error_viewer.py

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#! /usr/bin/env python
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# author: Vijay Pradeep

import roslib; roslib.load_manifest('pr2_calibration_estimation')

import sys
import rospy
import time
import numpy
import rosrecord
import yaml

import numpy

from pr2_calibration_estimation.robot_params import RobotParams
from pr2_calibration_estimation.blocks import robot_measurement_bundler

def usage():
    print "Usage:"
    print " ./error_viewer.py [config.yaml] [blocks.yaml] [bagfile]"
    sys.exit(-1)

if (len(sys.argv) < 4):
    usage()

config_filename = sys.argv[1]
blocks_filename= sys.argv[2]
bag_filename = sys.argv[3]

# Load the yaml config of the robot_system
config_f = open(config_filename)
config = yaml.load(config_f)
config_f.close()
robot_params = RobotParams()
robot_params.configure(config)

# Load the measurement blocks
blocks_f = open(blocks_filename)
measurement_blocks = yaml.load(blocks_f)
blocks_f.close()
bundler = robot_measurement_bundler.RobotMeasurementBundler(measurement_blocks)

blocks = bundler.load_from_bag(bag_filename)


for block in blocks:
    block.update_config(robot_params)

from pr2_calibration_estimation import plot_helper
plot_helper.start()

from matplotlib import pyplot as plt

for block in blocks:
    resp = raw_input("> ").upper()
    print "Type: %s" % block.block_type
    print "ID: %s" % block.block_id
    plt.clf()
    block.view_error()
    plt.axis([0, 640, 0, 480])
    print "About to draw"
    plt.draw()
    print "Done drawing"
    #time.sleep(.1)


sys.exit(1)

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pr2_calibration_estimation
Author(s): Vijay Pradeep
autogenerated on Fri Jan 11 09:09:33 2013