ymd-stella

# The MIT License (MIT)
#
# Copyright (c) 2023 ymd-stella
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:

ymd-stella

#!/usr/bin/python
import cv2
import cv_bridge
import datetime
import message_filters
import numpy as np
import os
import rospy
import sys
import sensor_msgs

ymd-stella

#!/usr/bin/env python3
"""
python3 tum_to_bag.py --src test.tum --dst map.db
"""
import argparse
import math
import numpy as np
from scipy.spatial.transform import Rotation as R

from rosbags.rosbag1 import Writer

ymd-stella

#!/usr/bin/python
import argparse
import rosbag
import tf_bag
import tf2_py

parser = argparse.ArgumentParser()
parser.add_argument("filepath", type=str)
args = parser.parse_args()

ymd-stella

#!/usr/bin/env python3
"""
python3 read_poses_from_db_and_print_tum.py map.db
"""
import argparse
import sqlite3
import struct
import math
import numpy as np
from scipy.spatial.transform import Rotation as R

ymd-stella

#!/usr/bin/env python3
"""
You can plot with the following commands

```
python3 read_poses_from_db_and_print_tum.py map.db > pose.tum
evo_traj tum pose.tum -p --save_plot plot.pdf --plot_mode xz
```
"""
import argparse

ymd-stella

#!/usr/bin/env python3
import argparse
import sqlite3
import struct
import numpy as np


def main():
    parser = argparse.ArgumentParser()
    parser.add_argument("filepath", type=str)

ymd-stella

import msgpack
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
import numpy as np
from numpy.linalg import inv
from scipy.spatial.transform import Rotation as R
import open3d as o3d

with open("map.msg", "rb") as f:
    u = msgpack.Unpacker(f)

ymd-stella

import msgpack
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
import numpy as np
from scipy.spatial.transform import Rotation as R

with open("map.msg", "rb") as f:
    u = msgpack.Unpacker(f)
    msg = u.unpack()

ymd-stella

repositories:
  ament/ament_cmake:
    type: git
    url: https://github.com/ament/ament_cmake.git
    version: master
  ament/ament_index:
    type: git
    url: https://github.com/ament/ament_index.git
    version: master
  ament/ament_lint: