From 8bc22eea80a69fd0942efd95b0a8b2dda61062cb Mon Sep 17 00:00:00 2001
From: William Chen <billyskc@ucla.edu>
Date: Tue, 4 Jun 2019 16:08:32 -0700
Subject: [PATCH] working on colo datasets for gs-ci journal

---
 CoLo-AT/Algorithm Comparison.pdf              | Bin 29721 -> 29721 bytes
 CoLo-AT/Cooperative_Localization_Journal1.py  |  12 ++++++------
 CoLo-AT/UTIAS_d6.pdf                          | Bin 53297 -> 22580 bytes
 ...ative_Localization_Journal1.cpython-36.pyc | Bin 2563 -> 2523 bytes
 .../realworld_dataset_manager.cpython-36.pyc  | Bin 14098 -> 14102 bytes
 .../realworld_dataset_manager.py              |   2 +-
 CoLo-AT/isrr2017_v2_2019.py                   |   4 ++--
 CoLo-AT/j1_rw.py                              |  14 +++++++-------
 .../__pycache__/sim_manager.cpython-36.pyc    | Bin 5354 -> 5354 bytes
 CoLo-AT/simulation_process/sim_manager.py     |   2 +-
 10 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/CoLo-AT/Algorithm Comparison.pdf b/CoLo-AT/Algorithm Comparison.pdf
index 19257be51e0530e4914cf84d90a705e80fff7465..8f16e1f65b9e20fcf6dcc4a82b3b306b431f034e 100644
GIT binary patch
delta 22
ecmbRFf^p^x#tonI*i8(LjSWrAHvh_#X9WOpFbKi`

delta 22
ecmbRFf^p^x#tonI*o}>h4a`hTHvh_#X9WOpFbKi`

diff --git a/CoLo-AT/Cooperative_Localization_Journal1.py b/CoLo-AT/Cooperative_Localization_Journal1.py
index abad62f..78aa75a 100644
--- a/CoLo-AT/Cooperative_Localization_Journal1.py
+++ b/CoLo-AT/Cooperative_Localization_Journal1.py
@@ -49,8 +49,8 @@ def all_algorithms_comp(dataset_path, robot_labels, duration, graph_name, robots
 	state_recorder = StatesRecorder('GS_CI', robot_labels)
 
 	sim.sim_process_native(robot_labels, testing_dataset, robot, state_recorder, simple_plot = False ,  robots_cant_observe_lm = robots_cant_observe_lm)
-	loc_err_per_run, trace_per_run, t_arr = analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder, plot_graphs = True)
-
+	analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder, plot_graphs = True)
+	analyzer.trajectory_plot(state_recorder)
 	##############################################################################
 	'''
 	testing_dataset.dataset_reset()
@@ -71,7 +71,7 @@ def all_algorithms_comp(dataset_path, robot_labels, duration, graph_name, robots
 	sim = SimulationManager('sim cen_ekf')
 	state_recorder_LS_cen = StatesRecorder('LS_cen', robot_labels)
 	sim.sim_process_native(robot_labels, testing_dataset, robot, state_recorder_LS_cen, simple_plot = False, robots_cant_observe_lm = robots_cant_observe_lm)
-	loc_err_per_run, trace_per_run, t_arr = analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder_LS_cen, plot_graphs = False)
+	analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder_LS_cen, plot_graphs = False)
 
 	##############################################################################
 
@@ -82,7 +82,7 @@ def all_algorithms_comp(dataset_path, robot_labels, duration, graph_name, robots
 	sim = SimulationManager('sim ls_bda')
 	state_recorder_LS_BDA = StatesRecorder('LS_BDA', robot_labels)
 	sim.sim_process_native(robot_labels, testing_dataset, robot, state_recorder_LS_BDA, simple_plot = False, robots_cant_observe_lm = robots_cant_observe_lm)
-	loc_err_per_run, trace_per_run, t_arr = analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder_LS_BDA, plot_graphs = False)
+	analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder_LS_BDA, plot_graphs = False)
 
 
 	##############################################################################
@@ -94,7 +94,7 @@ def all_algorithms_comp(dataset_path, robot_labels, duration, graph_name, robots
 	sim = SimulationManager('sim ls_ci')
 	state_recorder_LS_CI = StatesRecorder('LS_CI', robot_labels)
 	sim.sim_process_native(robot_labels, testing_dataset, robot, state_recorder_LS_CI, simple_plot = False, robots_cant_observe_lm = robots_cant_observe_lm)
-	loc_err_per_run, trace_per_run, t_arr = analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder_LS_CI, plot_graphs = False)
+	analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder_LS_CI, plot_graphs = False)
 
 	##############################################################################
 
@@ -105,6 +105,6 @@ def all_algorithms_comp(dataset_path, robot_labels, duration, graph_name, robots
 	sim = SimulationManager('sim gs_sci')
 	state_recorder_GS_SCI = StatesRecorder('GS_SCI', robot_labels)
 	sim.sim_process_native(robot_labels, testing_dataset, robot, state_recorder_GS_SCI, simple_plot = False, robots_cant_observe_lm = robots_cant_observe_lm)
-	loc_err_per_run, trace_per_run, t_arr = analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder_GS_SCI, plot_graphs = False)
+	analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder_GS_SCI, plot_graphs = False)
 
 	analyzer.algos_comparison([state_recorder, state_recorder_LS_cen, state_recorder_LS_BDA, state_recorder_LS_CI, state_recorder_GS_SCI], graph_name = graph_name)
diff --git a/CoLo-AT/UTIAS_d6.pdf b/CoLo-AT/UTIAS_d6.pdf
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diff --git a/CoLo-AT/__pycache__/Cooperative_Localization_Journal1.cpython-36.pyc b/CoLo-AT/__pycache__/Cooperative_Localization_Journal1.cpython-36.pyc
index f6917882d67cca10eaf21cefccd99f71c58f029a..994caf1e5942bfd5a5db55f4e442c674b2c52baf 100644
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diff --git a/CoLo-AT/dataset_manager/__pycache__/realworld_dataset_manager.cpython-36.pyc b/CoLo-AT/dataset_manager/__pycache__/realworld_dataset_manager.cpython-36.pyc
index de81e6ebe727461593d79fb78612610ee8c62a80..7703bdb3d0ca0acc5db1c1d0a506c1a597b0d88b 100644
GIT binary patch
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diff --git a/CoLo-AT/dataset_manager/realworld_dataset_manager.py b/CoLo-AT/dataset_manager/realworld_dataset_manager.py
index ca35dc4..e8c7c3c 100755
--- a/CoLo-AT/dataset_manager/realworld_dataset_manager.py
+++ b/CoLo-AT/dataset_manager/realworld_dataset_manager.py
@@ -90,7 +90,7 @@ class RW_Dataset_Manager:
         self.time_arr = {'odometry': [[] for i in range(self.num_robots)], 'measurement': [[] for i in range(self.num_robots)], 'groundtruth': [[] for i in range(self.num_robots)]}
 
         #initialization for MRCLAMDatasets: put files into dictionaries:
-        self.duration = duration # some more time to avoid index error
+        self.duration = duration+1# some more time to avoid index error
         self.start_time_arr = []
         #finding the starting time:
         for i, label in enumerate(self.robot_lables):
diff --git a/CoLo-AT/isrr2017_v2_2019.py b/CoLo-AT/isrr2017_v2_2019.py
index dc085bf..df03354 100644
--- a/CoLo-AT/isrr2017_v2_2019.py
+++ b/CoLo-AT/isrr2017_v2_2019.py
@@ -40,10 +40,10 @@ sim = SimulationManager('sim gs_ci')
 state_recorder = StatesRecorder('GS_CI', robot_labels)
 
 sim.sim_process_native(robot_labels, testing_dataset, robot, state_recorder, simple_plot = False)
-loc_err_per_run, trace_per_run, t_arr = analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder, plot_graphs = True)
+loc_err_per_run, trace_per_run, t_arr = .calculate_loc_err_and_trace_state_variance_per_run(state_recorder, plot_graphs = True)
 
 #animate_plot(robot_labels, state_recorder, analyzer, testing_dataset.get_landmark_map())
-
+analyzer.trajectory_plot(data_recorder)
 ##############################################################################
 
 testing_dataset.dataset_reset()
diff --git a/CoLo-AT/j1_rw.py b/CoLo-AT/j1_rw.py
index 4cdbb13..5ddda45 100644
--- a/CoLo-AT/j1_rw.py
+++ b/CoLo-AT/j1_rw.py
@@ -21,11 +21,11 @@ for i in [1, 2, 3, 4]:
 datasets_path = "/home/william/CoLo/CoLo-D/UTIAS-dataset/MRCLAM_Dataset" # for desktop Ubuntu
 
 robot_labels = [1,2,3,4,5]
-duration = 600 # duration for the simulation in sec
+duration = 100 # duration for the simulation in sec
 
-for i in range(1, 9):
-    dataset_label = str(i)
-    dataset_path = datasets_path + dataset_label + "/"
-    graph_name = 'UTIAS_d'+dataset_label
-    print(dataset_path)
-    all_algorithms_comp(dataset_path, robot_labels, duration, graph_name, robots_cant_observe_lm = [4, 5])
\ No newline at end of file
+i = 6
+dataset_label = str(i)
+dataset_path = datasets_path + dataset_label + "/"
+graph_name = 'UTIAS_d'+dataset_label
+print(dataset_path)
+all_algorithms_comp(dataset_path, robot_labels, duration, graph_name, robots_cant_observe_lm = [4, 5])
\ No newline at end of file
diff --git a/CoLo-AT/simulation_process/__pycache__/sim_manager.cpython-36.pyc b/CoLo-AT/simulation_process/__pycache__/sim_manager.cpython-36.pyc
index 898bd634c5771fc458900a539937375e91f436bf..cd22333eeb9494a4a8108613451740afd219fd98 100644
GIT binary patch
delta 19
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delta 19
acmaE*`AU<^n3tC;iQ!w!N9m1R4@3Y&YX<iK

diff --git a/CoLo-AT/simulation_process/sim_manager.py b/CoLo-AT/simulation_process/sim_manager.py
index 08908cd..9f2fabc 100644
--- a/CoLo-AT/simulation_process/sim_manager.py
+++ b/CoLo-AT/simulation_process/sim_manager.py
@@ -89,7 +89,7 @@ class SimulationManager():
 
 		state_var = []
 		while self.time < start_time+duration: 
-			#print("Current time:", self.time)
+			#print("remaining time:", start_time+duration-self.time)
 			g_req= request_response.Request_response(None, None)
 			prev_time = self.time 
 			valid_op, self.time , rsp = dm.respond(g_req, self.time)
-- 
GitLab