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73 lines
2.4 KiB
Python
73 lines
2.4 KiB
Python
import csv
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import matplotlib.pyplot as plotter
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base_path = "/home/caperren/catkin_ws/src/rob456_hw3/logging_outputs"
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odom_path = base_path + "/" + "odomlogfile.txt"
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slam_path = base_path + "/" + "slamlogfile.txt"
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if __name__ == '__main__':
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odom_file = open(odom_path, "r")
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slam_path = open(slam_path, "r")
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odom_csv = csv.reader(odom_file, delimiter=',')
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slam_csv = csv.reader(slam_path, delimiter=',')
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odom_time = []
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odom_x_error = []
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odom_y_error = []
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odom_theta_error = []
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for line in odom_csv:
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odom_time.append(line[0])
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odom_x_error.append(line[1])
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odom_y_error.append(line[2])
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odom_theta_error.append(line[3])
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slam_time = []
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slam_x_error = []
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slam_y_error = []
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slam_theta_error = []
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for line in slam_csv:
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slam_time.append(line[0])
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slam_x_error.append(line[1])
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slam_y_error.append(line[2])
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slam_theta_error.append(line[3])
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# Plot for odometry
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figure_object_odom, axes_object_odom = plotter.subplots()
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axes_object_odom.plot(odom_time, odom_x_error, label="X Error")
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axes_object_odom.plot(odom_time, odom_y_error, label="Y Error")
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axes_theta = axes_object_odom.twinx()
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axes_theta.plot(odom_time, odom_theta_error, label="Theta Error", color="r")
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axes_theta.legend()
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axes_object_odom.set_title("Odometery Error Graphs")
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axes_object_odom.set_xlabel("Time")
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axes_object_odom.set_ylabel("Error")
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axes_object_odom.legend(loc=4)
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axes_object_odom.autoscale(enable=True, axis='x', tight=True)
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figure_object_odom.savefig("odom_error_graphs.pdf", bbox_inches="tight")
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# Plot for slam
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figure_object_slam, axes_object_slam = plotter.subplots()
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axes_object_slam.plot(slam_time, slam_x_error, label="X Error")
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axes_object_slam.plot(slam_time, slam_y_error, label="Y Error")
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axes_theta = axes_object_slam.twinx()
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axes_theta.plot(slam_time, slam_theta_error, label="Theta Error", color="r")
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axes_theta.legend()
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# axes_theta.plot(slam_time, slam_theta_error, label="Theta Error")
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axes_object_slam.set_title("Slam Error Graphs")
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axes_object_slam.set_xlabel("Time")
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axes_object_slam.set_ylabel("Error")
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axes_object_slam.legend(loc=4)
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axes_object_slam.autoscale(enable=True, axis='x', tight=True)
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figure_object_slam.savefig("slam_error_graphs.pdf", bbox_inches="tight")
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plotter.show()
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