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fix warnings from subplots and improve code

release/4.3a0
Varun Agrawal 2020-07-27 21:00:08 -05:00
parent 7114cf93d3
commit e92c5e2ed4
1 changed files with 20 additions and 18 deletions
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38
python/gtsam_py/python/examples/PreintegrationExample.py
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@ -73,40 +73,43 @@ class PreintegrationExample(object):
self.runner = gtsam.ScenarioRunner( self.runner = gtsam.ScenarioRunner(
self.scenario, self.params, self.dt, self.actualBias) self.scenario, self.params, self.dt, self.actualBias)
fig, self.axes = plt.subplots(4, 3)
fig.set_tight_layout(True)
def plotImu(self, t, measuredOmega, measuredAcc): def plotImu(self, t, measuredOmega, measuredAcc):
plt.figure(IMU_FIG) plt.figure(IMU_FIG)
# plot angular velocity # plot angular velocity
omega_b = self.scenario.omega_b(t) omega_b = self.scenario.omega_b(t)
for i, (label, color) in enumerate(zip(self.labels, self.colors)): for i, (label, color) in enumerate(zip(self.labels, self.colors)):
plt.subplot(4, 3, i + 1) ax = self.axes[0][i]
plt.scatter(t, omega_b[i], color='k', marker='.') ax.scatter(t, omega_b[i], color='k', marker='.')
plt.scatter(t, measuredOmega[i], color=color, marker='.') ax.scatter(t, measuredOmega[i], color=color, marker='.')
plt.xlabel('angular velocity ' + label) ax.set_xlabel('angular velocity ' + label)
# plot acceleration in nav # plot acceleration in nav
acceleration_n = self.scenario.acceleration_n(t) acceleration_n = self.scenario.acceleration_n(t)
for i, (label, color) in enumerate(zip(self.labels, self.colors)): for i, (label, color) in enumerate(zip(self.labels, self.colors)):
plt.subplot(4, 3, i + 4) ax = self.axes[1][i]
plt.scatter(t, acceleration_n[i], color=color, marker='.') ax.scatter(t, acceleration_n[i], color=color, marker='.')
plt.xlabel('acceleration in nav ' + label) ax.set_xlabel('acceleration in nav ' + label)
# plot acceleration in body # plot acceleration in body
acceleration_b = self.scenario.acceleration_b(t) acceleration_b = self.scenario.acceleration_b(t)
for i, (label, color) in enumerate(zip(self.labels, self.colors)): for i, (label, color) in enumerate(zip(self.labels, self.colors)):
plt.subplot(4, 3, i + 7) ax = self.axes[2][i]
plt.scatter(t, acceleration_b[i], color=color, marker='.') ax.scatter(t, acceleration_b[i], color=color, marker='.')
plt.xlabel('acceleration in body ' + label) ax.set_xlabel('acceleration in body ' + label)
# plot actual specific force, as well as corrupted # plot actual specific force, as well as corrupted
actual = self.runner.actualSpecificForce(t) actual = self.runner.actualSpecificForce(t)
for i, (label, color) in enumerate(zip(self.labels, self.colors)): for i, (label, color) in enumerate(zip(self.labels, self.colors)):
plt.subplot(4, 3, i + 10) ax = self.axes[3][i]
plt.scatter(t, actual[i], color='k', marker='.') ax.scatter(t, actual[i], color='k', marker='.')
plt.scatter(t, measuredAcc[i], color=color, marker='.') ax.scatter(t, measuredAcc[i], color=color, marker='.')
plt.xlabel('specific force ' + label) ax.set_xlabel('specific force ' + label)
def plotGroundTruthPose(self, t): def plotGroundTruthPose(self, t, scale=0.3, time_interval=0.01):
# plot ground truth pose, as well as prediction from integrated IMU measurements # plot ground truth pose, as well as prediction from integrated IMU measurements
actualPose = self.scenario.pose(t) actualPose = self.scenario.pose(t)
plot_pose3(POSES_FIG, actualPose, 0.3) plot_pose3(POSES_FIG, actualPose, 0.3)
@ -117,11 +120,10 @@ class PreintegrationExample(object):
ax.set_ylim3d(-self.maxDim, self.maxDim) ax.set_ylim3d(-self.maxDim, self.maxDim)
ax.set_zlim3d(-self.maxDim, self.maxDim) ax.set_zlim3d(-self.maxDim, self.maxDim)
plt.pause(0.01) plt.pause(time_interval)
def run(self): def run(self, T=12):
# simulate the loop # simulate the loop
T = 12
for i, t in enumerate(np.arange(0, T, self.dt)): for i, t in enumerate(np.arange(0, T, self.dt)):
measuredOmega = self.runner.measuredAngularVelocity(t) measuredOmega = self.runner.measuredAngularVelocity(t)
measuredAcc = self.runner.measuredSpecificForce(t) measuredAcc = self.runner.measuredSpecificForce(t)