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Added CoreSLAM::setmap() method; cleaned up scripts

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simondlevy
2017-11-12 17:33:32 -05:00
parent 3ff0ab8bc4
commit f9341fbe3a
5 changed files with 27 additions and 19 deletions
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13
examples/logmovie.py
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@@ -43,8 +43,9 @@ from mines import MinesLaser, Rover, load_data
from pltslamshow import SlamShow
from sys import argv, exit
from time import time, sleep
from time import sleep
from threading import Thread
import pickle
def threadfunc(robot, slam, timestamps, lidars, odometries, use_odometry, mapbytes, pose):
'''
@@ -86,8 +87,8 @@ def threadfunc(robot, slam, timestamps, lidars, odometries, use_odometry, mapbyt
def main():
# Bozo filter for input args
if len(argv) < 3:
print('Usage: %s <dataset> <use_odometry> <random_seed>' % argv[0])
if len(argv) < 4:
print('Usage: %s <dataset> <use_odometry> [random_seed]' % argv[0])
print('Example: %s exp2 1 9999' % argv[0])
exit(1)
@@ -95,6 +96,9 @@ def main():
dataset = argv[1]
use_odometry = True if int(argv[2]) else False
seed = int(argv[3]) if len(argv) > 3 else 0
# Allocate byte array to receive map updates
mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS)
# Load the data from the file
timestamps, lidars, odometries = load_data('.', dataset)
@@ -106,9 +110,6 @@ def main():
slam = RMHC_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS, random_seed=seed) \
if seed \
else Deterministic_SLAM(MinesLaser(), MAP_SIZE_PIXELS, MAP_SIZE_METERS)
# Create a byte array to receive the computed maps
mapbytes = bytearray(MAP_SIZE_PIXELS * MAP_SIZE_PIXELS)
# Set up a SLAM display, named by dataset
display = SlamShow(MAP_SIZE_PIXELS, MAP_SIZE_METERS*1000/MAP_SIZE_PIXELS, dataset)