Functions | |
| def | closest_angle (old, new) |
Variables | |
| action | |
| adjust = args.adjust | |
| args = parser.parse_args() | |
| ax = plt.subplot(111, projection='3d') | |
| C | |
| color | |
| D = -C.dot(N) | |
| default | |
| errors = distance(points, C, N) | |
| fixed_points = projection(points, C, N) | |
| help | |
| list | ids = [] |
| lines = file.readlines() | |
| string | map_file = os.environ["HOME"]+"/.ros/slam/map.txt" |
| N | |
| list | other = [] |
| parser = argparse.ArgumentParser() | |
| parts = line.split() | |
| list | pitch = [] |
| list | points = [] |
| residual = np.linalg.norm(errors) | |
| list | roll = [] |
| float | slopex = math.atan2(N[0], N[2])*180.0 |
| float | slopey = math.atan2(N[1], N[2])*180.0 |
| type | |
| X | |
| xlim = ax.get_xlim() | |
| xs = points[:,0] | |
| Y | |
| ylim = ax.get_ylim() | |
| ys = points[:,1] | |
| tuple | Z = (-N[0] * X - N[1] * Y - D)/N[2] |
| zlim = ax.get_zlim() | |
| zs = points[:,2] | |
Fit a plane to the fiducials in the map as a quantitative test of the map quality. Assumes they are all on a ceiling
| def fit_plane.closest_angle | ( | old, | |
| new | |||
| ) |
Definition at line 17 of file fit_plane.py.
| fit_plane.action |
Definition at line 36 of file fit_plane.py.
| fit_plane.adjust = args.adjust |
Definition at line 46 of file fit_plane.py.
| fit_plane.args = parser.parse_args() |
Definition at line 37 of file fit_plane.py.
| fit_plane.ax = plt.subplot(111, projection='3d') |
Definition at line 62 of file fit_plane.py.
| fit_plane.C |
Definition at line 69 of file fit_plane.py.
| fit_plane.color |
Definition at line 67 of file fit_plane.py.
Definition at line 94 of file fit_plane.py.
| fit_plane.default |
Definition at line 35 of file fit_plane.py.
Definition at line 73 of file fit_plane.py.
| fit_plane.help |
Definition at line 35 of file fit_plane.py.
| list fit_plane.ids = [] |
Definition at line 40 of file fit_plane.py.
| fit_plane.lines = file.readlines() |
Definition at line 49 of file fit_plane.py.
| fit_plane.map_file = os.environ["HOME"]+"/.ros/slam/map.txt" |
Definition at line 33 of file fit_plane.py.
| fit_plane.N |
Definition at line 69 of file fit_plane.py.
| list fit_plane.other = [] |
Definition at line 44 of file fit_plane.py.
| fit_plane.parser = argparse.ArgumentParser() |
Definition at line 34 of file fit_plane.py.
| fit_plane.parts = line.split() |
Definition at line 51 of file fit_plane.py.
| list fit_plane.pitch = [] |
Definition at line 43 of file fit_plane.py.
| fit_plane.points = [] |
Definition at line 41 of file fit_plane.py.
| fit_plane.residual = np.linalg.norm(errors) |
Definition at line 80 of file fit_plane.py.
| list fit_plane.roll = [] |
Definition at line 42 of file fit_plane.py.
| float fit_plane.slopex = math.atan2(N[0], N[2])*180.0 |
Definition at line 82 of file fit_plane.py.
| float fit_plane.slopey = math.atan2(N[1], N[2])*180.0 |
Definition at line 83 of file fit_plane.py.
| fit_plane.type |
Definition at line 35 of file fit_plane.py.
| fit_plane.X |
Definition at line 92 of file fit_plane.py.
| fit_plane.xlim = ax.get_xlim() |
Definition at line 89 of file fit_plane.py.
| fit_plane.xs = points[:,0] |
Definition at line 63 of file fit_plane.py.
| fit_plane.Y |
Definition at line 92 of file fit_plane.py.
| fit_plane.ylim = ax.get_ylim() |
Definition at line 90 of file fit_plane.py.
| fit_plane.ys = points[:,1] |
Definition at line 64 of file fit_plane.py.
| fit_plane.zlim = ax.get_zlim() |
Definition at line 91 of file fit_plane.py.
| fit_plane.zs = points[:,2] |
Definition at line 65 of file fit_plane.py.