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Commit 4b3c283a authored by Russ Fish's avatar Russ Fish
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New format of analysis file.

parent 48bcb0d5
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robots/vmcd/analysis_w_plot.awk 0 → 100755
View file @ 4b3c283a
#! /usr/bin/awk -f
# analysis_w_plot.awk - Make gnuplot data files from dump_analyzer output.
#
# std input : an analysis_camera* file.
# Option vars, set with -v var=arg:
# -v file=base. - Base name of output files, null string by default.
# -v mag=10 - Magnification factor on error line length, 1 by default.
#
# output: file.grid_points - The section title world coordinates.
# file.error_lines - Lines from the grid points to mean_wx, mean_wy.
#
# gnuplot commands:
# plot "grid_points" with points
# plot "grid_points" with points ps 2, "error_lines" with lines lw 3
BEGIN { pfile = file "grid_points"
efile = file "error_lines"
if ( !mag ) mag=1; print mag
}
/^section /{ gsub("[(,)]","")
x=$2; y=$3;
print x, y > pfile
next
}
/^ mean_wx /{ mx=x+($3-x)*mag
next
}
/^ mean_wy /{ my=y+($3-y)*mag
printf "%f %f\n%f %f\n\n", x, y, mx, my > efile
next
}
robots/vmcd/dump_analyzer.py
View file @ 4b3c283a
......@@ -33,24 +33,27 @@ def debug(msg):
# Classes
class ObjectData:
def __init__(self,lx,ly,lt,rx,ry,rt,gx,gy,gt):
self.lx = lx
self.ly = ly
self.lt = lt
self.rx = rx
self.ry = ry
self.rt = rt
self.gx = gx
self.gy = gy
self.gt = gt
pass
def __init__(self,ax,ay,bx,by,wx,wy,wa):
# Pixel coords of blob centers.
self.ax = ax
self.ay = ay
self.bx = bx
self.by = by
# Apply camera offset to world coords.
self.wx = wx + options['camera_x']
self.wy = wy + options['camera_y']
self.wa = wa
pass
def toString(self):
return 'ObjectData=(' + \
' lx='+str(self.lx)+',ly='+str(self.ly)+',lt='+str(self.lt)+ \
',rx='+str(self.rx)+',ry='+str(self.ry)+',rt='+str(self.rt)+ \
',gx='+str(self.gx)+',gy='+str(self.gy)+',gt='+str(self.gt)+ \
') '
return 'ObjectData=('+\
'ax='+str(self.ax)+',ay='+str(self.ay)+\
',bx='+str(self.bx)+',by='+str(self.by)+\
',wx='+str(self.wx)+',wy='+str(self.wy)+',wa='+str(self.wa)+\
')'
pass # end of ObjectData
......@@ -65,8 +68,10 @@ class FrameData:
def toString(self):
s = 'FrameData=(n = '+str(self.id)+', t = '+str(self.timestamp)+ \
', objects = {' # +str(self.objects)
for k,v in self.objects.iteritems():
s += str(k)+'=>'+str(v.toString())+','
l = len(self.objects)
for i in range(l):
s += str(self.objects[i].toString())
if i<l-1: s += ','
pass
s += '}'
return s
......@@ -101,7 +106,7 @@ class Section:
# globals
datafile = 0
results = dict([])
results = []
framedata = []
line = ""
options = dict({ 'x_offset': 0.0,
......@@ -109,6 +114,8 @@ options = dict({ 'x_offset': 0.0,
'z_offset': 0.0,
'number of frames': 0,
'frame interval': 0,
'camera_x': 0.0, # Camera offset, in meters.
'camera_y': 0.0,
})
def mean(list):
......@@ -134,7 +141,11 @@ def stddev(list):
for n in deviation_list:
sum_of_squared_deviations += math.pow(n,2)
pass
stddev = math.sqrt(sum_of_squared_deviations / (len(list) - 1))
if len(list) == 1:
stddev = -1.0
else:
stddev = math.sqrt(sum_of_squared_deviations / (len(list) - 1))
pass
return stddev
def analyze(section):
......@@ -147,81 +158,69 @@ def analyze(section):
sr['valid_frames'] = 0
sr['invalid_frames'] = 0
sr['mult_meas_frames'] = 0
#sr['lx_sum'] = 0.0
# these are the stats we'll be grabbing, but no point to declaring
# them here
#sr['mean_lx'] = 0.0
#sr['stddev_lx'] = 0.0
#sr['mean_lx_minus_actual_lx'] = 0.0
#sr['stddev_lx_minus_actual_lx'] = 0.0
#sr['mean_ly'] = 0.0
#sr['stddev_ly'] = 0.0
#sr['mean_ly_minus_actual_ly'] = 0.0
#sr['stddev_ly_minus_actual_ly'] = 0.0
#sr['mean_lt'] = 0.0
#sr['stddev_lt'] = 0.0
#sr['mean_lt_minus_actual_lt'] = 0.0
#sr['stddev_lt_minus_actual_lt'] = 0.0
#sr['mean_rx'] = 0.0
#sr['stddev_rx'] = 0.0
#sr['mean_rx_minus_actual_lx'] = 0.0
#sr['stddev_rx_minus_actual_lx'] = 0.0
#sr['mean_ry'] = 0.0
#sr['stddev_ry'] = 0.0
#sr['mean_ry_minus_actual_ly'] = 0.0
#sr['stddev_ry_minus_actual_ly'] = 0.0
#sr['mean_rt'] = 0.0
#sr['stddev_rt'] = 0.0
#sr['mean_rt_minus_actual_lt'] = 0.0
#sr['stddev_rt_minus_actual_lt'] = 0.0
sr['bad_data_frames'] = 0
temp = dict([])
temp['lx_minus_actual_lx'] = []
temp['lx'] = []
temp['ly_minus_actual_ly'] = []
temp['ly'] = []
temp['lt_minus_actual_lt'] = []
temp['lt'] = []
temp['ax'] = []
temp['ay'] = []
temp['bx'] = []
temp['by'] = []
temp['rx_minus_actual_lx'] = []
temp['rx'] = []
temp['ry_minus_actual_ly'] = []
temp['ry'] = []
temp['rt_minus_actual_lt'] = []
temp['rt'] = []
temp['wx'] = []
temp['wx_offset'] = []
temp['wx_error'] = []
temp['wy'] = []
temp['wy_offset'] = []
temp['wy_error'] = []
temp['wxy_error'] = []
temp['wa'] = []
for f in section.frames:
c = len(f.objects.keys())
c = len(f.objects)
if c > 1:
sr['mult_meas_frames'] += 1
pass
elif c == 1:
sr['valid_frames'] += 1
keys = f.objects.keys()
#sr['lx_sum'] += f.objects[keys[0]].lx
temp['lx_minus_actual_lx'].append(f.objects[keys[0]].lx - \
section.lx)
temp['lx'].append(f.objects[keys[0]].lx)
temp['ly_minus_actual_ly'].append(f.objects[keys[0]].ly - \
section.ly)
temp['ly'].append(f.objects[keys[0]].ly)
temp['lt_minus_actual_lt'].append(f.objects[keys[0]].lt - \
section.lt)
temp['lt'].append(f.objects[keys[0]].lt)
temp['rx_minus_actual_lx'].append(f.objects[keys[0]].rx - \
section.lx)
temp['rx'].append(f.objects[keys[0]].rx)
temp['ry_minus_actual_ly'].append(f.objects[keys[0]].ry - \
section.ly)
temp['ry'].append(f.objects[keys[0]].ry)
temp['rt_minus_actual_lt'].append(f.objects[keys[0]].rt - \
section.lt)
temp['rt'].append(f.objects[keys[0]].rt)
ax = f.objects[0].ax
ay = f.objects[0].ay
bx = f.objects[0].bx
by = f.objects[0].by
# Filter out bad, glitchy pixel data where the two blobs do not
# agree in X and Y. They have to be within about a
# fiducial-diameter of each other.
fid = 13 # Diameter of a fiducial at the center.
eps = fid*1.5
##print "ax=%f, ay=%f, bx=%f, by=%f"%(ax, ay, bx, by)
if abs(bx-ax) > eps or abs(by-ay) > eps:
##print "bad"
sr['bad_data_frames'] += 1
else:
##print "good"
sr['valid_frames'] += 1
temp['ax'].append(ax)
temp['ay'].append(ay)
temp['bx'].append(bx)
temp['by'].append(by)
temp['wx'].append(f.objects[0].wx)
xdiff = f.objects[0].wx - section.lx
temp['wx_offset'].append(xdiff)
temp['wx_error'].append(math.fabs(xdiff))
temp['wy'].append(f.objects[0].wy)
ydiff = f.objects[0].wy - section.ly
temp['wy_offset'].append(ydiff)
temp['wy_error'].append(math.fabs(ydiff))
temp['wxy_error'].append(math.hypot(xdiff,ydiff))
temp['wa'].append(f.objects[0].wa)
pass
pass
elif c == 0:
sr['invalid_frames'] += 1
......@@ -229,39 +228,47 @@ def analyze(section):
pass
# calc the stats
sr['mean_lx'] = mean(temp['lx'])
sr['stddev_lx'] = stddev(temp['lx'])
sr['mean_lx_minus_actual_lx'] = mean(temp['lx_minus_actual_lx'])
sr['stddev_lx_minus_actual_lx'] = stddev(temp['lx_minus_actual_lx'])
sr['mean_ly'] = mean(temp['ly'])
sr['stddev_ly'] = stddev(temp['ly'])
sr['mean_ly_minus_actual_ly'] = mean(temp['ly_minus_actual_ly'])
sr['stddev_ly_minus_actual_ly'] = stddev(temp['ly_minus_actual_ly'])
sr['mean_lt'] = mean(temp['lt'])
sr['stddev_lt'] = stddev(temp['lt'])
sr['mean_lt_minus_actual_lt'] = mean(temp['lt_minus_actual_lt'])
sr['stddev_lt_minus_actual_lt'] = stddev(temp['lt_minus_actual_lt'])
sr['mean_ax'] = mean(temp['ax'])
sr['stddev_ax'] = stddev(temp['ax'])
sr['mean_ay'] = mean(temp['ay'])
sr['stddev_ay'] = stddev(temp['ay'])
sr['mean_rx'] = mean(temp['rx'])
sr['stddev_rx'] = stddev(temp['rx'])
sr['mean_rx_minus_actual_lx'] = mean(temp['rx_minus_actual_lx'])
sr['stddev_rx_minus_actual_lx'] = stddev(temp['rx_minus_actual_lx'])
sr['mean_ry'] = mean(temp['ry'])
sr['stddev_ry'] = stddev(temp['ry'])
sr['mean_ry_minus_actual_ly'] = mean(temp['ry_minus_actual_ly'])
sr['stddev_ry_minus_actual_ly'] = stddev(temp['ry_minus_actual_ly'])
sr['mean_rt'] = mean(temp['rt'])
sr['stddev_rt'] = stddev(temp['rt'])
sr['mean_rt_minus_actual_lt'] = mean(temp['rt_minus_actual_lt'])
sr['stddev_rt_minus_actual_lt'] = stddev(temp['rt_minus_actual_lt'])
sr['mean_bx'] = mean(temp['bx'])
sr['stddev_bx'] = stddev(temp['bx'])
sr['mean_by'] = mean(temp['by'])
sr['stddev_by'] = stddev(temp['by'])
sr['mean_wx'] = mean(temp['wx'])
sr['stddev_wx'] = stddev(temp['wx'])
sr['mean_wy'] = mean(temp['wy'])
sr['stddev_wy'] = stddev(temp['wy'])
sr['mean_wx_offset'] = mean(temp['wx_offset'])
tr['wx_offsets'].append(sr['mean_wx_offset'])
sr['stddev_wx_offset'] = stddev(temp['wx_offset'])
sr['mean_wy_offset'] = mean(temp['wy_offset'])
tr['wy_offsets'].append(sr['mean_wy_offset'])
sr['stddev_wy_offset'] = stddev(temp['wy_offset'])
sr['mean_wx_error'] = mean(temp['wx_error'])
tr['wx_errors'].append(sr['mean_wx_error'])
sr['stddev_wx_error'] = stddev(temp['wx_error'])
sr['mean_wy_error'] = mean(temp['wy_error'])
tr['wy_errors'].append(sr['mean_wy_error'])
sr['stddev_wy_error'] = stddev(temp['wy_error'])
sr['mean_wxy_error'] = mean(temp['wxy_error'])
tr['wxy_errors'].append(sr['mean_wxy_error'])
sr['stddev_wxy_error'] = stddev(temp['wxy_error'])
sr['mean_wa'] = mean(temp['wa'])
sr['stddev_wa'] = stddev(temp['wa'])
# store results
results["("+str(section.lx)+", "+str(section.ly)+")"] = sr
results.append(["("+str(section.lx)+", "+str(section.ly)+")", sr])
pass
# start reading the file:
if sys.argv[1] != "":
if len(sys.argv) == 2:
datafile = file(sys.argv[1])
pass
else:
......@@ -275,26 +282,38 @@ in_config = True
re_config_option_float = re.compile(" \- ([ \w]+): (\-*\d+\.\d+)")
re_config_option_int = re.compile(" \- ([ \w]+): (\-*\d+)")
re_config_option_string = re.compile(" \- ([ \w]+): (.*)")
re_section = re.compile("section:\s*\((\-*\d+\.\d+)\s*,\s*(\-*\d+\.\d+)\s*\)")
fpnum = "\s*(\-*\d+\.\d+)\s*"
re_section = re.compile("section:\s*\("+fpnum+","+fpnum+"\)")
re_section_sep = re.compile("\+\+\+")
re_frame_title = re.compile("frame (\d+) \(timestamp (\d+\.\d+)\):")
re_frame_data_line = re.compile(" \- (\w+)\[(\d+)\]:\s*x = (\-*\d+\.\d+), y = (\-*\d+\.\d+), theta = (\-*\d+\.\d+)")
re_frame_title = re.compile("frame (\d+) \(timestamp"+fpnum+"\):")
re_frame_data_line = re.compile("a\("+fpnum+","+fpnum+"\)\s*"
"b\("+fpnum+","+fpnum+"\)\s*"
"-- wc\("+fpnum+","+fpnum+","+fpnum+"\)\s*")
# a Section obj
current_section = None
# a FrameData obj
current_frame = None
# ObjectData objs
current_objs = dict([])
current_objs = []
line = datafile.readline()
# Totals over sections handled in analyze().
tr = dict([])
tr['wx_offsets'] = [] # Bias.
tr['wy_offsets'] = []
tr['wx_errors'] = [] # Deviation.
tr['wy_errors'] = []
tr['wxy_errors'] = []
while line != "":
# chop the newline
line = line.strip('\n')
#print "line = "+line
if line == "":
# Ignore null lines and lines commented-out by pound-signs.
if line == "" or line[0] == '#':
in_config = False
pass
elif in_config:
......@@ -334,38 +353,15 @@ while line != "":
m2 = re_frame_title.match(line)
m3 = re_section_sep.match(line)
if m1 != None:
#print "m1.group(2) = "+m1.group(2)
if not current_objs.has_key(int(m1.group(2))):
current_objs[int(m1.group(2))] = ObjectData(0,0,0,0,0,0,0,0,0)
pass
if m1.group(1) == 'local':
debug("found local: "+str(float(m1.group(3)))+","+ \
str(float(m1.group(4)))+","+str(float(m1.group(5))))
current_objs[int(m1.group(2))].lx = float(m1.group(3))
current_objs[int(m1.group(2))].ly = float(m1.group(4))
current_objs[int(m1.group(2))].lt = float(m1.group(5))
pass
elif m1.group(1) == 'radial':
debug("found radial: "+str(float(m1.group(3)))+","+ \
str(float(m1.group(4)))+","+str(float(m1.group(5))))
current_objs[int(m1.group(2))].rx = float(m1.group(3))
current_objs[int(m1.group(2))].ry = float(m1.group(4))
current_objs[int(m1.group(2))].rt = float(m1.group(5))
pass
elif m1.group(1) == 'global':
debug("found global: "+str(float(m1.group(3)))+","+ \
str(float(m1.group(4)))+","+str(float(m1.group(5))))
current_objs[int(m1.group(2))].gx = float(m1.group(3))
current_objs[int(m1.group(2))].gy = float(m1.group(4))
current_objs[int(m1.group(2))].gt = float(m1.group(5))
pass
debug("found frame data")
current_objs.append(ObjectData( *[float(d) for d in m1.groups()] ))
pass
elif m2 != None:
# new frame; if old frame != 0, add it
debug("found frame title")
if current_frame != None:
current_frame.objects = current_objs
current_objs = dict([])
current_objs = []
current_section.addFrameData(current_frame)
pass
current_frame = FrameData(int(m2.group(1)),
......@@ -379,7 +375,7 @@ while line != "":
# add current_objs to frame.objects
if current_frame != None:
current_frame.objects = current_objs
current_objs = dict([])
current_objs = []
current_section.addFrameData(current_frame)
current_frame = None
pass
......@@ -400,35 +396,72 @@ while line != "":
debug(options)
for k,v in results.iteritems():
for k,v in results:
print "section "+str(k)+" results:"
# individual stats:
print " valid_frames = "+v['valid_frames']
print " invalid_frames = "+v['invalid_frames']
print " mult_meas_frames = "+v['mult_meas_frames']
print " mean_lx = "+v['mean_lx']
print " stddev_lx = "+v['stddev_lx']
print " mean_ly = "+v['mean_ly']
print " stddev_ly = "+v['stddev_ly']
print " mean_lt = "+v['mean_lt']
print " stddev_lt = "+v['stddev_lt']
print " mean_lx_minus_actual_lx = "+v['mean_lx_minus_actual_lx']
print " stddev_lx_minus_actual_lx = "+v['stddev_lx_minus_actual_lx']
print " mean_ly_minus_actual_ly = "+v['mean_ly_minus_actual_ly']
print " stddev_ly_minus_actual_ly = "+v['stddev_ly_minus_actual_ly']
print " mean_lt_minus_actual_lt = "+v['mean_lt_minus_actual_lt']
print " stddev_lt_minus_actual_lt = "+v['stddev_lt_minus_actual_lt']
print " mean_rx_minus_actual_lx = "+v['mean_rx_minus_actual_lx']
print " stddev_rx_minus_actual_lx = "+v['stddev_rx_minus_actual_lx']
print " mean_ry_minus_actual_ly = "+v['mean_ry_minus_actual_ly']
print " stddev_ry_minus_actual_ly = "+v['stddev_ry_minus_actual_ly']
print " mean_rt_minus_actual_lt = "+v['mean_rt_minus_actual_lt']
print " stddev_rt_minus_actual_lt = "+v['stddev_rt_minus_actual_lt']
print " valid_frames = "+str(v['valid_frames'])
print " bad_data_frames = "+str(v['bad_data_frames'])
print " invalid_frames = "+str(v['invalid_frames'])
print " mult_meas_frames = "+str(v['mult_meas_frames'])
print " mean_ax = "+str(v['mean_ax'])
print " stddev_ax = "+str(v['stddev_ax'])
print " mean_ay = "+str(v['mean_ay'])
print " stddev_ay = "+str(v['stddev_ay'])
print " mean_bx = "+str(v['mean_bx'])
print " stddev_bx = "+str(v['stddev_bx'])
print " mean_by = "+str(v['mean_by'])
print " stddev_by = "+str(v['stddev_by'])
print " mean_wx = "+str(v['mean_wx'])
print " stddev_wx = "+str(v['stddev_wx'])
print " mean_wy = "+str(v['mean_wy'])
print " stddev_wy = "+str(v['stddev_wy'])
print " mean_wa = "+str(v['mean_wa'])
print " stddev_wa = "+str(v['stddev_wa'])
print " mean_wx_offset = "+str(v['mean_wx_offset'])
print " stddev_wx_offset = "+str(v['stddev_wx_offset'])
print " mean_wy_offset = "+str(v['mean_wy_offset'])
print " stddev_wy_offset = "+str(v['stddev_wy_offset'])
print " mean_wx_error = "+str(v['mean_wx_error'])
print " stddev_wx_error = "+str(v['stddev_wx_error'])
print " mean_wy_error = "+str(v['mean_wy_error'])
print " stddev_wy_error = "+str(v['stddev_wy_error'])
print " mean_wxy_error = "+str(v['mean_wxy_error'])
print " stddev_wxy_error = "+str(v['stddev_wxy_error'])
# for k2,v2 in v.iteritems():
# print " "+str(k2)+" = "+str(v2)
# pass
# pass
pass
print "\ntotal results:"
print " max_wx_offset = "+str(max(tr['wx_offsets']))
print " min_wx_offset = "+str(min(tr['wx_offsets']))
print " mean_wx_offset = "+str(mean(tr['wx_offsets']))
print " stddev_wx_offset = "+str(stddev(tr['wx_offsets']))
print ""
print " max_wy_offset = "+str(max(tr['wy_offsets']))
print " min_wy_offset = "+str(min(tr['wy_offsets']))
print " mean_wy_offset = "+str(mean(tr['wy_offsets']))
print " stddev_wy_offset = "+str(stddev(tr['wy_offsets']))
print ""
print " max_wx_error = "+str(max(tr['wx_errors']))
print " min_wx_error = "+str(min(tr['wx_errors']))
print " mean_wx_error = "+str(mean(tr['wx_errors']))
print " stddev_wx_error = "+str(stddev(tr['wx_errors']))
print ""
print " max_wy_error = "+str(max(tr['wy_errors']))
print " min_wy_error = "+str(min(tr['wy_errors']))
print " mean_wy_error = "+str(mean(tr['wy_errors']))
print " stddev_wy_error = "+str(stddev(tr['wy_errors']))
print ""
print " max_wxy_error = "+str(max(tr['wxy_errors']))
print " min_wxy_error = "+str(min(tr['wxy_errors']))
print " mean_wxy_error = "+str(mean(tr['wxy_errors']))
print " stddev_wxy_error = "+str(stddev(tr['wxy_errors']))
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