ymd-stella

/*
MIT License

Copyright 2025 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:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR T

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()