fix python tool

main/gener_alldata.cpp

@@ -79,6 +79,23 @@ CreatePointsLines(std::vector<Eigen::Vector4d, Eigen::aligned_allocator<Eigen::V
 
 int main(){
 
+//    Eigen::Quaterniond Qwb;
+//    Qwb.setIdentity();
+//    Eigen::Vector3d omega (0,0,M_PI/10);
+//    double dt_tmp = 0.005;
+//    for (double i = 0; i < 20.; i += dt_tmp) {
+//        Eigen::Quaterniond dq;
+//        Eigen::Vector3d dtheta_half =  omega * dt_tmp /2.0;
+//        dq.w() = 1;
+//        dq.x() = dtheta_half.x();
+//        dq.y() = dtheta_half.y();
+//        dq.z() = dtheta_half.z();
+//
+//        Qwb = Qwb * dq;
+//    }
+//
+//    std::cout << Qwb.coeffs().transpose() <<"\n"<<Qwb.toRotationMatrix() << std::endl;
+
     // 生成3d points
     std::vector<Eigen::Vector4d, Eigen::aligned_allocator<Eigen::Vector4d> > points;
     std::vector < std::pair< Eigen::Vector4d, Eigen::Vector4d > > lines;

python_tool/draw_points.py

@@ -12,13 +12,16 @@
 from GeometryLib import  drawCoordinateFrame, euler2Rbn,euler2Rnb
 import transformations as tf
 
+import os
+#filepath=os.path.abspath('.')  #表示当前所处的文件夹的绝对路径
+filepath=os.path.abspath('..')+"/bin"  #表示当前所处的文件夹上一级文件夹的绝对路径
 
 point_id=[]
 x=[]
 y=[]
 z=[]                                                                                                
 
-with open('/home/hyj/my_slam/vio_sim/vio_pl_sim/bin/all_points.txt', 'r') as f:
+with open(filepath + '/all_points.txt', 'r') as f:
     data = f.readlines()  #txt中所有字符串读入data  
 
     for line in data:  
@@ -33,7 +36,7 @@
 quaterntions = []
 timestamp = []
 qw_index = 1
-with open('/home/hyj/my_slam/vio_sim/vio_pl_sim/bin/cam_pose.txt', 'r') as f:   #   imu_circle   imu_spline
+with open(filepath + '/cam_pose.txt', 'r') as f:   #   imu_circle   imu_spline
 
     data = f.readlines()  #txt中所有字符串读入data    
     for line in data:  
@@ -68,7 +71,7 @@
     for j in range(len(rpy)):
         drawCoordinateFrame(ax, rpy[j], t[j])    
 
-    s = '/home/hyj/my_slam/vio_sim/vio_pl_sim/bin/keyframe/all_points_' +str(i)+'.txt'
+    s = filepath + '/keyframe/all_points_' +str(i)+'.txt'
     with open(s, 'r') as f:   
         data = f.readlines()  #txt中所有字符串读入data  
         for line in data:  
@@ -80,7 +83,7 @@
 
             ax.plot( [ numbers_float[0],   p[0]  ] , [ numbers_float[1], p[1] ] , zs=[ numbers_float[2], p[2] ] )
 
-    s = '/home/hyj/my_slam/vio_sim/vio_pl_sim/bin/house.txt'
+    s = filepath + '/house_model/house.txt'
     with open(s, 'r') as f:
         data = f.readlines()  # txt中所有字符串读入data
         for line in data:

python_tool/draw_trajcory.py

@@ -17,11 +17,15 @@
 import matplotlib.pyplot as plt
 from mpl_toolkits.mplot3d import Axes3D
 
+import os
+filepath=os.path.abspath('..')+"/bin"  #表示当前所处的文件夹上一级文件夹的绝对路径
+
 position = []
 quaterntions = []
 timestamp = []
 tx_index = 5
-with open('/home/hyj/my_slam/vio_sim/vio_pl_sim/bin/imu_pose.txt', 'r') as f:  # imu_circle   imu_spline
+
+with open(filepath + '/imu_pose.txt', 'r') as f:  # imu_circle   imu_spline
 
     data = f.readlines()  # txt中所有字符串读入data
     for line in data:
@@ -33,7 +37,7 @@
 position1 = []
 quaterntions1 = []
 timestamp1 = []
-with open('/home/hyj/my_slam/vio_sim/vio_pl_sim/bin/imu_int_pose.txt', 'r') as f:  # imu_pose   imu_spline
+with open(filepath + '/imu_int_pose.txt', 'r') as f:  # imu_pose   imu_spline
 
     data = f.readlines()  # txt中所有字符串读入data
     for line in data:
@@ -47,7 +51,7 @@
 position2 = []
 quaterntions2 = []
 timestamp2 = []
-with open('/home/hyj/my_slam/vio_sim/vio_pl_sim/bin/imu_int_pose_noise.txt', 'r') as f:  # cam_pose_opt_o_0   cam_pose_opt_o_0
+with open(filepath + '/imu_int_pose_noise.txt', 'r') as f:  # cam_pose_opt_o_0   cam_pose_opt_o_0
 
     data = f.readlines()  # txt中所有字符串读入data
     for line in data: