269 lines
8.8 KiB
Python
269 lines
8.8 KiB
Python
'''
|
|
pltslamshow.py - Pyplot classes for displaying maps and robots in SLAM projects
|
|
|
|
Copyright (C) 2016 Simon D. Levy and Matt Lubas
|
|
|
|
This code is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU Lesser General Public License as
|
|
published by the Free Software Foundation, either version 3 of the
|
|
License, or (at your option) any later version.
|
|
|
|
This code is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU Lesser General Public License
|
|
along with this code. If not, see <http://www.gnu.org/licenses/>.
|
|
'''
|
|
|
|
# Robot display params
|
|
ROBOT_COLOR_BGR = (0, 0, 255)
|
|
ROBOT_HEIGHT = 16
|
|
ROBOT_WIDTH = 10
|
|
|
|
ROBOT_HEIGHT_MM = 500
|
|
ROBOT_WIDTH_MM = 300
|
|
|
|
# Scan point display params
|
|
SCANPOINT_RADIUS = 1
|
|
SCANPOINT_COLOR_BGR = (0, 255, 0)
|
|
|
|
# Display params for odometry-based velocity
|
|
SENSOR_V_MAX_MM = 1000
|
|
SENSOR_THETA_MAX_DEG = 20
|
|
SENSOR_BAR_X = 150
|
|
SENSOR_BAR_Y_OFFSET = 3
|
|
SENSOR_BAR_WIDTH = 20
|
|
SENSOR_BAR_MAX_HEIGHT = 200
|
|
SENSOR_TEXT_X = 20
|
|
SENSOR_V_Y = 30
|
|
SENSOR_THETA_Y = 80
|
|
SENSOR_LABEL_COLOR_BGR = (255,0,0)
|
|
SENSOR_POSITIVE_COLOR_BGR = (0,255,0)
|
|
SENSOR_NEGATIVE_COLOR_BGR = (0,0,255)
|
|
|
|
# Trajectory display params
|
|
TRAJECTORY_COLOR_BGR = (255, 0, 0)
|
|
|
|
import cv
|
|
import matplotlib.pyplot as plt
|
|
|
|
# Arbitrary font for OpenCV
|
|
FONT_FACE = cv.CV_FONT_HERSHEY_COMPLEX
|
|
|
|
from math import sin, cos, radians
|
|
|
|
def _rotate(x, y, r, theta_deg):
|
|
theta = radians(theta_deg)
|
|
dx = r * cos(theta)
|
|
dy = r * sin(theta)
|
|
return x+dx, y+dy
|
|
|
|
class SlamShow(object):
|
|
|
|
def __init__(self, map_size_pixels, map_scale_mm_per_pixel, window_name):
|
|
|
|
# Store constants for update
|
|
self.map_size_pixels = map_size_pixels
|
|
self.map_scale_mm_per_pixel = map_scale_mm_per_pixel
|
|
self.window_name = window_name
|
|
|
|
# Create a byte array to display the map with a color overlay
|
|
self.bgrbytes = bytearray(map_size_pixels * map_size_pixels * 3)
|
|
|
|
# Create an empty OpenCV image to be filled with map bytes
|
|
self.image = cv.CreateImageHeader((map_size_pixels,map_size_pixels), cv.IPL_DEPTH_8U, 3)
|
|
|
|
# Create an OpenCV window for displaying the map
|
|
cv.NamedWindow(window_name)
|
|
|
|
# Set up font for displaying velocities
|
|
self.font = cv.InitFont(FONT_FACE, 1, 1)
|
|
|
|
# Display initial empty image
|
|
cv.SetData(self.image, self.bgrbytes, self.map_size_pixels*3)
|
|
cv.ShowImage(self.window_name, self.image)
|
|
|
|
# Make a nice big (10"x10") figure
|
|
fig = plt.figure(figsize=(10,10))
|
|
|
|
# Store Python ID of figure to detect window close
|
|
self.figid = id(fig)
|
|
|
|
fig.canvas.set_window_title('SLAM 2D')
|
|
|
|
self.ax = fig.gca()
|
|
self.ax.set_aspect("auto")
|
|
self.ax.set_autoscale_on(True)
|
|
|
|
map_size_mm = map_scale_mm_per_pixel * map_size_pixels
|
|
|
|
self.ax.set_xlim([0, map_size_mm])
|
|
self.ax.set_ylim([0, map_size_mm])
|
|
|
|
self.ax.set_xlabel('X (mm)')
|
|
self.ax.set_ylabel('Y (mm)')
|
|
|
|
self.ax.grid(False)
|
|
|
|
#Starting vehicle at Center, 1600mm, 1600mm
|
|
self._add_vehicle(16000,16000,0)
|
|
|
|
def displayMap(self, mapbytes):
|
|
|
|
# Interleave the grayscale map bytes into the color bytes
|
|
self.bgrbytes[0::3] = mapbytes
|
|
self.bgrbytes[1::3] = mapbytes
|
|
self.bgrbytes[2::3] = mapbytes
|
|
|
|
|
|
|
|
# Put color bytes into image
|
|
cv.SetData(self.image, self.bgrbytes, self.map_size_pixels*3)
|
|
|
|
|
|
def displayRobot(self, (x_mm, y_mm, theta_deg), color=ROBOT_COLOR_BGR, scale=1, line_thickness=1):
|
|
|
|
# Get a polyline (e.g. triangle) to represent the robot icon
|
|
robot_points = self.robot_polyline(scale)
|
|
|
|
# Rotate the polyline by the current angle... would use rotate instead of this
|
|
robot_points = map(lambda pt: rotate(pt, theta_deg), robot_points)
|
|
|
|
# Convert the robot position from meters to pixels
|
|
x_pix, y_pix = self.mm2pix(x_mm), self.mm2pix(y_mm)
|
|
|
|
# Move the polyline to the current robot position ... would use rotate instead of this?
|
|
robot_points = map(lambda pt: (x_pix+pt[0], y_pix+pt[1]), robot_points)
|
|
|
|
# Add an icon for the robot
|
|
cv.PolyLine(self.image, [robot_points], True, color, line_thickness)
|
|
|
|
def displayScan(self, scan, offset_mm = (0,0), color=SCANPOINT_COLOR_BGR):
|
|
|
|
for point in scan:
|
|
cv.Circle(self.image, (self.mm2pix(point[0]+offset_mm[0]), self.mm2pix(point[1]+offset_mm[1])), \
|
|
SCANPOINT_RADIUS, color)
|
|
|
|
|
|
def displayVelocities(self, dxy_mm, dtheta_deg):
|
|
|
|
# Add velocity bars
|
|
self.show_velocity(dxy_mm, SENSOR_V_MAX_MM, ' dXY', SENSOR_V_Y)
|
|
self.show_velocity(dtheta_deg, SENSOR_THETA_MAX_DEG, 'dTheta', SENSOR_THETA_Y)
|
|
|
|
def displayTrajectory(self, trajectory):
|
|
|
|
for k in range(1, len(trajectory)):
|
|
|
|
x1_mm, y1_mm = trajectory[k-1]
|
|
x2_mm, y2_mm = trajectory[k]
|
|
|
|
cv.Line(self.image,
|
|
(self.mm2pix(x1_mm), self.mm2pix(y1_mm)), \
|
|
(self.mm2pix(x2_mm), self.mm2pix(y2_mm)), \
|
|
TRAJECTORY_COLOR_BGR)
|
|
|
|
|
|
def setPose(self, x_mm, y_mm, theta_deg):
|
|
'''
|
|
Sets vehicle pose:
|
|
X: left/right (cm)
|
|
Y: forward/back (cm)
|
|
theta: rotation (degrees)
|
|
'''
|
|
|
|
#remove old arrow
|
|
self.vehicle.remove()
|
|
|
|
#create a new arrow
|
|
self._add_vehicle(x_mm, y_mm, theta_deg)
|
|
|
|
def _add_vehicle(self, x_mm, y_mm, theta_deg):
|
|
|
|
# Use a very short arrow shaft to orient the head of the arrow
|
|
dx, dy = _rotate(0, 0, .1, theta_deg)
|
|
|
|
self.vehicle=self.ax.arrow(x_mm, y_mm, dx, dy, head_width=ROBOT_WIDTH_MM, head_length=ROBOT_HEIGHT_MM, fc='r', ec='r')
|
|
|
|
|
|
def refresh(self):
|
|
|
|
# If we have a new figure, something went wrong (closing figure failed)
|
|
if self.figid != id(plt.gcf()):
|
|
return False
|
|
|
|
# Redraw current objects without blocking
|
|
plt.draw()
|
|
|
|
# Refresh display, setting flag on window close or keyboard interrupt
|
|
try:
|
|
plt.pause(.01)
|
|
except:
|
|
return False
|
|
|
|
# Display image
|
|
cv.ShowImage(self.window_name, self.image)
|
|
|
|
# Force image display, returning False if user hit ESC, True otherwise
|
|
key = cvdisplay()
|
|
return False if key==27 else True
|
|
|
|
def waitkey(self, action):
|
|
|
|
print('Hit any key to %s ...' % action)
|
|
|
|
key = -1
|
|
|
|
while True:
|
|
|
|
key = cvdisplay()
|
|
if key > -1:
|
|
break
|
|
|
|
return key
|
|
|
|
|
|
# Puts text in the image to label the velocity display
|
|
def show_velocity(self, value, valspan, label, y):
|
|
cv.PutText(self.image, label+':', (SENSOR_TEXT_X, y), self.font, SENSOR_LABEL_COLOR_BGR)
|
|
bar_x1 = SENSOR_BAR_X + SENSOR_BAR_MAX_HEIGHT
|
|
bar_y1 = y + SENSOR_BAR_Y_OFFSET
|
|
bar_x2 = bar_x1 + int(value / valspan * SENSOR_BAR_MAX_HEIGHT)
|
|
bar_y2 = y - SENSOR_BAR_WIDTH + SENSOR_BAR_Y_OFFSET
|
|
bar_color = SENSOR_NEGATIVE_COLOR_BGR if value < 0 else SENSOR_POSITIVE_COLOR_BGR
|
|
cv.Rectangle(self.image, (bar_x1, bar_y1), (bar_x2, bar_y2), bar_color, cv.CV_FILLED)
|
|
|
|
|
|
# Builds an array of points for a polyline representing the robot, pointing
|
|
# rightward and centered at (0,0).
|
|
# Currently builds an isoceles triangle pointing rightward
|
|
def robot_polyline(self, scale):
|
|
|
|
xlft = -ROBOT_HEIGHT / 2 * scale
|
|
xrgt = ROBOT_HEIGHT / 2 * scale
|
|
ybot = ROBOT_WIDTH / 2 * scale
|
|
ytop = -ROBOT_HEIGHT / 2 * scale
|
|
return [(xlft,ybot), (xrgt,0), (xlft,ytop)]
|
|
|
|
|
|
# Converts millimeters to pixels
|
|
def mm2pix(self, mm):
|
|
return int(mm / float(self.map_scale_mm_per_pixel))
|
|
|
|
# Helpers -------------------------------------------------------------
|
|
|
|
# Forces OpenCV image display, returning id of key it or -1 if none
|
|
def cvdisplay():
|
|
return cv.WaitKey(1)
|
|
|
|
# Rotates a point by a specified number of degrees
|
|
def rotate(pt, deg):
|
|
rad = radians(deg)
|
|
c = cos(rad)
|
|
s = sin(rad)
|
|
x,y = pt
|
|
return int(x*c - y*s), int(x*s + y*c)
|
|
|