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()