test_msckf.py 文件源码

def plot_velocity(self, timestamps, vel_true, vel_est):
        N = vel_est.shape[1]
        t = timestamps[:N]
        vel_true = vel_true[:, :N]
        vel_est = vel_est[:, :N]

        # Figure
        plt.figure()
        plt.suptitle("Velocity")

        # X axis
        plt.subplot(311)
        plt.plot(t, vel_true[0, :], color="red", label="Ground_truth")
        plt.plot(t, vel_est[0, :], color="blue", label="Estimate")

        plt.title("x-axis")
        plt.xlabel("Date Time")
        plt.ylabel("ms^-1")
        plt.legend(loc=0)

        # Y axis
        plt.subplot(312)
        plt.plot(t, vel_true[1, :], color="red", label="Ground_truth")
        plt.plot(t, vel_est[1, :], color="blue", label="Estimate")

        plt.title("y-axis")
        plt.xlabel("Date Time")
        plt.ylabel("ms^-1")
        plt.legend(loc=0)

        # Z axis
        plt.subplot(313)
        plt.plot(t, vel_true[2, :], color="red", label="Ground_truth")
        plt.plot(t, vel_est[2, :], color="blue", label="Estimate")

        plt.title("z-axis")
        plt.xlabel("Date Time")
        plt.ylabel("ms^-1")
        plt.legend(loc=0)