Detailed Description
- Version:
- 0.1
- Author:
- jafar@laas.fr
Provide utility functions to convert data to/from rtmaps
History
- 0.1 (2007-02-26) - Initial version
Ruby macros
The main interest of this module is in the ruby macros it provides:
- Rtmaps.plot_m( filename, i1, i2, scale = 30.0 ) # Plot a trajectory from a RTMAPS ".m" file
- Rtmaps.raw2tiff(seqname, prefixfilename, suffixfilename, startingpoint = 0, endpoint = -1, display = true ) # Save a RTMAPS "raw" sequence to ".tiff" files
- Rtmaps.pos2m(startIndex, endIndex, sensor2main, delay = 750000, left = true, fileName = "pos.rtmaps", datareader = Datareader::DataReader.new) # Create a RTMAPS ".m" from LAAS ".pos" files
- Rtmaps.m2pos( filename, shift = 0, timeIndex = 0, locStartIndex = 2, posesPattern = "image.l.%04d.pos", robotToSensor_str = "(0.,0.,0.,0.,0.,0.)" ) # Create LAAS ".pos" files from a RTMAPS ".m" file
- Rtmaps.rec2pos( filename, indexX = 2, indexY = 3, indexZ = 4, indexYaw = 5, indexPitch = 6, indexRoll = 7, dst = "." ) # Create LAAS ".pos" files from a RTMAPS ".rec" file
- Rtmaps.syncGps( odomMfile, gpsMfile, dstGpsFile = "gps.dat", timeIndexOdom = 0, timeIndexGps = 0, timeShift = 0, xOr = 0, yOr = 0, thetaOr = 0 ) # Subsample RTMAPS ".m" GPS file according to RTMAPS ".m" ODOMETRY file, to keep only one position per frame (odometry line)
- Rtmaps.concatGpsOdomSlam( odomFileN, gpsFileN, slamFileN, outFileN, odomShift = 0, gpsShift = 0) # Compute Odometry and Slam errors and write everything in one file (gps,odom,slam,odom error,slam error)
