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Start doing test.

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This commit is contained in:
michaelpivato
2020-03-17 12:31:16 +10:30
parent 8bad98ecbd
commit 6c8ae1a19a
1 changed files with 10 additions and 4 deletions
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14
tracking/animate_alg.py
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@@ -15,16 +15,22 @@ DMAX = 4000
IMIN = 0 IMIN = 0
IMAX = 50 IMAX = 50
def update_line(num, iterator, line, prev_groups):
def update_line(num, iterator, line):
scan = next(iterator) scan = next(iterator)
# Now update the groups, and then update the maps with different colours for different groups. # Now update the groups, and then update the maps with different colours for different groups.
if(prev_groups.groups is None):
prev_groups = alg.calc_groups(scan)
groups = alg.assign_groups(prev_groups, alg.calc_groups(scan))
offsets = np.array([(np.radians(meas[1]), meas[2]) for meas in scan]) offsets = np.array([(np.radians(meas[1]), meas[2]) for meas in scan])
line.set_offsets(offsets) line.set_offsets(offsets)
intens = np.array([meas[0] for meas in scan]) intens = np.array([meas[0] for meas in scan])
line.set_array(intens) line.set_array(intens)
return line, return line,
class Bunch:
def __init__(self, **kwds):
self.__dict__.update(kwds)
def run(): def run():
lidar = MockLidar(loader.load_scans_bytes_file("tracking/out.pickle")) lidar = MockLidar(loader.load_scans_bytes_file("tracking/out.pickle"))
@@ -34,10 +40,10 @@ def run():
cmap=plt.cm.Greys_r, lw=0) cmap=plt.cm.Greys_r, lw=0)
ax.set_rmax(DMAX) ax.set_rmax(DMAX)
ax.grid(True) ax.grid(True)
prev_groups = Bunch(groups=None)
iterator = lidar.iter_scans() iterator = lidar.iter_scans()
ani = animation.FuncAnimation(fig, update_line, ani = animation.FuncAnimation(fig, update_line,
fargs=(iterator, line), interval=50) fargs=(iterator, line, prev_groups), interval=50)
plt.show() plt.show()
lidar.stop() lidar.stop()
lidar.disconnect() lidar.disconnect()