Add sciplot to test

To use sciplot it has to be installed locally. For example install it locally
like described in https://sciplot.github.io/installation/ under Installation using CMake.

source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt

@@ -44,6 +44,8 @@ armarx_add_component(dynamic_scene_provider
     # SHARED_COMPONENT_LIBRARY
 )
 
+find_package(sciplot)
+
 armarx_add_test(kalman_test
     TEST_FILES
         test/kalmanFilterTest.cpp
@@ -51,4 +53,5 @@ armarx_add_test(kalman_test
         PUBLIC
             ArmarXCore
             armarx_navigation::teb_human
+            sciplot::sciplot
 )

source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp

@@ -32,9 +32,9 @@
 #include <RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h>
 
 #include <armarx/navigation/Test.h>
-#include <armarx/navigation/components/dynamic_scene_provider/sciplot/sciplot.hpp>
 #include <armarx/navigation/human/HumanSystemModel.h>
 #include <manif/SO2.h>
+#include <sciplot/sciplot.hpp>
 
 
 namespace armarx::navigation::components::dynamic_scene_provider
@@ -211,35 +211,38 @@ namespace armarx::navigation::components::dynamic_scene_provider
             TIMING_END(LOOP);
         }
 
-        /*
-        sciplot::Plot3D position_plot;
-        sciplot::Plot pos_plot;
 
-        position_plot.drawCurve(x_true, y_true, z_true).label("True").lineWidth(1);
-        position_plot.drawCurve(x_obs, y_obs, z_obs).label("Obs").lineWidth(1);
-        position_plot.drawCurve(x_ukf, y_ukf, z_ukf).label("UKF").lineWidth(1);
+        sciplot::Plot2D pos_plot;
+        pos_plot.xlabel("x");
+        pos_plot.ylabel("y");
+        pos_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
 
         pos_plot.drawCurve(x_true, y_true).label("True");
         pos_plot.drawCurve(x_obs, y_obs).label("Obs");
         pos_plot.drawCurve(x_ukf, y_ukf).label("UKF");
 
-        //    sciplot::Plot3D vel_plot;
-        //
-        //    vel_plot.drawCurve(vx_true, vy_true, vz_true).label("True").lineWidth(1);
-        //    vel_plot.drawCurve(vx_ukf, vy_ukf, vz_ukf).label("UKF").lineWidth(1);
+        sciplot::Plot2D orientation_plot;
+        orientation_plot.xlabel("x");
+        orientation_plot.ylabel("y");
+        orientation_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
 
+        sciplot::Vec x = sciplot::linspace(0.0, 1.0, a_true.size());
+        orientation_plot.drawCurve(x, a_true).label("True").lineWidth(1);
+        orientation_plot.drawCurve(x, a_obs).label("Obs").lineWidth(1);
+        orientation_plot.drawCurve(x, a_ukf).label("UKF").lineWidth(1);
 
-        sciplot::Plot3D orientation_plot;
 
-        orientation_plot.drawCurve(a_true, b_true, c_true).label("True").lineWidth(1);
-        orientation_plot.drawCurve(a_obs, b_obs, c_obs).label("Obs").lineWidth(1);
-        orientation_plot.drawCurve(a_ukf, b_ukf, c_ukf).label("UKF").lineWidth(1);
+        // Create figure to hold plot
+        sciplot::Figure fig = {{pos_plot}, {orientation_plot}};
+        // Create canvas to hold figure
+        sciplot::Canvas canvas = {{fig}};
+        canvas.size(600, 600);
 
-        pos_plot.show();
-        position_plot.show();
-        //    vel_plot.show();
-        orientation_plot.show();
-       */
+        // Show the plot in a pop-up window
+        canvas.show();
+
+        // Save the plot to a PDF file
+        canvas.save("kalman_output.pdf");
     }
 
 } // namespace armarx::navigation::components::dynamic_scene_provider