Merge pull request #105 from JuliaRobotics/22Q4/enh/plotpc2

fix plotPointCloud2D
JuliaRobotics · Dec 6, 2022 · 0175a37 · 0175a37
2 parents 15f44ef + b10152e
commit 0175a37
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Showing 5 changed files with 14 additions and 35 deletions.
diff --git a/Project.toml b/Project.toml
@@ -9,13 +9,15 @@ ColorSchemes = "35d6a980-a343-548e-a6ea-1d62b119f2f4"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 GLMakie = "e9467ef8-e4e7-5192-8a1a-b1aee30e663a"
 Manifolds = "1cead3c2-87b3-11e9-0ccd-23c62b72b94e"
+TensorCast = "02d47bb6-7ce6-556a-be16-bb1710789e2b"
 
 [compat]
 Caesar = "0.14"
 ColorSchemes = "3"
 DocStringExtensions = "0.8, 0.9"
 GLMakie = "0.7, 0.8"
 Manifolds = "0.8.15"
+TensorCast = "0.4"
 julia = "1.8"
 
 [extras]

diff --git a/example/CommonUtils.jl b/example/CommonUtils.jl
diff --git a/src/Arena.jl b/src/Arena.jl
@@ -7,12 +7,11 @@ using Caesar
 # can switch to WGLMakie after https://github.com/SimonDanisch/JSServe.jl/issues/131
 using GLMakie
 using ColorSchemes
+using TensorCast
 
 # a lot of legacy code has been moved to the attic
 
-export plotPointCloud, plotPointCloudPair, plotPointCloud2D
-export plotGraphPointClouds
-
+include("Exports.jl")
 include("services/PlotPointCloudMap.jl")
 
 end # module
diff --git a/src/Exports.jl b/src/Exports.jl
@@ -0,0 +1,4 @@
+
+export plotPointCloud2D
+export plotPointCloud, plotPointCloudPair
+export plotGraphPointClouds
diff --git a/src/services/PlotPointCloudMap.jl b/src/services/PlotPointCloudMap.jl
@@ -50,11 +50,13 @@ end
 
 
 function plotPointCloud2D(pc::Caesar._PCL.PointCloud)
-  x = (s->s.data[1]).(pc.points)
-  y = (s->s.data[2]).(pc.points)
+  xy = (s->s.data[1:2]).(pc.points)
 
-  error("TODO, convert to Makie")
-  # Gadfly.plot(x=x,y=y, Main.Gadfly.Geom.point)
+  @cast xy_[i,d] := xy[i][d]
+
+  f = Figure()
+  pos = f[1, 1]
+  scatter(pos, xy_)
 end