35 lines
837 B
Julia
35 lines
837 B
Julia
|
include("packages/TLV.jl")
|
||
|
|
|
||
|
|
#const DATA_DIR = "/data/Data/181283340_06_06_2022_HIGHWAY"
|
||
|
|
const DATA_DIR = "/data/Data/166543251_10_27_2021_OVAL"
|
||
|
|
|
||
|
|
@time points_east, points_north = TLV.cache("serialization.jld2"; force=false) do
|
||
|
|
east = []
|
||
|
|
north = []
|
||
|
|
function callback(header, msg)
|
||
|
|
pma = msg["s_Data"]["s_PMA_LocalizationPose"]
|
||
|
|
pose = pma["s_PoseLocation"]
|
||
|
|
push!(east, pose["e_l_east"])
|
||
|
|
push!(north, pose["e_l_north"])
|
||
|
|
return false
|
||
|
|
end
|
||
|
|
|
||
|
|
topics = TLV.log_create_reader_config(
|
||
|
|
[
|
||
|
|
# ["UC_SYSTEM", "GPS_DATA_SERVICE"]
|
||
|
|
# ["UC_SYSTEM", "PERCEIVED_ROAD_GEOMETRY"]
|
||
|
|
["UC_LOC_OUT", "LOC_ASSOCIATED_ROAD_GEOMETRY"]
|
||
|
|
]
|
||
|
|
)
|
||
|
|
|
||
|
|
TLV.log_read(DATA_DIR, topics, callback)
|
||
|
|
return east, north
|
||
|
|
end
|
||
|
|
|
||
|
|
|
||
|
|
using Plots
|
||
|
|
display(scatter(points_east, points_north; title="Oval Track",
|
||
|
|
legend=false, mc=:blue, ms=.05))
|
||
|
|
readline()
|
||
|
|
#gui()
|