From b67df080b089d0fa460713c2089aaa2bee819204 Mon Sep 17 00:00:00 2001 From: William Chen <billyskc@ucla.edu> Date: Fri, 19 Jul 2019 17:43:12 -0700 Subject: [PATCH] modified analyzer --- CoLo-AT/Cooperative_Localization_Journal1.py | 1 + CoLo-AT/RMSE.txt | 363 ++++++++++++++++++ CoLo-AT/RMTE.txt | 363 ++++++++++++++++++ ...ative_Localization_Journal1.cpython-36.pyc | Bin 2553 -> 2598 bytes CoLo-AT/colo_d3.pdf | Bin 36578 -> 32372 bytes .../__pycache__/data_analyzer.cpython-36.pyc | Bin 7145 -> 8103 bytes CoLo-AT/data_analysis/data_analyzer.py | 34 +- .../centralized_ekf.cpython-36.pyc | Bin 3626 -> 3626 bytes CoLo-AT/read_data_to_plot.py | 70 ++++ CoLo-AT/results.pdf | Bin 0 -> 80346 bytes .../__pycache__/state_recorder.cpython-36.pyc | Bin 4989 -> 5008 bytes CoLo-AT/simulation_process/state_recorder.py | 29 +- 12 files changed, 846 insertions(+), 14 deletions(-) create mode 100644 CoLo-AT/RMSE.txt create mode 100644 CoLo-AT/RMTE.txt create mode 100644 CoLo-AT/read_data_to_plot.py create mode 100644 CoLo-AT/results.pdf diff --git a/CoLo-AT/Cooperative_Localization_Journal1.py b/CoLo-AT/Cooperative_Localization_Journal1.py index 59f954d..476e7ab 100644 --- a/CoLo-AT/Cooperative_Localization_Journal1.py +++ b/CoLo-AT/Cooperative_Localization_Journal1.py @@ -110,3 +110,4 @@ def all_algorithms_comp(dataset_path, robot_labels, duration, graph_name, robots 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) + analyzer.generate_result_files([state_recorder, state_recorder_LS_cen, state_recorder_LS_BDA, state_recorder_LS_CI, state_recorder_GS_SCI]) \ No newline at end of file diff --git a/CoLo-AT/RMSE.txt b/CoLo-AT/RMSE.txt new file mode 100644 index 0000000..50f780a --- /dev/null +++ b/CoLo-AT/RMSE.txt @@ -0,0 +1,363 @@ +#Time GS_CI LS_cen LS_BDA LS_CI GS_SCI 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- arr_loc_err.append([time_stamps, loc_err_per_run, data_recorder.name]) + arr_loc_err.append([time_stamps, state_err_per_run, data_recorder.name]) arr_trace.append([time_stamps, trace_per_run, data_recorder.name] ) print('Plotting Comparison Graphs') @@ -306,9 +306,41 @@ class Analyzer(): + def generate_result_files(self, arr_data_recorder): + state_err_arr = [] + trace_arr = [] + algo_name_arr= [] + for data_recorder in arr_data_recorder: + recorder_name = data_recorder.get_name() + loc_err_per_run, state_err_per_run, trace_per_run, time_stamps = self.calculate_loc_err_and_trace_state_variance_per_run(data_recorder, plot_graphs = False) + algo_name_arr.append(recorder_name) + state_err_arr.append(state_err_per_run) + trace_arr.append(state_err_per_run) + RMSE_file = open("RMSE.txt", "w") + RMTE_file = open("RMTE.txt", "w") + + RMSE_file.write('#Time' + '\t') + for algo_name in algo_name_arr: + RMSE_file.write(algo_name + '\t') + + RMSE_file.write('\n') + + + for idx, time_stamp in enumerate(time_stamps): + result_str = '{:2.4f} {:2.4f} {:2.4f} {:2.4f} {:2.4f} {:2.4f}\n'.format(time_stamp, state_err_arr[0][idx], state_err_arr[1][idx], state_err_arr[2][idx], state_err_arr[3][idx], state_err_arr[4][idx]) + RMSE_file.write(result_str) + RMSE_file.close() + RMTE_file.write('#Time' + '\t') + for algo_name in algo_name_arr: + RMTE_file.write(algo_name + '\t') + RMTE_file.write('\n') + for idx, time_stamp in enumerate(time_stamps): + result_str = '{:2.4f} {:2.4f} {:2.4f} {:2.4f} {:2.4f} {:2.4f}\n'.format(time_stamp, np.sqrt(state_err_arr[0][idx]), np.sqrt(state_err_arr[1][idx]), np.sqrt(state_err_arr[2][idx]), np.sqrt(state_err_arr[3][idx]), np.sqrt(state_err_arr[4][idx])) + RMTE_file.write(result_str) + RMTE_file.close() diff --git a/CoLo-AT/localization_algos/__pycache__/centralized_ekf.cpython-36.pyc b/CoLo-AT/localization_algos/__pycache__/centralized_ekf.cpython-36.pyc index 712e9c467ad91a8c3ed5dc2086cc45ebe01529a6..b2a239a5028fbbf5b2893019f6e8f40ab48506de 100644 GIT binary patch delta 161 zcmZ1_vr2~Dn3tF9gUyeP>|59vqc-nhlVM^soP3jGjZ_qSN@`9?VtfURQF)8CDn28z zBx>_~P8B9LLk0$hBE!iixs4f(C;tVKCX)?$6pYM3!sbBY7GqYC1(1$n@rcjNDzXBJ mTY?B{5Mcu%Y(a$G<Yt~j+y)?~J&16c9Kc)27&ZA6Zvp`4aVo|D delta 161 zcmZ1_vr2~Dn3tC;r2WH2_AP9Tw>Ix#lVM^sntYREjnpmnl+>J(#P|vrqw*GOReVNb z$*s-vIaQe0j2IXgii{?o<ThqBnfw<>noc(4Q7|$G30nY(TZ~ynmLQtNBR(^$$POfK l10w7}gae3h1QAY?n|Tg#8-ke5Ai{le0B<GZt;wf&69Cl2EtUWP diff --git a/CoLo-AT/read_data_to_plot.py b/CoLo-AT/read_data_to_plot.py new file mode 100644 index 0000000..ea52180 --- /dev/null +++ b/CoLo-AT/read_data_to_plot.py @@ -0,0 +1,70 @@ +import matplotlib.pyplot as plt +import numpy as np + +RMSE_file = open("RMSE.txt", "r") +RMTE_file = open("RMTE.txt", "r") + +RMSE_arr = [] +RMTE_arr = [] + + +RMSE_line = RMSE_file.readline() +names = RMSE_line.split('\t') +del names[0] +del names[-1] +print(names) + + +for RMSE_line in RMSE_file: + RMSE = RMSE_line.split(' ') + [float(i) for i in RMSE] + RMSE_arr.append(np.array(RMSE)) + +RMSE_arr = np.array(RMSE_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)) + +RMTE_arr = np.array(RMTE_arr) + + +RMSE_file.close() +RMTE_file.close() + +print(RMSE_arr[0,:]) + + + +fig = plt.figure() +fig1 = fig.add_subplot(211) +fig2 = fig.add_subplot(212) + +for idx, name in enumerate(names): + fig1.plot(RMSE_arr[:,0], RMSE_arr[:,idx+1], label = name) + + fig2.plot(RMTE_arr[:,0], RMTE_arr[:,idx+1], label = name) + +fig1.set_title('RMSE') +fig1.set_xlabel('Time [s]') +fig1.set_ylabel('RMS [m]') +#fig1.set_ylim(0, 1) +fig1.legend(loc=1) +fig1.legend(loc='center left', bbox_to_anchor=(1, 0.5)) +#fig1.tick_params(labelsize=18) + +fig2.set_title('RMTE') +fig2.set_xlabel('Time [s]') +fig2.set_ylabel('RMTE [m]') +#fig2.set_ylim(0, 1) +fig2.legend(loc=1) +fig2.legend(loc='center left', bbox_to_anchor=(1, 0.5)) +#fig2.tick_params(labelsize=18) + +plt.subplots_adjust(hspace=.6) 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diff --git a/CoLo-AT/simulation_process/state_recorder.py b/CoLo-AT/simulation_process/state_recorder.py index ad6a540..84ec937 100644 --- a/CoLo-AT/simulation_process/state_recorder.py +++ b/CoLo-AT/simulation_process/state_recorder.py @@ -19,13 +19,13 @@ class StatesRecorder(): self.updata_type_in_time_order = [] self.num_robots = len(self.dataset_labels) self.loc_err_arr = {} - self.trace_sigma_s_arr = {} + self.trace_state_var_arr = {} self.updata_type_arr = {} self.gt_states = np.matrix(np.zeros((2*self.num_robots,1))) for i, label in enumerate(self.dataset_labels): self.recorded_data[label]=[] self.loc_err_arr[label]=[] - self.trace_sigma_s_arr[label]=[] + self.trace_state_var_arr[label]=[] self.updata_type_arr[label]=[] def set_starting_state(self, stating_states): @@ -44,7 +44,7 @@ class StatesRecorder(): self.data_in_time_order.append(recorded_dataline) self.recorded_data[label].append(recorded_dataline) self.loc_err_arr[label].append(0) - self.trace_sigma_s_arr[label].append(initial_trace_state_var) + self.trace_state_var_arr[label].append(initial_trace_state_var) self.updata_type_arr[label].append('ini') self.updata_type_in_time_order.append('ini') @@ -80,12 +80,12 @@ class StatesRecorder(): loc_err = sqrt((est_x_pos-gt_x_pos)*(est_x_pos-gt_x_pos)+(est_y_pos-gt_y_pos)*(est_y_pos-gt_y_pos)) recorded_dataline = [time, robot_label, est_x_pos, est_y_pos, trace_state_var, gt_x_pos, gt_y_pos, loc_err, est_states, self.gt_states.copy()] - #warning (optional) + #warnings (optional) ''' if(trace_state_var<0): print('TIME: ', time+self.start_time) print(updata_type) - print('neg trace: ', recorded_dataline) + print('negative trace of state variances: ', recorded_dataline) ''' ''' if(loc_err >= 1): @@ -100,7 +100,7 @@ class StatesRecorder(): self.updata_type_in_time_order.append(updata_type) self.recorded_data[robot_label].append(recorded_dataline) self.loc_err_arr[robot_label].append(loc_err) - self.trace_sigma_s_arr[robot_label].append(trace_state_var) + self.trace_state_var_arr[robot_label].append(trace_state_var) self.updata_type_arr[robot_label].append(updata_type) @@ -121,8 +121,8 @@ class StatesRecorder(): def get_loc_err_arr(self): return self.loc_err_arr - def get_trace_sigma_s_arr(self): - return self.trace_sigma_s_arr + def get_trace_state_var_arr(self): + return self.trace_state_var_arr def get_update_type_arr(self): return self.updata_type_arr @@ -133,22 +133,22 @@ class StatesRecorder(): fig1 = fig.add_subplot(211) fig2 = fig.add_subplot(212) loc_err_arr = self.get_loc_err_arr() - trace_sigma_s_arr = self.get_trace_sigma_s_arr() + trace_state_var_arr = self.get_trace_state_var_arr() for i, label in enumerate(self.dataset_labels): time_arr = self.get_time_arr(label) fig1.plot(time_arr, loc_err_arr[label], label= 'Robot %d' %label) - fig2.plot(time_arr, trace_sigma_s_arr[label], label= 'Robot %d' %label) + fig2.plot(time_arr, np.sqrt(trace_state_var_arr[label]), label= 'Robot %d' %label) print('Robot',label, 'loc err: ', sum(loc_err_arr[label])/len(loc_err_arr[label])) - print('Robot',label, 'trace Sigma_s: ', sum(trace_sigma_s_arr[label])/len(trace_sigma_s_arr[label])) + print('Robot',label, 'RMTE: ', sum(np.sqrt(trace_state_var_arr[label]))/len(trace_state_var_arr[label])) fig1.set_title('Estimation deviation error') fig1.set_xlabel('Time[s]') - fig1.set_ylabel('RMS[m]') + fig1.set_ylabel('loc err [m]') #fig1.set_ylim(0, 6) fig1.legend(loc='center left', bbox_to_anchor=(1, 0.5)) fig2.set_title('Trace of state variance') fig2.set_xlabel('Time [s]') - fig2.set_ylabel('Sigma_s [m^2]') + fig2.set_ylabel('RMTE [m]') #fig2.set_ylim(0, 0.08) fig2.legend(loc='center left', bbox_to_anchor=(1, 0.5)) @@ -157,3 +157,6 @@ class StatesRecorder(): return True + + + -- GitLab