Go to the documentation of this file.00001 import matplotlib.pyplot as plt
00002 import matplotlib.lines as mlines
00003 import numpy as np
00004 import pandas as pd
00005 import os as os
00006 colors = plt.cm.Set1(np.linspace(0, 1, 9))
00007 from matplotlib2tikz import save as tikz_save
00008 def newline(p1, p2):
00009 ax = plt.gca()
00010 l = mlines.Line2D([p1[0],p2[0]], [p1[1],p2[1]], color='grey')
00011 ax.add_line(l)
00012 return l
00013
00014 name = "gps_alignment_solution_final"
00015 df = pd.read_csv(os.path.expanduser('~') + "/.ros/" + name + ".csv")
00016
00017 for i in range(0, df["world_x"].size, 3):
00018 p1 = [df["gps_x"][i],df["gps_y"][i]]
00019 p2 = [df["world_x"][i], df["world_y"][i]]
00020 newline(p1,p2)
00021
00022 plt.scatter(df["world_x"], df["world_y"], label="world", c='orange', marker="+")
00023
00024 plt.scatter(df["gps_x"], df["gps_y"], label="gps", c=df["covariance"], marker="+")
00025 plt.xlabel('East [m]')
00026 plt.ylabel('North [m]')
00027 plt.xlim((475245, 475390))
00028 plt.ylim((5524880, 5525075))
00029 plt.legend()
00030 tikz_save(name + '.tikz')
00031
00032 plt.show()