Add 'car/' from commit 'eee0e8dc445691e600680f4abc77f2814b20b054'

git-subtree-dir: car
git-subtree-mainline: 1d29a5526c
git-subtree-split: eee0e8dc44

car/tracking/animate.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+'''Animates distances and measurment quality'''
+from tracking.mock_lidar import MockLidar
+import matplotlib.pyplot as plt
+import numpy as np
+import matplotlib.animation as animation
+import tracking.lidar_loader as loader
+
+
+PORT_NAME = '/dev/ttyUSB0'
+DMAX = 4000
+IMIN = 0
+IMAX = 50
+
+
+def update_line(num, iterator, line):
+    scan = next(iterator)
+    offsets = np.array([(np.radians(meas[1]), meas[2]) for meas in scan])
+    line.set_offsets(offsets)
+    intens = np.array([meas[0] for meas in scan])
+    line.set_array(intens)
+    return line,
+
+
+def run():
+    lidar = MockLidar(loader.load_scans_bytes_file("tracking/out.pickle"))
+    fig = plt.figure()
+    ax = plt.subplot(111, projection='polar')
+    line = ax.scatter([0, 0], [0, 0], s=5, c=[IMIN, IMAX],
+                      cmap=plt.cm.Greys_r, lw=0)
+    ax.set_rmax(DMAX)
+    ax.grid(True)
+
+    iterator = lidar.iter_scans()
+    ani = animation.FuncAnimation(fig, update_line,
+                                  fargs=(iterator, line), interval=50)
+    plt.show()
+    lidar.stop()
+    lidar.disconnect()
+
+
+if __name__ == '__main__':
+    run()