diff options
Diffstat (limited to 'tools/orientationplot')
| -rwxr-xr-x | tools/orientationplot/orientationplot.py | 132 |
1 files changed, 54 insertions, 78 deletions
diff --git a/tools/orientationplot/orientationplot.py b/tools/orientationplot/orientationplot.py index 07449d4..3a44cb2 100755 --- a/tools/orientationplot/orientationplot.py +++ b/tools/orientationplot/orientationplot.py @@ -131,42 +131,28 @@ class Plotter: self.orientation_angle_axes, 'orientation', 'black') self._add_timeseries_legend(self.orientation_angle_axes) - self.actual_orientation = self._make_timeseries() - self.proposed_orientation = self._make_timeseries() + self.current_rotation = self._make_timeseries() + self.proposed_rotation = self._make_timeseries() + self.proposal_rotation = self._make_timeseries() self.orientation_axes = self._add_timeseries_axes( - 5, 'Actual / Proposed Orientation and Confidence', 'rotation', [-1, 4], + 5, 'Current / Proposed Orientation and Confidence', 'rotation', [-1, 4], sharex=shared_axis, yticks=range(0, 4)) - self.actual_orientation_line = self._add_timeseries_line( - self.orientation_axes, 'actual', 'black', linewidth=2) - self.proposed_orientation_line = self._add_timeseries_line( - self.orientation_axes, 'proposed', 'purple', linewidth=3) + self.current_rotation_line = self._add_timeseries_line( + self.orientation_axes, 'current', 'black', linewidth=2) + self.proposal_rotation_line = self._add_timeseries_line( + self.orientation_axes, 'proposal', 'purple', linewidth=3) + self.proposed_rotation_line = self._add_timeseries_line( + self.orientation_axes, 'proposed', 'green', linewidth=3) self._add_timeseries_legend(self.orientation_axes) - self.confidence = [[self._make_timeseries(), self._make_timeseries()] for i in range(0, 4)] - self.confidence_polys = [] - - self.combined_confidence = self._make_timeseries() - self.orientation_confidence = self._make_timeseries() - self.tilt_confidence = self._make_timeseries() - self.magnitude_confidence = self._make_timeseries() - self.confidence_axes = self._add_timeseries_axes( - 6, 'Proposed Orientation Confidence Factors', 'confidence', [-0.1, 1.1], - sharex=shared_axis, - yticks=[0.0, 0.2, 0.4, 0.6, 0.8, 1.0]) - self.combined_confidence_line = self._add_timeseries_line( - self.confidence_axes, 'combined', 'purple', linewidth=2) - self.orientation_confidence_line = self._add_timeseries_line( - self.confidence_axes, 'orientation', 'black') - self.tilt_confidence_line = self._add_timeseries_line( - self.confidence_axes, 'tilt', 'brown') - self.magnitude_confidence_line = self._add_timeseries_line( - self.confidence_axes, 'magnitude', 'orange') - self._add_timeseries_legend(self.confidence_axes) + self.proposal_confidence = [[self._make_timeseries(), self._make_timeseries()] + for i in range(0, 4)] + self.proposal_confidence_polys = [] self.sample_latency = self._make_timeseries() self.sample_latency_axes = self._add_timeseries_axes( - 7, 'Accelerometer Sampling Latency', 'ms', [-10, 500], + 6, 'Accelerometer Sampling Latency', 'ms', [-10, 500], sharex=shared_axis, yticks=range(0, 500, 100)) self.sample_latency_line = self._add_timeseries_line( @@ -186,7 +172,7 @@ class Plotter: # Add a subplot to the figure for a time series. def _add_timeseries_axes(self, index, title, ylabel, ylim, yticks, sharex=None): - num_graphs = 7 + num_graphs = 6 height = 0.9 / num_graphs top = 0.95 - height * index axes = self.fig.add_axes([0.1, top, 0.8, height], @@ -234,13 +220,10 @@ class Plotter: self.parse_magnitude = None self.parse_tilt_angle = None self.parse_orientation_angle = None - self.parse_proposed_orientation = None - self.parse_combined_confidence = None - self.parse_orientation_confidence = None - self.parse_tilt_confidence = None - self.parse_magnitude_confidence = None - self.parse_actual_orientation = None - self.parse_confidence = None + self.parse_current_rotation = None + self.parse_proposed_rotation = None + self.parse_proposal_rotation = None + self.parse_proposal_confidence = None self.parse_sample_latency = None # Update samples. @@ -284,26 +267,13 @@ class Plotter: if line.find('orientationAngle=') != -1: self.parse_orientation_angle = self._get_following_number(line, 'orientationAngle=') - if line.find('Proposal:') != -1: - self.parse_proposed_orientation = self._get_following_number(line, 'proposedOrientation=') - self.parse_combined_confidence = self._get_following_number(line, 'combinedConfidence=') - self.parse_orientation_confidence = self._get_following_number(line, 'orientationConfidence=') - self.parse_tilt_confidence = self._get_following_number(line, 'tiltConfidence=') - self.parse_magnitude_confidence = self._get_following_number(line, 'magnitudeConfidence=') - if line.find('Result:') != -1: - self.parse_actual_orientation = self._get_following_number(line, 'rotation=') - self.parse_confidence = self._get_following_array_of_numbers(line, 'confidence=') + self.parse_current_rotation = self._get_following_number(line, 'currentRotation=') + self.parse_proposed_rotation = self._get_following_number(line, 'proposedRotation=') + self.parse_proposal_rotation = self._get_following_number(line, 'proposalRotation=') + self.parse_proposal_confidence = self._get_following_number(line, 'proposalConfidence=') self.parse_sample_latency = self._get_following_number(line, 'timeDeltaMS=') - for i in range(0, 4): - if self.parse_confidence is not None: - self._append(self.confidence[i][0], timeindex, i) - self._append(self.confidence[i][1], timeindex, i + self.parse_confidence[i]) - else: - self._append(self.confidence[i][0], timeindex, None) - self._append(self.confidence[i][1], timeindex, None) - self._append(self.raw_acceleration_x, timeindex, self.parse_raw_acceleration_x) self._append(self.raw_acceleration_y, timeindex, self.parse_raw_acceleration_y) self._append(self.raw_acceleration_z, timeindex, self.parse_raw_acceleration_z) @@ -313,12 +283,22 @@ class Plotter: self._append(self.magnitude, timeindex, self.parse_magnitude) self._append(self.tilt_angle, timeindex, self.parse_tilt_angle) self._append(self.orientation_angle, timeindex, self.parse_orientation_angle) - self._append(self.actual_orientation, timeindex, self.parse_actual_orientation) - self._append(self.proposed_orientation, timeindex, self.parse_proposed_orientation) - self._append(self.combined_confidence, timeindex, self.parse_combined_confidence) - self._append(self.orientation_confidence, timeindex, self.parse_orientation_confidence) - self._append(self.tilt_confidence, timeindex, self.parse_tilt_confidence) - self._append(self.magnitude_confidence, timeindex, self.parse_magnitude_confidence) + self._append(self.current_rotation, timeindex, self.parse_current_rotation) + if self.parse_proposed_rotation >= 0: + self._append(self.proposed_rotation, timeindex, self.parse_proposed_rotation) + else: + self._append(self.proposed_rotation, timeindex, None) + if self.parse_proposal_rotation >= 0: + self._append(self.proposal_rotation, timeindex, self.parse_proposal_rotation) + else: + self._append(self.proposal_rotation, timeindex, None) + for i in range(0, 4): + self._append(self.proposal_confidence[i][0], timeindex, i) + if i == self.parse_proposal_rotation: + self._append(self.proposal_confidence[i][1], timeindex, + i + self.parse_proposal_confidence) + else: + self._append(self.proposal_confidence[i][1], timeindex, i) self._append(self.sample_latency, timeindex, self.parse_sample_latency) self._reset_parse_state() @@ -335,16 +315,13 @@ class Plotter: self._scroll(self.magnitude, bottom) self._scroll(self.tilt_angle, bottom) self._scroll(self.orientation_angle, bottom) - self._scroll(self.actual_orientation, bottom) - self._scroll(self.proposed_orientation, bottom) - self._scroll(self.combined_confidence, bottom) - self._scroll(self.orientation_confidence, bottom) - self._scroll(self.tilt_confidence, bottom) - self._scroll(self.magnitude_confidence, bottom) - self._scroll(self.sample_latency, bottom) + self._scroll(self.current_rotation, bottom) + self._scroll(self.proposed_rotation, bottom) + self._scroll(self.proposal_rotation, bottom) for i in range(0, 4): - self._scroll(self.confidence[i][0], bottom) - self._scroll(self.confidence[i][1], bottom) + self._scroll(self.proposal_confidence[i][0], bottom) + self._scroll(self.proposal_confidence[i][1], bottom) + self._scroll(self.sample_latency, bottom) # Redraw the plots. self.raw_acceleration_line_x.set_data(self.raw_acceleration_x) @@ -356,20 +333,19 @@ class Plotter: self.magnitude_line.set_data(self.magnitude) self.tilt_angle_line.set_data(self.tilt_angle) self.orientation_angle_line.set_data(self.orientation_angle) - self.actual_orientation_line.set_data(self.actual_orientation) - self.proposed_orientation_line.set_data(self.proposed_orientation) - self.combined_confidence_line.set_data(self.combined_confidence) - self.orientation_confidence_line.set_data(self.orientation_confidence) - self.tilt_confidence_line.set_data(self.tilt_confidence) - self.magnitude_confidence_line.set_data(self.magnitude_confidence) + self.current_rotation_line.set_data(self.current_rotation) + self.proposed_rotation_line.set_data(self.proposed_rotation) + self.proposal_rotation_line.set_data(self.proposal_rotation) self.sample_latency_line.set_data(self.sample_latency) - for poly in self.confidence_polys: + for poly in self.proposal_confidence_polys: poly.remove() - self.confidence_polys = [] + self.proposal_confidence_polys = [] for i in range(0, 4): - self.confidence_polys.append(self.orientation_axes.fill_between(self.confidence[i][0][0], - self.confidence[i][0][1], self.confidence[i][1][1], + self.proposal_confidence_polys.append(self.orientation_axes.fill_between( + self.proposal_confidence[i][0][0], + self.proposal_confidence[i][0][1], + self.proposal_confidence[i][1][1], facecolor='goldenrod', edgecolor='goldenrod')) self.fig.canvas.draw_idle() |