3 # Plots the results from the 3D pose graph optimization. It will draw a line
4 # between consecutive vertices. The commandline expects two optional filenames:
6 # ./plot_results.py --initial_poses filename --optimized_poses filename
8 # The files have the following format:
9 # ID x y z q_x q_y q_z q_w
11 from mpl_toolkits.mplot3d import Axes3D
12 import matplotlib.pyplot as plot
15 from optparse import OptionParser
17 def set_axes_equal(axes):
18 ''' Sets the axes of a 3D plot to have equal scale. '''
19 x_limits = axes.get_xlim3d()
20 y_limits = axes.get_ylim3d()
21 z_limits = axes.get_zlim3d()
23 x_range = abs(x_limits[1] - x_limits[0])
24 x_middle = numpy.mean(x_limits)
25 y_range = abs(y_limits[1] - y_limits[0])
26 y_middle = numpy.mean(y_limits)
27 z_range = abs(z_limits[1] - z_limits[0])
28 z_middle = numpy.mean(z_limits)
30 length = 0.5 * max([x_range, y_range, z_range])
32 axes.set_xlim3d([x_middle - length, x_middle + length])
33 axes.set_ylim3d([y_middle - length, y_middle + length])
34 axes.set_zlim3d([z_middle - length, z_middle + length])
36 parser = OptionParser()
37 parser.add_option("--initial_poses", dest="initial_poses",
38 default="", help="The filename that contains the original poses.")
39 parser.add_option("--optimized_poses", dest="optimized_poses",
40 default="", help="The filename that contains the optimized poses.")
41 parser.add_option("-e", "--axes_equal", action="store_true", dest="axes_equal",
42 default="", help="Make the plot axes equal.")
43 (options, args) = parser.parse_args()
45 # Read the original and optimized poses files.
47 if options.initial_poses != '':
48 poses_original = numpy.genfromtxt(options.initial_poses,
51 poses_optimized = None
52 if options.optimized_poses != '':
53 poses_optimized = numpy.genfromtxt(options.optimized_poses,
56 # Plots the results for the specified poses.
57 figure = plot.figure()
59 if poses_original is not None:
60 axes = plot.subplot(1, 2, 1, projection='3d')
61 plot.plot(poses_original[:, 0], poses_original[:, 1], poses_original[:, 2],
62 '-', alpha=0.5, color="green")
63 plot.title('Original')
64 if options.axes_equal:
65 axes.set_aspect('equal')
69 if poses_optimized is not None:
70 axes = plot.subplot(1, 2, 2, projection='3d')
71 plot.plot(poses_optimized[:, 0], poses_optimized[:, 1], poses_optimized[:, 2],
72 '-', alpha=0.5, color="blue")
73 plot.title('Optimized')
74 if options.axes_equal:
75 axes.set_aspect('equal')
76 set_axes_equal(plot.gca())
79 # Show the plot and wait for the user to close.