def loadData (self): if (self.orbResultChooser.GetValue()=='' or self.groundTruthChooser.GetValue()==''): print ("Select filenames first") return None print ("Wait...") # Load ground truth and plot it self.ax = self.figure.add_subplot(111) self.ax.set_autoscale_on(True) self.ax.grid(True) self.groundTruth = PoseTable.loadFromBagFile(self.groundTruthChooser.GetValue(), 'world', 'ndt_frame') gtTbl = self.groundTruth.toArray() self.groundTruthPlot, = self.ax.plot(gtTbl[:,0], gtTbl[:,1]) # self.groundTruthPlot, = self.ax.plot([0,1,2], [4,5,6]) self.orbResult = PoseTable.loadFromBagFile(self.orbResultChooser.GetValue(), '/ORB_SLAM/World', '/ORB_SLAM/ExtCamera') orbTbl = self.orbResult.toArray() self.orbResultPlot, = self.ax.plot(orbTbl[:,0], orbTbl[:,1]) self.canvas.draw() self.background = self.canvas.copy_from_bbox(self.ax.bbox) # self.helpText.Show(True) self.timeChooser.SetRange(self.orbResult[0].timestamp, self.orbResult.last().timestamp) self.currentORBTimestamp = self.orbResult[0].timestamp self.redrawPosition()
def loadData(self): if (self.orbResultChooser.GetValue() == '' or self.groundTruthChooser.GetValue() == ''): print("Select filenames first") return None print("Wait...") # Load ground truth and plot it self.ax = self.figure.add_subplot(111) self.ax.set_autoscale_on(True) self.ax.grid(True) self.groundTruth = PoseTable.loadFromBagFile( self.groundTruthChooser.GetValue(), 'world', 'ndt_frame') gtTbl = self.groundTruth.toArray() self.groundTruthPlot, = self.ax.plot(gtTbl[:, 0], gtTbl[:, 1]) # self.groundTruthPlot, = self.ax.plot([0,1,2], [4,5,6]) self.orbResult = PoseTable.loadFromBagFile( self.orbResultChooser.GetValue(), '/ORB_SLAM/World', '/ORB_SLAM/ExtCamera') orbTbl = self.orbResult.toArray() self.orbResultPlot, = self.ax.plot(orbTbl[:, 0], orbTbl[:, 1]) self.canvas.draw() self.background = self.canvas.copy_from_bbox(self.ax.bbox) # self.helpText.Show(True) self.timeChooser.SetRange(self.orbResult[0].timestamp, self.orbResult.last().timestamp) self.currentORBTimestamp = self.orbResult[0].timestamp self.redrawPosition()
self.frame.Show(True) self.SetTopWindow(self.frame) return True class tfBagVisualizer (wx.Frame): def __init__ (self, bag): pass if __name__ == '__main__': from sys import argv groundTruth = PoseTable.loadFromBagFile (argv[1], 'world', 'camera1') app = wx.PySimpleApp() frame = PlotFigure(groundTruth) timer = wx.Timer(frame, TIMER_ID) timer.Start(50) rospy.init_node('ORB_Listener', anonymous=True) orbListener = tf.TransformListener() orbProc1 = TfCollector ('world', 'camera1', orbListener) orbProc2 = TfCollector ('world', 'camera2', orbListener) frame.Show() app.MainLoop() orbProc1.stop = True
self.frame = AnalyzerWindow() self.frame.Show(True) self.SetTopWindow(self.frame) return True class tfBagVisualizer(wx.Frame): def __init__(self, bag): pass if __name__ == '__main__': from sys import argv groundTruth = PoseTable.loadFromBagFile(argv[1], 'world', 'camera1') app = wx.PySimpleApp() frame = PlotFigure(groundTruth) timer = wx.Timer(frame, TIMER_ID) timer.Start(50) rospy.init_node('ORB_Listener', anonymous=True) orbListener = tf.TransformListener() orbProc1 = TfCollector('world', 'camera1', orbListener) orbProc2 = TfCollector('world', 'camera2', orbListener) frame.Show() app.MainLoop() orbProc1.stop = True