def add_imu_bias_tester_poses(pdf, imu_bias_tester_poses,
sparse_mapping_poses):
colors = ['r', 'b', 'g']
plt.figure()
plot_helpers.plot_positions(sparse_mapping_poses,
colors,
linestyle='None',
marker='o',
markeredgewidth=0.1,
markersize=1.5)
plot_helpers.plot_positions(imu_bias_tester_poses, colors, linewidth=0.5)
plt.xlabel('Time (s)')
plt.ylabel('Position (m)')
plt.title('Imu Bias Tester vs. Sparse Mapping Position')
plt.legend(prop={'size': 6})
pdf.savefig()
plt.close()
# orientations
plt.figure()
plot_helpers.plot_orientations(sparse_mapping_poses,
colors,
linestyle='None',
marker='o',
markeredgewidth=0.1,
markersize=1.5)
plot_helpers.plot_orientations(imu_bias_tester_poses,
colors,
linewidth=0.5)
plt.xlabel('Time (s)')
plt.ylabel('Orienation (deg)')
plt.title('Imu Bias Tester vs. Sparse Mapping Orientation')
plt.legend(prop={'size': 6})
pdf.savefig()
plt.close()
def add_imu_bias_tester_poses(pdf, imu_bias_tester_poses,
sparse_mapping_poses):
colors = ["r", "b", "g"]
plt.figure()
plot_helpers.plot_positions(
sparse_mapping_poses,
colors,
linestyle="None",
marker="o",
markeredgewidth=0.1,
markersize=1.5,
)
plot_helpers.plot_positions(imu_bias_tester_poses, colors, linewidth=0.5)
plt.xlabel("Time (s)")
plt.ylabel("Position (m)")
plt.title("Imu Bias Tester vs. Sparse Mapping Position")
plt.legend(prop={"size": 6})
pdf.savefig()
plt.close()
# orientations
plt.figure()
plot_helpers.plot_orientations(
sparse_mapping_poses,
colors,
linestyle="None",
marker="o",
markeredgewidth=0.1,
markersize=1.5,
)
plot_helpers.plot_orientations(imu_bias_tester_poses,
colors,
linewidth=0.5)
plt.xlabel("Time (s)")
plt.ylabel("Orienation (deg)")
plt.title("Imu Bias Tester vs. Sparse Mapping Orientation")
plt.legend(prop={"size": 6})
pdf.savefig()
plt.close()
def add_pose_plots(pdf, sparse_mapping_poses, ar_tag_poses,
graph_localization_poses,
imu_augmented_graph_localization_poses):
colors = ['r', 'b', 'g']
plt.figure()
plot_helpers.plot_positions(sparse_mapping_poses,
colors,
linestyle='None',
marker='o',
markeredgewidth=0.1,
markersize=1.5)
if ar_tag_poses.times:
plot_helpers.plot_positions(ar_tag_poses,
colors,
linestyle='None',
marker='x',
markeredgewidth=0.1,
markersize=1.5)
plot_helpers.plot_positions(graph_localization_poses,
colors,
linewidth=0.5)
plt.xlabel('Time (s)')
plt.ylabel('Position (m)')
plt.title('Graph vs. Sparse Mapping Position')
plt.legend(prop={'size': 6})
pdf.savefig()
plt.close()
# orientations
plt.figure()
plot_helpers.plot_orientations(sparse_mapping_poses,
colors,
linestyle='None',
marker='o',
markeredgewidth=0.1,
markersize=1.5)
if ar_tag_poses.times:
plot_helpers.plot_orientations(ar_tag_poses,
colors,
linestyle='None',
marker='x',
markeredgewidth=0.1,
markersize=1.5)
plot_helpers.plot_orientations(graph_localization_poses,
colors,
linewidth=0.5)
plt.xlabel('Time (s)')
plt.ylabel('Orienation (deg)')
plt.title('Graph vs. Sparse Mapping Orientation')
plt.legend(prop={'size': 6})
pdf.savefig()
plt.close()
# Imu Augmented Loc vs. Loc
plt.figure()
plot_helpers.plot_positions(graph_localization_poses,
colors,
linestyle='None',
marker='o',
markeredgewidth=0.1,
markersize=1.5)
plot_helpers.plot_positions(imu_augmented_graph_localization_poses,
colors,
linewidth=0.5)
plt.xlabel('Time (s)')
plt.ylabel('Position (m)')
plt.title('Graph vs. Imu Augmented Graph Position')
plt.legend(prop={'size': 6})
pdf.savefig()
plt.close()
# orientations
plt.figure()
plot_helpers.plot_orientations(graph_localization_poses,
colors,
marker='o',
markeredgewidth=0.1,
markersize=1.5)
plot_helpers.plot_orientations(imu_augmented_graph_localization_poses,
colors,
linewidth=0.5)
plt.xlabel('Time (s)')
plt.ylabel('Orienation (deg)')
plt.title('Graph vs. Imu Augmented Graph Orientation')
plt.legend(prop={'size': 6})
pdf.savefig()
plt.close()