From 7749bb1368139ec5f3f585a6dcffad14ad419530 Mon Sep 17 00:00:00 2001 From: xinyang Date: Sun, 5 May 2019 19:07:21 +0800 Subject: [PATCH] Data analysis tool --- tools/analysis.py | 52 +++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 52 insertions(+) create mode 100755 tools/analysis.py diff --git a/tools/analysis.py b/tools/analysis.py new file mode 100755 index 0000000..8f2bd28 --- /dev/null +++ b/tools/analysis.py @@ -0,0 +1,52 @@ +import matplotlib.pyplot as plt +import numpy as np + +fsend = open("send.info") +frecv = open("recv.info") + +send_lines = fsend.readlines()[:-1] +recv_lines = frecv.readlines()[:-1] + +send_infos = [line.split(" ") for line in send_lines] +recv_infos = [line.split(" ") for line in recv_lines] + +send_times = [float(info[0]) for info in send_infos] +recv_times = [float(info[0]) for info in recv_infos] + +send_yaw = [float(info[1]) for info in send_infos] +TargetAngle= [float(info[1]) for info in recv_infos] +RealAngle = [float(info[2]) for info in recv_infos] + +length = min(len(send_times), len(recv_times)) + +send_times = send_times[:length] +recv_times = recv_times[:length] +send_yaw = send_yaw[:length] +TargetAngle= TargetAngle[:length] +RealAngle = RealAngle[:length] + +time_base = min(send_times[0], recv_times[0]) + +send_times = np.array(send_times) - time_base +recv_times = np.array(recv_times) - time_base + +TargetAngle = TargetAngle[:300] +RealAngle = RealAngle[:300] +send_times = send_times[:300] +recv_times = recv_times[:300] +send_yaw = send_yaw[:300] + +TargetAngle = np.array(TargetAngle) +TargetAngle -= TargetAngle.mean() +RealAngle = np.array(RealAngle) +RealAngle -= RealAngle.mean() + +plt.plot(send_times, send_yaw, label="send-yaw") +plt.plot(recv_times, TargetAngle,label="TargetAngle") +plt.plot(recv_times, RealAngle, label="RealAngle") +plt.scatter(send_times, send_yaw, label="send-yaw") +plt.scatter(recv_times, TargetAngle,label="TargetAngle") +plt.scatter(recv_times, RealAngle, label="RealAngle") +plt.legend() +plt.show() +