testing-framework / R / transl.r @ 17a68f48
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| 1 | 8526ae8c | Jonas Diekmann | #!/usr/bin/env Rscript |
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| 2 | |||
| 3 | #Argumente einlesen |
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| 4 | args <- commandArgs(TRUE) |
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| 5 | if(length(args) == 2){
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| 6 | cat("basisname=\"",args[1],"\"\n",sep="")
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| 7 | cat("diagrammtitle=\"",args[2],"\"\n",sep="")
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| 8 | basisname <- args[1] |
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| 9 | title <- args[2] |
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| 10 | }else |
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| 11 | {
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| 12 | cat("Fehler: Bitte Eingabedateiname, Basisname für die Ausgabedateien und Diagrammtitle angeben!","\n")
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| 13 | quit() |
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| 14 | } |
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| 15 | |||
| 16 | ### Hilfsfunktionen ### |
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| 17 | |||
| 18 | #Einlesen des übergebenen Dateinamens für jede der Bibliotheken |
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| 19 | einlesen <- function(dateiname){
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| 20 | bart <- read.csv(file=paste("/home/jonas/Bachelorarbeit/bart2/transl/",dateiname,sep=""),header=FALSE)
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| 21 | alvar <- read.csv(file=paste("/home/jonas/Dokumente/Studium/Bachelorarbeit/alvar/2.0.0/alvar-2.0.0-sdk-linux64-gcc44/build/build_gcc44_release/sample/transl/",dateiname,sep=""),header=FALSE)
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| 22 | aruco <- read.csv(file=paste("/home/jonas/Dokumente/Studium/Bachelorarbeit/aruco/aruco-1.2.5/transl/",dateiname,sep=""),header=FALSE)
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| 23 | return(list(bart,alvar,aruco)) |
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| 24 | } |
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| 25 | |||
| 26 | #Einlesen und berechnen von möglichen Datensätzen für die Beschriftung |
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| 27 | beschriftungEinlesen <- function(basisname){
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| 28 | gruppenname <- "Bewegungen" |
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| 29 | data <- read.csv(file=paste("~/Dokumente/Studium/Bachelorarbeit/blender-files/Positions/",gruppenname,"/",basisname,".csv",sep=""),header=FALSE)
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| 30 | #entfernungKamera: data$V16 |
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| 31 | #Rotation um die X-Achse: data$V17-(pi/2) |
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| 32 | #data <- within(data,V17 <- V17-(pi/2)) |
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| 33 | #Rotation um die Y-Achse: data$V19 |
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| 34 | #Rotation um die Z-Achse: data$V18 * (-1.0) |
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| 35 | #data <- within(data,V18 <- V18 * (-1.0)) |
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| 36 | return(data[c(1,2,12)]) |
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| 37 | } |
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| 38 | |||
| 39 | #Plottet den übergebenen Datensatz einer Auflösung |
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| 40 | plotten <- function(daten,basisname,korrektur){
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| 41 | bart <- daten[[1]] |
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| 42 | alvar <- daten[[2]] |
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| 43 | aruco <- daten[[3]] |
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| 44 | |||
| 45 | #Korrektur (überspringe k (= korrektur) Bildnummern) |
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| 46 | bart <- within(bart,V1<-lapply(V1,function(x,k){return(x*(k+1)-k)},korrektur))
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| 47 | alvar <- within(alvar,V1<-lapply(V1,function(x,k){return(x*(k+1)-k)},korrektur))
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| 48 | aruco <- within(aruco,V1<-lapply(V1,function(x,k){return(x*(k+1)-k)},korrektur))
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| 49 | |||
| 50 | cat("Maxima:","\nBART ",max(bart$V3),max(bart$V4),max(bart$V5),"\nALVAR",max(alvar$V3),max(alvar$V4),max(alvar$V5),"\nARUCO",max(aruco$V3),max(aruco$V4),max(aruco$V5),"\n")
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| 51 | #Plotten BART |
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| 52 | ymin = min(bart$V3,bart$V4,bart$V5) |
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| 53 | ymax = 1.2*max(bart$V3,bart$V4,bart$V5,abs(ymin)) |
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| 54 | svg(filename=paste("translationsungenauigkeit_bart_",basisname,".svg",sep=""))
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| 55 | #Feste Grenzen: |
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| 56 | #plot(bart$V1,bart$V5,ylim=c(0,0.01),xlim=c(0,20),type="l",main=paste("BART:",title),col="green4",xlab="Bildnummer",ylab="Abweichung (m)")
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| 57 | # Variable Grenzen: |
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| 58 | plot(bart$V1,bart$V5,ylim=c(ymin,ymax),type="l",main=paste("BART:",title),col="green4",xlab="Bildnummer",ylab="Abweichung (m)")
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| 59 | lines(bart$V1,bart$V4,col="blue") |
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| 60 | lines(bart$V1,bart$V3,col="orange") |
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| 61 | legend("topleft", border=NA, c("Position entlang X","Position entlang Y","Position entlang Z"), fill=c("orange","blue","green4"))
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| 62 | |||
| 63 | dev.off() |
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| 64 | |||
| 65 | #Plotten ALVAR |
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| 66 | ymin = min(alvar$V3,alvar$V4,alvar$V5) |
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| 67 | ymax = 1.2*max(alvar$V3,alvar$V4,alvar$V5,abs(ymin)) |
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| 68 | svg(filename=paste("translationsungenauigkeit_alvar_",basisname,".svg",sep=""))
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| 69 | #Feste Grenzen: |
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| 70 | #plot(alvar$V1,alvar$V5,ylim=c(0,0.01),xlim=c(0,20),type="l",main=paste("ALVAR:",title),col="green4",xlab="Bildnummer",ylab="Abweichung (m)")
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| 71 | # Variable Grenzen: |
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| 72 | plot(alvar$V1,alvar$V5,ylim=c(ymin,ymax),type="l",main=paste("ALVAR:",title),col="green4",xlab="Bildnummer",ylab="Abweichung (m)")
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| 73 | lines(alvar$V1,alvar$V4,col="blue") |
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| 74 | lines(alvar$V1,alvar$V3,col="orange") |
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| 75 | legend("topleft", border=NA, c("Position entlang X","Position entlang Y","Position entlang Z"), fill=c("orange","blue","green4"))
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| 76 | |||
| 77 | dev.off() |
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| 78 | |||
| 79 | |||
| 80 | #Plotten ARUCO |
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| 81 | ymin = min(aruco$V3,aruco$V4,aruco$V5) |
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| 82 | ymax = 1.2*max(aruco$V3,aruco$V4,aruco$V5,abs(ymin)) |
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| 83 | svg(filename=paste("translationsungenauigkeit_aruco_",basisname,".svg",sep=""))
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| 84 | #Feste Grenzen: |
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| 85 | #plot(aruco$V1,aruco$V5,ylim=c(0,0.01),xlim=c(0,20),type="l",main=paste("ARUCO:",title),col="green4",xlab="Bildnummer",ylab="Abweichung (m)")
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| 86 | # Variable Grenzen: |
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| 87 | plot(aruco$V1,aruco$V5,ylim=c(ymin,ymax),type="l",main=paste("ARUCO:",title),col="green4",xlab="Bildnummer",ylab="Abweichung (m)")
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| 88 | lines(aruco$V1,aruco$V4,col="blue") |
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| 89 | lines(aruco$V1,aruco$V3,col="orange") |
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| 90 | legend("topleft", border=NA, c("Position entlang X","Position entlang Y","Position entlang Z"), fill=c("orange","blue","green4"))
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| 91 | |||
| 92 | dev.off() |
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| 93 | |||
| 94 | svg(filename=paste("translationsungenauigkeit_x_",basisname,".svg",sep=""))
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| 95 | boxpX <- boxplot(bart$V3,alvar$V3,aruco$V3,names=c("BART","ALVAR","ARUCO"),main=paste(title,"entlang X"),xlab="Bibliothek",ylab="Abweichung (m)",range=0)
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| 96 | dev.off() |
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| 97 | |||
| 98 | svg(filename=paste("translationsungenauigkeit_y_",basisname,".svg",sep=""))
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| 99 | boxpY <- boxplot(bart$V4,alvar$V4,aruco$V4,names=c("BART","ALVAR","ARUCO"),main=paste(title,"entlang Y"),xlab="Bibliothek",ylab="Abweichung (m)",range=0)
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| 100 | dev.off() |
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| 101 | |||
| 102 | svg(filename=paste("translationsungenauigkeit_z_",basisname,".svg",sep=""))
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| 103 | boxpZ <- boxplot(bart$V5,alvar$V5,aruco$V5,names=c("BART","ALVAR","ARUCO"),main=paste(title,"entlang Z"),xlab="Bibliothek",ylab="Abweichung (m)",range=0)
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| 104 | dev.off() |
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| 105 | |||
| 106 | return(list(boxpX,boxpY,boxpZ)) |
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| 107 | } |
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| 108 | |||
| 109 | #Extrahiert zu einer Bildnummer die Beschriftung aus dem übergebenem Datensatz |
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| 110 | lookup <- function(bildnummer, beschriftungsdaten){
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| 111 | ret <- beschriftungsdaten[(beschriftungsdaten$V1==bildnummer),3] |
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| 112 | return(ret) |
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| 113 | } |
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| 114 | |||
| 115 | #Plottet den übergebenen Datensatz einer Auflösung wobei die Beschriftung aus dem zweiten übergebenem Datensatz gewonnen wird. |
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| 116 | plotten2 <- function(daten,basisname,achsendaten,korrektur){
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| 117 | bart <- daten[[1]] |
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| 118 | alvar <- daten[[2]] |
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| 119 | aruco <- daten[[3]] |
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| 120 | |||
| 121 | #Beschriftung der X-Achse |
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| 122 | xlab="X-Position" |
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| 123 | #Bildnummer der unteren Grenze |
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| 124 | xmin=1 |
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| 125 | #Bildnummer der oberen Grenze |
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| 126 | xmax=300 |
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| 127 | ymax2=1 |
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| 128 | #Prefix |
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| 129 | prefix="" |
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| 130 | |||
| 131 | if(bart[1,1]==0){
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| 132 | bart <- within(bart,V1<-lapply(V1,function(x){return(x+1)}))
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| 133 | } |
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| 134 | #Korrektur (überspringe k (= korrektur) Bildnummern) |
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| 135 | bart <- within(bart,V1<-lapply(V1,function(x,k){return(x*(k+1)-k)},korrektur))
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| 136 | alvar <- within(alvar,V1<-lapply(V1,function(x,k){return(x*(k+1)-k)},korrektur))
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| 137 | aruco <- within(aruco,V1<-lapply(V1,function(x,k){return(x*(k+1)-k)},korrektur))
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| 138 | |||
| 139 | bart <- within(bart,V1<-lapply(V1,lookup,beschriftungsdaten=achsendaten)) |
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| 140 | alvar <- within(alvar,V1<-lapply(V1,lookup,beschriftungsdaten=achsendaten)) |
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| 141 | aruco <- within(aruco,V1<-lapply(V1,lookup,beschriftungsdaten=achsendaten)) |
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| 142 | |||
| 143 | cat("Maxima:","\nBART ",max(bart$V3),max(bart$V4),max(bart$V5),"\nALVAR",max(alvar$V3),max(alvar$V4),max(alvar$V5),"\nARUCO",max(aruco$V3),max(aruco$V4),max(aruco$V5),"\n")
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| 144 | #Plotten BART |
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| 145 | ymin = min(bart$V3,bart$V4,bart$V5) |
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| 146 | ymax = 1.2*max(bart$V3,bart$V4,bart$V5,abs(ymin)) |
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| 147 | svg(filename=paste("translationsungenauigkeit_bart_",basisname,"",prefix,".svg",sep=""))
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| 148 | #Feste Grenzen: |
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| 149 | #plot(bart$V1,bart$V5,ylim=c(0,ymax2),xlim=c(lookup(xmin,beschriftungsdaten=achsendaten),lookup(xmax,beschriftungsdaten=achsendaten)),type="l",main=paste("BART:",title),col="green4",xlab=xlab,ylab="Abweichung (m)")
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| 150 | # Variable Grenzen: |
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| 151 | plot(bart$V1,bart$V5,ylim=c(ymin,ymax),type="l",main=paste("BART:",title),col="green4",xlab=xlab,ylab="Abweichung (m)")
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| 152 | lines(bart$V1,bart$V4,col="blue") |
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| 153 | lines(bart$V1,bart$V3,col="orange") |
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| 154 | legend("topleft", border=NA, c("Position entlang X","Position entlang Y","Position entlang Z"), fill=c("orange","blue","green4"))
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| 155 | |||
| 156 | dev.off() |
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| 157 | |||
| 158 | #Plotten ALVAR |
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| 159 | ymin = min(alvar$V3,alvar$V4,alvar$V5) |
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| 160 | ymax = 1.2*max(alvar$V3,alvar$V4,alvar$V5,abs(ymin)) |
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| 161 | svg(filename=paste("translationsungenauigkeit_alvar_",basisname,"",prefix,".svg",sep=""))
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| 162 | #Feste Grenzen: |
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| 163 | #plot(alvar$V1,alvar$V5,ylim=c(0,ymax2),xlim=c(lookup(xmin,beschriftungsdaten=achsendaten),lookup(xmax,beschriftungsdaten=achsendaten)),type="l",main=paste("ALVAR:",title),col="green4",xlab=xlab,ylab="Abweichung (m)")
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| 164 | # Variable Grenzen: |
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| 165 | plot(alvar$V1,alvar$V5,ylim=c(ymin,ymax),type="l",main=paste("ALVAR:",title),col="green4",xlab=xlab,ylab="Abweichung (m)")
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| 166 | lines(alvar$V1,alvar$V4,col="blue") |
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| 167 | lines(alvar$V1,alvar$V3,col="orange") |
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| 168 | legend("topleft", border=NA, c("Position entlang X","Position entlang Y","Position entlang Z"), fill=c("orange","blue","green4"))
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| 169 | |||
| 170 | dev.off() |
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| 171 | |||
| 172 | |||
| 173 | #Plotten ARUCO |
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| 174 | ymin = min(aruco$V3,aruco$V4,aruco$V5) |
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| 175 | ymax = 1.2*max(aruco$V3,aruco$V4,aruco$V5,abs(ymin)) |
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| 176 | svg(filename=paste("translationsungenauigkeit_aruco_",basisname,"",prefix,".svg",sep=""))
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| 177 | #Feste Grenzen: |
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| 178 | #plot(aruco$V1,aruco$V5,ylim=c(0,ymax2),xlim=c(lookup(xmin,beschriftungsdaten=achsendaten),lookup(xmax,beschriftungsdaten=achsendaten)),type="l",main=paste("ARUCO:",title),col="green4",xlab=xlab,ylab="Abweichung (m)")
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| 179 | # Variable Grenzen: |
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| 180 | plot(aruco$V1,aruco$V5,ylim=c(ymin,ymax),type="l",main=paste("ARUCO:",title),col="green4",xlab=xlab,ylab="Abweichung (m)")
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| 181 | lines(aruco$V1,aruco$V4,col="blue") |
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| 182 | lines(aruco$V1,aruco$V3,col="orange") |
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| 183 | legend("topleft", border=NA, c("Position entlang X","Position entlang Y","Position entlang Z"), fill=c("orange","blue","green4"))
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| 184 | |||
| 185 | dev.off() |
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| 186 | |||
| 187 | svg(filename=paste("translationsungenauigkeit_x_",basisname,".svg",sep=""))
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| 188 | boxpX <- boxplot(bart$V3,alvar$V3,aruco$V3,names=c("BART","ALVAR","ARUCO"),main=paste(title,"entlang X"),xlab="Bibliothek",ylab="Abweichung (m)",range=0)
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| 189 | dev.off() |
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| 190 | |||
| 191 | svg(filename=paste("translationsungenauigkeit_y_",basisname,".svg",sep=""))
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| 192 | boxpY <- boxplot(bart$V4,alvar$V4,aruco$V4,names=c("BART","ALVAR","ARUCO"),main=paste(title,"entlang Y"),xlab="Bibliothek",ylab="Abweichung (m)",range=0)
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| 193 | dev.off() |
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| 194 | |||
| 195 | svg(filename=paste("translationsungenauigkeit_z_",basisname,".svg",sep=""))
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| 196 | boxpZ <- boxplot(bart$V5,alvar$V5,aruco$V5,names=c("BART","ALVAR","ARUCO"),main=paste(title,"entlang Z"),xlab="Bibliothek",ylab="Abweichung (m)",range=0)
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| 197 | dev.off() |
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| 198 | |||
| 199 | return(list(boxpX,boxpY,boxpZ)) |
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| 200 | } |
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| 201 | |||
| 202 | ### Hauptprogramm ### |
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| 203 | |||
| 204 | #Einlesen |
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| 205 | daten360 <- einlesen(paste(basisname, "_360p48_transl.csv",sep="")) |
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| 206 | daten720 <- einlesen(paste(basisname, "_720p48_transl.csv",sep="")) |
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| 207 | daten1080 <- einlesen(paste(basisname,"_1080p48_transl.csv",sep="")) |
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| 208 | |||
| 209 | #Plotten |
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| 210 | #boxp360 <- plotten(daten360,paste(basisname,"_360p48",sep=""),0) |
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| 211 | #boxp720 <- plotten(daten720,paste(basisname,"_720p48",sep=""),0) |
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| 212 | #boxp1080 <- plotten(daten1080,paste(basisname,"_1080p48",sep=""),0) |
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| 213 | |||
| 214 | |||
| 215 | #Alternative: Plotten mit Achsendaten |
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| 216 | achse <- beschriftungEinlesen(basisname) |
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| 217 | boxp360 <- plotten2(daten360,paste(basisname,"_360p48",sep=""),achse,0) |
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| 218 | boxp720 <- plotten2(daten720,paste(basisname,"_720p48",sep=""),achse,0) |
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| 219 | boxp1080 <- plotten2(daten1080,paste(basisname,"_1080p48",sep=""),achse,0) |
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| 220 | |||
| 221 | #Unterschiede zwischen den Auflösungen ausgeben |
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| 222 | cat("Differenzen zwischen 1080p und 720p: \n")
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| 223 | cat("X\n")
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| 224 | print(boxp1080[[1]]$stats-boxp720[[1]]$stats) |
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| 225 | cat("Y\n")
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| 226 | print(boxp1080[[2]]$stats-boxp720[[2]]$stats) |
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| 227 | cat("Z\n")
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| 228 | print(boxp1080[[3]]$stats-boxp720[[3]]$stats) |
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| 229 | cat("Differenzen zwischen 720p und 360p: \n")
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| 230 | cat("X\n")
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| 231 | print(boxp720[[1]]$stats-boxp360[[1]]$stats) |
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| 232 | cat("Y\n")
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| 233 | print(boxp720[[2]]$stats-boxp360[[2]]$stats) |
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| 234 | cat("Z\n")
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| 235 | print(boxp720[[3]]$stats-boxp360[[3]]$stats) |
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| 236 | |||
| 237 |