Go to the documentation of this file.00001 import matplotlib.pyplot as plt
00002 import matplotlib.lines as mlines
00003 import pandas as pd
00004 import os as os
00005
00006 def newline(p1, p2):
00007 ax = plt.gca()
00008 l = mlines.Line2D([p1[0],p2[0]], [p1[1],p2[1]], color='grey')
00009 ax.add_line(l)
00010 return l
00011
00012 df = pd.read_csv(os.path.expanduser('~') + "/.ros/gps_alignment_solution.csv")
00013
00014 for i in range(0, df["world_x"].size, 3):
00015 p1 = [df["gps_x"][i],df["gps_y"][i]]
00016 p2 = [df["world_x"][i], df["world_y"][i]]
00017 newline(p1,p2)
00018
00019 plt.scatter(df["world_x"], df["world_y"], label="world", c='orange', marker="+")
00020 plt.scatter(df["gps_x"], df["gps_y"], label="gps", c=df["covariance"], marker="+")
00021 plt.xlabel('x[m]')
00022 plt.ylabel('y[m]')
00023
00024
00025
00026
00027 plt.legend()
00028 plt.show()