mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Mike Vitus
46 lines
1.5 KiB
Python
Executable File
46 lines
1.5 KiB
Python
Executable File
#!/usr/bin/python
|
|
#
|
|
# Plots the results from the 2D pose graph optimization. It will draw a line
|
|
# between consecutive vertices. The commandline expects two optional filenames:
|
|
#
|
|
# ./plot_results.py --initial_poses optional --optimized_poses optional
|
|
#
|
|
# The files have the following format:
|
|
# ID x y yaw_radians
|
|
|
|
import matplotlib.pyplot as plot
|
|
import numpy
|
|
import sys
|
|
from optparse import OptionParser
|
|
|
|
parser = OptionParser()
|
|
parser.add_option("--initial_poses", dest="initial_poses",
|
|
default="", help="The filename that contains the original poses.")
|
|
parser.add_option("--optimized_poses", dest="optimized_poses",
|
|
default="", help="The filename that contains the optimized poses.")
|
|
(options, args) = parser.parse_args()
|
|
|
|
# Read the original and optimized poses files.
|
|
poses_original = None
|
|
if options.initial_poses != '':
|
|
poses_original = numpy.genfromtxt(options.initial_poses, usecols = (1, 2))
|
|
|
|
poses_optimized = None
|
|
if options.optimized_poses != '':
|
|
poses_optimized = numpy.genfromtxt(options.optimized_poses, usecols = (1, 2))
|
|
|
|
# Plots the results for the specified poses.
|
|
plot.figure()
|
|
if poses_original is not None:
|
|
plot.plot(poses_original[:, 0], poses_original[:, 1], '-', label="Original",
|
|
alpha=0.5, color="green")
|
|
|
|
if poses_optimized is not None:
|
|
plot.plot(poses_optimized[:, 0], poses_optimized[:, 1], '-', label="Optimized",
|
|
alpha=0.5, color="blue")
|
|
|
|
plot.axis('equal')
|
|
plot.legend()
|
|
# Show the plot and wait for the user to close.
|
|
plot.show()
|