Viz gt exploration#16
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| "source": [ | ||
| "## Definitions ##\n", | ||
| "MINS_OUTPUT_BASE_PATH = \\\n", | ||
| " '/home/libonati/Documents/dataset_rosariov2/mins/'\n", |
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Remove /home/libonati and add something like Path('~/Documents...').expanduser() or os.path.expanduser('~/Documents/...')
Or even replace it with an empty path DATASET_PATH, a markdown message telling the user to define this variable and an assertion that the variable is not empty.
Or even more, we do ask in the documentation for a "$ROSARIOV2" variable defined in the environment, so you could try and pull the value from this variable if DATASET_PATH is undefined.
| "## Definitions ##\n", | ||
| "MINS_OUTPUT_BASE_PATH = \\\n", | ||
| " '/home/libonati/Documents/dataset_rosariov2/mins/'\n", | ||
| "DATASET_SESSIONS = [\n", |
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Instead of having all sessions but one commented out, maybe you can set it like:
DATASET_SESSION = [ ... ][0]and allow the user to change that number to index other sessions.
Not a blocking issue, makes no significant difference.
| "print(*ground_truth_paths, sep='\\n')\n", | ||
| "\n", | ||
| "gt_data = pd.read_csv(\n", | ||
| " ground_truth_paths[0], sep=' ', header=None, names=MINS_OUTPUT_COLUMNS)\n", |
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This should have the same dataset index as above, if reading the "0-th" dataset then index the "0-th" ground truth path, and so on.
| "metadata": {}, | ||
| "outputs": [], | ||
| "source": [ | ||
| "# HTML to show the plot on the rosariov2 page\n", |
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There's no way to show this html embedded here without any additional library plugins, right?
| "# HTML to show the plot on the rosariov2 page\n", | ||
| "if not Path(\"gt_exploration_plot.html\").exists:\n", | ||
| " print(\"Creating HTML\")\n", | ||
| " fig.write_html(\"gt_exploration_plot.html\")" |
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Add the name of the trajectory as part of the output name.
| "# Create 3D plot\n", | ||
| "fig = go.Figure(data=[go.Scatter3d(\n", | ||
| " x=gt_data['tx'], y=gt_data['ty'], z=gt_data['tz'],\n", | ||
| " mode='lines+markers',\n", |
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Is there any way we can show the markers as arrows pointing in the direction of the trajectory? Same as we do above with the segments we show in red?
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Instead of hardcoding the transforms between baselink and imu, we now read them from the urdf in the data section of the repo.
We also add a visualization of the data in 3d space with plotly