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JuliaRobotics / Caesar.jl

Robust robotic localization and mapping, together with NavAbility(TM). Reach out to info@wherewhen.ai for help.
https://www.wherewhen.ai
MIT License
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How do I draw top down map from SLAM result #128

Closed dehann closed 6 years ago

dehann commented 6 years ago

After running inferOverTree! , this is how you would draw poses and landmarks:

using RoMEPlotting

# produce a figure in the julia workspace
pl = drawPoses(fg)

# using Gadfly
Gadfly.draw(PDF("/tmp/test.pdf", 20cm,10cm),pl)  # or PNG(...)
# or
drawPosesLandms(fg)

cc @keevindoherty

dehann commented 6 years ago

Gadfly drawing will require two packages, if you don't already have them:

Base.rm(ENV["HOME"]*"/.julia/lib/v0.6/Compose.ji")
Pkg.add.(["Cairo";"Fontconfig"])

The next use of Gadfly will recompile compose and allow draw to export PDF or PNGs. Comment here if you require more support for other plotting backends such as Plots.jl.

keevindoherty commented 6 years ago

Running drawPosesLandms(fg) results in an UndefVarError for me: "Colorant not defined"

Could this be an issue with my factor graph, or something else?

dehann commented 6 years ago

ah, that would be Colors thanks. What do you get when you run this?

using Colors
dehann commented 6 years ago

Might be a dependency mistake, let me check quick...

keevindoherty commented 6 years ago 
julia> pl = drawPosesLandms(fg)
lb = :l1
lbl = string(lb) = "l1"
ERROR: UndefVarError: Colorant not defined
Stacktrace:
 [1] #drawLandms#37(::Int64, ::Int64, ::Int64, ::Symbol, ::Bool, ::Bool, ::Bool, ::String, ::Type{T} where T, ::IncrementalInference.DataLayerAPI, ::RoMEPlotting.#drawLandms, ::IncrementalInference.FactorGraph) at /home/kevin/.julia/v0.6/RoMEPlotting/src/RobotViz.jl:158
 [2] (::RoMEPlotting.#kw##drawLandms)(::Array{Any,1}, ::RoMEPlotting.#drawLandms, ::IncrementalInference.FactorGraph) at ./<missing>:0
 [3] #drawPosesLandms#38(::Int64, ::Int64, ::Int64, ::Symbol, ::Bool, ::Bool, ::Type{T} where T, ::Bool, ::Float64, ::IncrementalInference.DataLayerAPI, ::RoMEPlotting.#drawPosesLandms, ::IncrementalInference.FactorGraph) at /home/kevin/.julia/v0.6/RoMEPlotting/src/RobotViz.jl:181
 [4] drawPosesLandms(::IncrementalInference.FactorGraph) at /home/kevin/.julia/v0.6/RoMEPlotting/src/RobotViz.jl:180
dehann commented 6 years ago

Could you also give me your current Pkg.status() please? I think this might be an upstream issue...

keevindoherty commented 6 years ago 
julia> Pkg.status()
11 required packages:
 - Arena                         0.0.1
 - Caesar                        0.1.0
 - Cairo                         0.5.2
 - Fontconfig                    0.1.1
 - Gadfly                        0.7.0
 - GraphPlot                     0.2.0
 - IncrementalInference          0.3.6
 - Mongo                         0.3.0
 - Plots                         0.17.3
 - RoME                          0.1.4
 - RoMEPlotting                  0.0.1
146 additional packages:
 - AbstractFFTs                  0.3.2
 - AssetRegistry                 0.0.2
 - AxisAlgorithms                0.2.0
 - AxisArrays                    0.2.1
 - BinDeps                       0.8.8
 - BinaryProvider                0.3.3
 - Blosc                         0.5.0
 - BufferedStreams               0.4.0
 - CMakeWrapper                  0.1.0
 - Calculus                      0.4.0
 - CatIndices                    0.1.0
 - CategoricalArrays             0.3.10
 - CloudGraphs                   0.0.2
 - CodecZlib                     0.4.3
 - Codecs                        0.4.0
 - ColorTypes                    0.6.7
 - ColorVectorSpace              0.5.2
 - Colors                        0.8.2
 - CommonSubexpressions          0.1.0
 - Compat                        0.69.0
 - Compose                       0.6.0
 - ComputationalResources        0.2.0
 - Contour                       0.4.0
 - CoordinateTransformations     0.4.1
 - CoupledFields                 0.0.1
 - CustomUnitRanges              0.1.0
 - DataArrays                    0.7.0
 - DataFrames                    0.11.6
 - DataStreams                   0.3.6
 - DataStructures                0.8.3
 - DiffBase                      0.3.2
 - DiffEqDiffTools               0.4.1
 - DiffResults                   0.0.3
 - DiffRules                     0.0.6
 - Distances                     0.6.0
 - Distributions                 0.15.0
 - DocStringExtensions           0.4.5
 - DrakeVisualizer               0.3.0
 - DualNumbers                   0.4.0
 - FFTViews                      0.1.0
 - FFTW                          0.0.4
 - FileIO                        0.9.1
 - FixedPointNumbers             0.4.6
 - ForwardDiff                   0.7.5
 - FunctionalCollections         0.3.2
 - GR                            0.31.0
 - GeometryTypes                 0.4.6
 - Graphics                      0.3.0
 - Graphs                        0.9.0
 - Gtk                           0.14.0
 - GtkReactive                   0.4.1
 - HDF5                          0.9.3
 - Hexagons                      0.1.0
 - Hiccup                        0.1.1
 - HttpCommon                    0.4.0
 - HttpParser                    0.4.0
 - HttpServer                    0.3.1
 - IdentityRanges                0.1.0
 - ImageAxes                     0.4.0
 - ImageCore                     0.6.0
 - ImageDistances                0.0.2
 - ImageFiltering                0.3.0
 - ImageMagick                   0.5.1
 - ImageMetadata                 0.4.1
 - ImageMorphology               0.0.2
 - ImageTransformations          0.4.1
 - ImageView                     0.6.0
 - Images                        0.14.0
 - IndirectArrays                0.4.2
 - Interpolations                0.7.3
 - IntervalSets                  0.2.0
 - IterTools                     0.2.1
 - JLD                           0.8.3
 - JSExpr                        0.2.0
 - JSON                          0.17.2
 - Juno                          0.4.1
 - KernelDensity                 0.4.1
 - KernelDensityEstimate         0.3.0
 - KernelDensityEstimatePlotting 0.0.1
 - LCMCore                       0.2.1
 - Lazy                          0.12.1
 - LegacyStrings                 0.3.0
 - LibBSON                       0.3.0
 - Libz                          0.2.4
 - LightGraphs                   0.12.0
 - LineSearches                  3.2.5
 - Loess                         0.3.0
 - MacroTools                    0.4.2
 - MappedArrays                  0.0.7
 - MbedTLS                       0.5.11
 - Measures                      0.2.0
 - Media                         0.3.0
 - MeshCat                       0.2.1
 - MeshIO                        0.1.3
 - Meshing                       0.3.1
 - Missings                      0.2.10
 - MsgPack                       0.1.1
 - Mux                           0.3.0
 - NLSolversBase                 4.4.1
 - NLsolve                       1.0.1
 - NaNMath                       0.3.1
 - NamedTuples                   4.0.2
 - Neo4j                         1.0.0
 - Nullables                     0.0.5
 - Observables                   0.1.0
 - OffsetArrays                  0.6.0
 - Optim                         0.14.1
 - PDMats                        0.8.0
 - PaddedViews                   0.3.0
 - Parameters                    0.9.0
 - Pidfile                       1.0.0
 - PlotThemes                    0.2.0
 - PlotUtils                     0.4.4
 - PositiveFactorizations        0.1.0
 - ProgressMeter                 0.5.6
 - ProtoBuf                      0.5.0
 - QuadGK                        0.2.1
 - RangeArrays                   0.2.0
 - Ratios                        0.2.0
 - Reactive                      0.7.0
 - RecipesBase                   0.3.1
 - Reexport                      0.1.0
 - Requests                      0.5.1
 - Requires                      0.4.4
 - Rmath                         0.4.0
 - Rotations                     0.7.1
 - RoundingIntegers              0.0.3
 - SHA                           0.5.7
 - SIUnits                       0.1.0
 - ShowItLikeYouBuildIt          0.2.0
 - Showoff                       0.2.0
 - SimpleTraits                  0.6.0
 - SortingAlgorithms             0.2.1
 - SpecialFunctions              0.6.0
 - StaticArrays                  0.7.2
 - StatsBase                     0.23.1
 - StatsFuns                     0.6.1
 - TexExtensions                 0.1.0
 - TiledIteration                0.1.0
 - TranscodingStreams            0.5.2
 - TransformUtils                0.1.0
 - URIParser                     0.3.1
 - WeakRefStrings                0.4.7
 - WebIO                         0.2.4
 - WebSockets                    0.5.0
 - WoodburyMatrices              0.3.0
dehann commented 6 years ago

looks like this was partly a versionitus problem, RoME v0.1.5 should be tagged soon. The latest from RoMEPlotting is also required -- v0.0.2 coming soon.

dehann commented 6 years ago

see: http://www.juliarobotics.org/Caesar.jl/latest/tut_hexagonal2d.html