

8
examples/xvslam.py
View File

@@ -30,8 +30,6 @@ from xvlidar import XVLidar as Lidar
from roboviz import Visualizer
from sys import stdout
if __name__ == '__main__':
# Connect to Lidar unit
@@ -41,7 +39,7 @@ if __name__ == '__main__':
slam = RMHC_SLAM(LaserModel(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Set up a SLAM display
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, 'SLAM')
display = Visualizer(MAP_SIZE_PIXELS, MAP_SIZE_METERS, 'SLAM')
# Initialize an empty trajectory
trajectory = []
@@ -60,9 +58,11 @@ if __name__ == '__main__':
# Get current map bytes as grayscale
slam.getmap(mapbytes)
# Display map
display.displayMap(mapbytes)
display.setPose(x, y, theta)
# Display pose after converting from mm to meters
display.setPose(x/1000., y/1000., theta)
# Exit on window close
if not display.refresh():