def callback(msg):
start = time.time()
cov = np.array(covariance, dtype=np.float64).reshape(6, 6)
test.merge(cloud(msg), transformation(tfl, "/map", msg.header), cov)
poses.append([pose_stamped.header.stamp.to_time(),
pose_stamped.pose.position.x,
pose_stamped.pose.position.y])
profile.append(time.time() - start)
test.export8u('%s/atlaas.jpg'%robot_name)
def callback(msg):
start = time.time()
cov = np.array(covariance, dtype=np.float64).reshape(6, 6)
test.merge(cloud(msg), transformation(tfl, "/map", msg.header), cov)
poses.append([
pose_stamped.header.stamp.to_time(), pose_stamped.pose.position.x,
pose_stamped.pose.position.y
])
profile.append(time.time() - start)
test.export8u('%s/atlaas.jpg' % robot_name)
def callback(msg):
global d_noise, poses
start = time.time()
T = transformation(tfl, "/map", msg.header)
poses.append([time.time(), T[0:2, 3][0], T[0:2, 3][1]])
d_noise += 0.02
T[0:2, 3] += d_noise
test.merge(cloud(msg), T, None)
profile.append(time.time() - start)
test.export8u("%s/atlaas.jpg" % robot_name)
def callback(msg):
start = time.time()
test.merge(cloud(msg), transformation(tfl, "/map", msg.header), None, False)
profile.append(time.time() - start)
test.export8u('%s/atlaas.jpg'%robot_name)
def callback(msg):
start = time.time()
test.merge(cloud(msg), transformation(tfl, "/map", msg.header), None,
False)
profile.append(time.time() - start)
test.export8u('%s/atlaas.jpg' % robot_name)