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)