From 3da96b694d37147bf5dcc571d7fb0910de807beb Mon Sep 17 00:00:00 2001
From: William Chen <billyskc@ucla.edu>
Date: Wed, 24 Jul 2019 14:06:26 -0700
Subject: [PATCH] able to generate txt files for trajectory
---
CoLo-AT/colo_d1.pdf | Bin 31683 -> 29974 bytes
CoLo-AT/colo_d2.pdf | Bin 28994 -> 28994 bytes
CoLo-AT/colo_d3.pdf | Bin 32559 -> 32559 bytes
CoLo-AT/colo_d4.pdf | Bin 29597 -> 29597 bytes
.../__pycache__/data_analyzer.cpython-36.pyc | Bin 8395 -> 8859 bytes
CoLo-AT/data_analysis/data_analyzer.py | 28 +-
CoLo-AT/read_data_to_plot.py | 187 +--
CoLo-AT/trajectory.txt | 1005 +++++++++++++++++
8 files changed, 1155 insertions(+), 65 deletions(-)
create mode 100644 CoLo-AT/trajectory.txt
diff --git a/CoLo-AT/colo_d1.pdf b/CoLo-AT/colo_d1.pdf
index fafba22c26b3349cf6063cfb681eb57e1a6f130d..92c82dfbeaeacd53bbdfcda17ff404c11ad29060 100644
GIT binary patch
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diff --git a/CoLo-AT/data_analysis/data_analyzer.py b/CoLo-AT/data_analysis/data_analyzer.py
index 170efc4..35423b8 100644
--- a/CoLo-AT/data_analysis/data_analyzer.py
+++ b/CoLo-AT/data_analysis/data_analyzer.py
@@ -287,14 +287,40 @@ class Analyzer():
if robot_labels == None:
robot_labels = self.dataset_labels
+ robot_loc_time_unit = self.robot_location_at_unit_time_interval(data_recorder)
+
+
+
+ trajectory_file = open("trajectory.txt", "w")
+ for i, robot_label in enumerate(robot_labels):
+ trajectory_file.write('R'+str(robot_label)+'est_x'+' ')
+ trajectory_file.write('R'+str(robot_label)+'est_y'+' ')
+ trajectory_file.write('R'+str(robot_label)+'gt_x'+' ')
+ trajectory_file.write('R'+str(robot_label)+'gt_y'+' ')
+
+ trajectory_file.write('\n')
+
+
+ for idx in range(len(robot_loc_time_unit[robot_labels[0]]['est_x'])):
+ result_str = ''
+ for i, robot_label in enumerate(robot_labels):
+ result_str += '{:2.4f} {:2.4f} {:2.4f} {:2.4f} '.format(robot_loc_time_unit[robot_label]['est_x'][idx], robot_loc_time_unit[robot_label]['est_y'][idx], robot_loc_time_unit[robot_label]['gt_x'][idx], robot_loc_time_unit[robot_label]['gt_y'][idx])
+
+ result_str+='\n'
+ trajectory_file.write(result_str)
+
+ trajectory_file.close()
+
+
fig = plt.figure()
plt.title('robots trajectory plot')
- robot_loc_time_unit = self.robot_location_at_unit_time_interval(data_recorder)
for i, robot_label in enumerate(robot_labels):
clr = 'C'+str(i)
plt.plot(robot_loc_time_unit[robot_label]['est_x'], robot_loc_time_unit[robot_label]['est_y'], '--', color=clr, label= 'Robot %d estimation' %robot_label)
plt.plot(robot_loc_time_unit[robot_label]['gt_x'], robot_loc_time_unit[robot_label]['gt_y'], color=clr, label= 'Robot %d groundtruth' %robot_label)
+
+
plt.xlabel('x-axis[m]', fontsize = 22)
plt.ylabel('y-axis[m]', fontsize = 22)
diff --git a/CoLo-AT/read_data_to_plot.py b/CoLo-AT/read_data_to_plot.py
index 02624e1..621e00b 100644
--- a/CoLo-AT/read_data_to_plot.py
+++ b/CoLo-AT/read_data_to_plot.py
@@ -1,93 +1,152 @@
import matplotlib.pyplot as plt
import numpy as np
-RMSE_file = open("RMSE.txt", "r")
-RMTE_file = open("RMTE.txt", "r")
-LE_file = open("LE.txt","r")
-RMSE_arr = []
-RMTE_arr = []
-LE_arr = []
+def analysis_plot(files_loc):
+ RMSE_file = open(files_loc+"RMSE.txt", "r")
+ RMTE_file = open(files_loc+"RMTE.txt", "r")
+ LE_file = open(files_loc+"LE.txt","r")
-RMSE_line = RMSE_file.readline()
-names = RMSE_line.split(' ')
-del names[0] # remove time
-del names[-1] # remove '\n'
-print(names)
+ RMSE_arr = []
+ RMTE_arr = []
+ LE_arr = []
-LE_line = LE_file.readline() #first line has names not values
-for LE_line in LE_file:
- LE = LE_line.split(' ')
- LE_arr.append(np.array(LE))
+ RMSE_line = RMSE_file.readline()
+ names = RMSE_line.split(' ')
+ del names[0] # remove time
+ del names[-1] # remove '\n'
+ print(names)
-LE_arr = np.array(LE_arr)
+ LE_line = LE_file.readline() #first line has names not values
+ for LE_line in LE_file:
+ LE = LE_line.split(' ')
-for RMSE_line in RMSE_file:
- RMSE = RMSE_line.split(' ')
+ LE_arr.append(np.array(LE))
- RMSE_arr.append(np.array(RMSE))
+ LE_arr = np.array(LE_arr)
-RMSE_arr = np.array(RMSE_arr)
+ for RMSE_line in RMSE_file:
+ RMSE = RMSE_line.split(' ')
+ RMSE_arr.append(np.array(RMSE))
-RMTE_line = RMTE_file.readline()
-for RMTE_line in RMTE_file:
- RMTE = RMTE_line.split(' ')
- [float(i) for i in RMTE]
- RMTE_arr.append(np.array(RMTE))
+ RMSE_arr = np.array(RMSE_arr)
-RMTE_arr = np.array(RMTE_arr)
+ RMTE_line = RMTE_file.readline()
+ for RMTE_line in RMTE_file:
+ RMTE = RMTE_line.split(' ')
+ [float(i) for i in RMTE]
+ RMTE_arr.append(np.array(RMTE))
-RMSE_file.close()
-RMTE_file.close()
-LE_file.close()
+ RMTE_arr = np.array(RMTE_arr)
-LE_arr = LE_arr.astype(np.float)
-RMSE_arr = RMSE_arr.astype(np.float)
-RMTE_arr = RMTE_arr.astype(np.float)
+ RMSE_file.close()
+ RMTE_file.close()
+ LE_file.close()
+ LE_arr = LE_arr.astype(np.float)
+ RMSE_arr = RMSE_arr.astype(np.float)
+ RMTE_arr = RMTE_arr.astype(np.float)
-fig = plt.figure()
-fig1 = fig.add_subplot(311)
-fig2 = fig.add_subplot(312)
-fig3 = fig.add_subplot(313)
-for idx, name in enumerate(names):
- fig1.plot(LE_arr[:,0], LE_arr[:,idx+1], label = name)
- fig2.plot(RMSE_arr[:,0], RMSE_arr[:,idx+1], label = name)
- fig3.plot(RMTE_arr[:,0], RMTE_arr[:,idx+1], label = name)
+ fig = plt.figure()
+ fig1 = fig.add_subplot(311)
+ fig2 = fig.add_subplot(312)
+ fig3 = fig.add_subplot(313)
-fig1.set_title('Location error')
-fig1.set_xlabel('Time [s]')
-fig1.set_ylabel('LE [m]')
-fig1.set_ylim(0, 0.4)
-fig1.legend(loc=1)
-fig1.legend(loc='center left', bbox_to_anchor=(1, 0.5))
+ for idx, name in enumerate(names):
+ fig1.plot(LE_arr[:,0], LE_arr[:,idx+1], label = name)
+ fig2.plot(RMSE_arr[:,0], RMSE_arr[:,idx+1], label = name)
+ fig3.plot(RMTE_arr[:,0], RMTE_arr[:,idx+1], label = name)
-fig2.set_title('State estimation error')
-fig2.set_xlabel('Time [s]')
-fig2.set_ylabel('RMS [m]')
-fig2.set_ylim(0, 2)
-fig2.legend(loc=1)
-fig2.legend(loc='center left', bbox_to_anchor=(1, 0.5))
-#fig1.tick_params(labelsize=18)
-fig3.set_title('Local State variance')
-fig3.set_xlabel('Time [s]')
-fig3.set_ylabel('RMTE [m]')
-fig3.set_ylim(0, 0.4)
-fig3.legend(loc=1)
-fig3.legend(loc='center left', bbox_to_anchor=(1, 0.5))
-#fig2.tick_params(labelsize=18)
+ fig1.set_title('Location error')
+ fig1.set_xlabel('Time [s]')
+ fig1.set_ylabel('LE [m]')
+ fig1.set_ylim(0, 0.4)
+ fig1.legend(loc=1)
+ fig1.legend(loc='center left', bbox_to_anchor=(1, 0.5))
-plt.subplots_adjust(hspace=.6)
-plt.savefig('results.pdf')
-print('image saved')
-plt.show()
+ fig2.set_title('State estimation error')
+ fig2.set_xlabel('Time [s]')
+ fig2.set_ylabel('RMS [m]')
+ fig2.set_ylim(0, 2)
+ fig2.legend(loc=1)
+ fig2.legend(loc='center left', bbox_to_anchor=(1, 0.5))
+ #fig1.tick_params(labelsize=18)
+
+ fig3.set_title('Local State variance')
+ fig3.set_xlabel('Time [s]')
+ fig3.set_ylabel('RMTE [m]')
+ fig3.set_ylim(0, 0.4)
+ fig3.legend(loc=1)
+ fig3.legend(loc='center left', bbox_to_anchor=(1, 0.5))
+ #fig2.tick_params(labelsize=18)
+
+ plt.subplots_adjust(hspace=.6)
+ plt.savefig('results.pdf')
+ print('image saved')
+ plt.show()
+
+
+def trajectory_plot(files_loc):
+ trajectory_arr = []
+ robot_labels = []
+ trajectory_file = open(files_loc+'trajectory.txt', 'r')
+
+ trajectory_line = trajectory_file.readline()
+
+ names = trajectory_line.split(' ')
+ del names[-1] # remove '\n'
+ print(names)
+
+ for name in names:
+ robot_label = int(name[1])
+ if robot_label not in robot_labels
+ robot_labels.append(robot_label)
+
+ for trajectory_line in trajectory_file:
+ trajectory = trajectory_line.split(' ')
+
+ trajectory_arr.append(np.array(trajectory))
+
+
+ trajectory_arr = np.array(trajectory_arr)
+ trajectory_arr = trajectory_arr.astype(np.float)
+ trajectory_file.close()
+
+ # plotting
+ plt.title('robots trajectory plot')
+
+ for i, robot_label in enumerate(robot_labels):
+ clr = 'C'+str(i)
+ plt.plot(trajectory_arr[:, 4*i], trajectory_arr[:, 4*i+1],, '--', color=clr, label= 'Robot %d estimation' %robot_label)
+ plt.plot(trajectory_arr[:, 4*i+2], trajectory_arr[:, 4*i+3],, color=clr, label= 'Robot %d groundtruth' %robot_label)
+
+
+
+ plt.xlabel('x-axis[m]', fontsize = 22)
+ plt.ylabel('y-axis[m]', fontsize = 22)
+ #plt.xlim(-10, 10)
+ #plt.ylim(-10, 10)
+ plt.legend(loc='center left', bbox_to_anchor=(1, 0.5))
+ plt.show()
+
+
+
+
+
+def main():
+ files_loc = 'CoLo_D1/'
+ analysis_plot(files_loc)
+ trajectory_plot(files_loc)
+
+if __name__ == "__main__":
+ main()
diff --git a/CoLo-AT/trajectory.txt b/CoLo-AT/trajectory.txt
new file mode 100644
index 0000000..5922e69
--- /dev/null
+++ b/CoLo-AT/trajectory.txt
@@ -0,0 +1,1005 @@
+R1est_x R1est_y R1gt_x R1gt_y R2est_x R2est_y R2gt_x R2gt_y R3est_x R3est_y R3gt_x R3gt_y
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GitLab