Exemple #1
0
def plotGuess (gtFilename, guessFilename, figFilename):
    """
    Plots groundtruth and initial guess of SLAM problem.
    
    Parameters
    ----------
    gtFilename: string
                path for groundtruth data
    guessFilename: string
                   path for initial guess data
    figFilename: string
                 path for output figure (without extension) 
    """
    
    # get variables from file
    gtData = slamData(gtFilename)
    guessData = slamData(guessFilename)
    
    lw = 3
    ms = 8
    
    if gtData is not None:
        gtRobPlt, = plt.plot(gtData.poseX, gtData.poseY, '.-', color = '#bbbbf9', linewidth = lw, markersize = ms, label='GT robot path')
    lanPlt, = plt.plot(guessData.landmarkX, guessData.landmarkY, 'r+', linewidth = lw, markersize = ms, label='landmarks')
    robPlt, = plt.plot(guessData.poseX, guessData.poseY, 'b-', linewidth = lw, markersize = ms, label='robot path')
    if gtData is not None:
        gtLanPlt, = plt.plot(gtData.landmarkX, gtData.landmarkY, '.', color = '#800000', linewidth = lw, markersize = ms, label='GT landmarks')
    
    ax = plt.axes()
    ax.grid(True)
    ax.set_title("Initial Guess")
    ax.relim()
    ax.autoscale_view()
    ax.legend(bbox_to_anchor=(1.05, 1), loc=2, borderaxespad=0.)
    plt.savefig(figFilename + ".pdf", bbox_inches='tight')
Exemple #2
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def plotResults(gtFilename, guessFilename, optFilename, figFilename, suffix=""):
    """
    Plots groundtruth, initial guess, and optimized results of SLAM (simulated) problem.
    
    Parameters
    ----------
    gtFilename: string
                path for groundtruth data
    guessFilename: string
                   path for initial guess data
     optFilename: string
                  path for optimized result data
    figFilename: string
                 path for output figure (without extension) 
    suffix: string, optional
            string to append in figure's name
    """
    
    # get variables from file
    gtData = slamData(gtFilename)
    guessData = slamData(guessFilename)
    optData = slamData(optFilename)
    
    # create figure
    f, (ax1, ax2) = plt.subplots(1, 2, sharey=True)
    makeSubplot(ax1, gtData, guessData, "Initial Guess", False)
    makeSubplot(ax2, gtData, optData, "After Solver", True)
    #plt.show()
    
    # print figure
    #plt.savefig(figFilename + ".png", bbox_inches='tight')
    plt.savefig(figFilename + suffix + ".pdf", bbox_inches='tight')
    
    # plot path error
    pathPlot(gtData, optData, figFilename, suffix)
def plotGuess (gtFilename, guessFilename, figFilename):
    """
    Plots groundtruth and initial guess of SLAM problem.
    
    Parameters
    ----------
    gtFilename: string
                path for groundtruth data
    guessFilename: string
                   path for initial guess data
    figFilename: string
                 path for output figure (without extension) 
    """
    
    # get variables from file
    gtData = slamData(gtFilename)
    guessData = slamData(guessFilename)
    
    ax = plt.axes()
    makeSubplot(ax, gtData, guessData, "Initial Guess", True)
    plt.savefig(figFilename + ".pdf", bbox_inches='tight')
Exemple #4
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def plotGuess(gtFilename, guessFilename, figFilename):
    """
    Plots groundtruth and initial guess of SLAM problem.
    
    Parameters
    ----------
    gtFilename: string
                path for groundtruth data
    guessFilename: string
                   path for initial guess data
    figFilename: string
                 path for output figure (without extension) 
    """

    # get variables from file
    gtData = slamData(gtFilename)
    guessData = slamData(guessFilename)

    ax = plt.axes()
    makeSubplot(ax, gtData, guessData, "Initial Guess", True)
    plt.savefig(figFilename + ".pdf", bbox_inches='tight')
Exemple #5
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def makeRealPlots (guessPath, optPath, figPath, suffix=""):
    """
    Plots initial guess and optimized results of SLAM (real) problem.
    
    Parameters
    ----------
    guessFilename: string
                   path for initial guess data
     optFilename: string
                  path for optimized result data
    figFilename: string
                 path for output figure (without extension) 
    suffix: string, optional
            string to append in figure's name
    """
    # get data from file
    guessData = slamData(guessPath)
    optData = slamData(optPath)
    f, (ax1, ax2) = plt.subplots(1, 2, sharey=True)
    makeSubplot(ax1, None, guessData, "Initial Guess", False)
    makeSubplot(ax2, None, optData, "After Solver", True)
    
    # make figure
    plt.savefig(figPath + suffix + ".pdf", bbox_inches='tight')