test_msckf.py 文件源码

def plot_attitude(self, timestamps, att_true, att_est):
        # Setup
        N = att_est.shape[1]
        t = timestamps[:N]
        att_true = att_true[:, :N]
        att_est = att_est[:, :N]

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

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

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

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

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

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

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