def createPathNoNoise(animation):
stay(positions.loc['Pos0'], 20)
move(positions.loc['Pos0'], positions.loc['Pos1'], 60)
stay(positions.loc['Pos1'], 20)
move(positions.loc['Pos1'], positions.loc['Pos2'], 30)
stay(positions.loc['Pos2'], 20)
move(positions.loc['Pos2'], positions.loc['Pos1'], 30)
move(positions.loc['Pos1'], positions.loc['Pos3'], 60)
stay(positions.loc['Pos3'], 20)
move(positions.loc['Pos3'], positions.loc['Pos4'], 30)
stay(positions.loc['Pos4'], 20)
move(positions.loc['Pos4'], positions.loc['Pos3'], 30)
move(positions.loc['Pos3'], positions.loc['Pos5'], 120)
stay(positions.loc['Pos5'], 20)
move(positions.loc['Pos5'], positions.loc['Pos6'], 30)
stay(positions.loc['Pos6'], 20)
move(positions.loc['Pos6'], positions.loc['Pos5'], 30)
move(positions.loc['Pos5'], positions.loc['Pos0'], 240)
path_df['x'] = 5 - path_df['x']
fig, ax = plt.subplots(figsize=(xfig, yfig))
plotStanza(xfig, yfig, pd.DataFrame(), path_df, fig)
path_df.to_csv('UWB_NoNOISE_' +
str(datetime.today().strftime('%y%m%d')).split()[0] +
'.csv',
encoding='utf-8')
if animation:
a = animate.AnimatedScatter(len(path_df), path_df, xfig, yfig,
pd.DataFrame())
def createCC90Path(animation):
stay(positions.loc['Pos0'], 20, 'hight')
move(positions.loc['Pos0'], positions.loc['Pos1'], 60, 'hight')
stay(positions.loc['Pos1'], 20, 'hight')
move(positions.loc['Pos1'], positions.loc['Pos2'], 30, 'hight2medium')
stay(positions.loc['Pos2'], 20, 'medium')
move(positions.loc['Pos2'], positions.loc['Pos1'], 30, 'medium2hight')
move(positions.loc['Pos1'], positions.loc['Pos3'], 60, 'hight2medium')
stay(positions.loc['Pos3'], 20, 'low')
move(positions.loc['Pos3'], positions.loc['Pos4'], 30, 'low2medium')
stay(positions.loc['Pos4'], 20, 'medium')
move(positions.loc['Pos4'], positions.loc['Pos3'], 30, 'medium2low')
move(positions.loc['Pos3'], positions.loc['Pos5'], 120, 'low')
stay(positions.loc['Pos5'], 20, 'low')
move(positions.loc['Pos5'], positions.loc['Pos6'], 30, 'low2medium')
stay(positions.loc['Pos6'], 20, 'medium')
move(positions.loc['Pos6'], positions.loc['Pos5'], 30, 'medium2low')
move(positions.loc['Pos5'], positions.loc['Pos3'], 120, 'low')
move(positions.loc['Pos3'], positions.loc['Pos1'], 60, 'medium2hight')
move(positions.loc['Pos1'], positions.loc['Pos0'], 60, 'hight')
pathCC90_df = path_df
pathCC90_df['x'] = 5 - path_df['x']
fig, ax = plt.subplots(figsize=(xfig, yfig))
plotStanza(xfig, yfig, anchors_df.loc['CC90'], pathCC90_df, fig)
pathCC90_df.to_csv('UWB_CC90_' +
str(datetime.today().strftime('%y%m%d')).split()[0] +
'.csv',
encoding='utf-8')
if animation:
a = animate.AnimatedScatter(len(pathCC90_df), pathCC90_df, xfig, yfig,
anchors_df.loc['CC90'])
def createCV2Path(animation):
stay(positions.loc['Pos0'], 20, 'medium', noise_canc=(60, 65))
move(positions.loc['Pos0'],
positions.loc['Pos1'],
60,
'medium2low',
noise_canc=(40, 65))
stay(positions.loc['Pos1'], 20, 'low', noise_canc=(40, 65))
move(positions.loc['Pos1'],
positions.loc['Pos2'],
30,
'low2medium',
noise_canc=(50, 60))
stay(positions.loc['Pos2'], 20, 'medium', noise_canc=(50, 70))
move(positions.loc['Pos2'],
positions.loc['Pos1'],
30,
'medium2low',
noise_canc=(60, 65))
move(positions.loc['Pos1'],
positions.loc['Pos3'],
60,
'low2medium',
noise_canc=(50, 60))
stay(positions.loc['Pos3'], 20, 'medium', noise_canc=(80, 90))
pos = getMiddlePath(positions.loc['Pos4'], positions.loc['Pos3'], 1 / 3)
move(positions.loc['Pos3'], pos, 10, 'low', 'left', noise_canc=(40, 55))
move(pos, positions.loc['Pos4'], 20, 'low', 'left', noise_canc=(90, 95))
stay(positions.loc['Pos4'], 20, 'medium', 'top-left', noise_canc=(85, 90))
move(positions.loc['Pos4'], pos, 20, 'low', noise_canc=(90, 95))
move(pos, positions.loc['Pos3'], 10, 'low', 'left', noise_canc=(30, 45))
# move(positions.loc['Pos3'], positions.loc['Pos4'], 30, 'medium',noise_canc=(100,100))
# stay(positions.loc['Pos4'], 20, 'medium','',noise_canc=(100,100))
# move(positions.loc['Pos4'], positions.loc['Pos3'], 30, 'medium',noise_canc=(100,100))
move(positions.loc['Pos3'],
positions.loc['Pos5'],
120,
'medium',
'left',
noise_canc=(70, 85))
stay(positions.loc['Pos5'], 20, 'low', 'left', noise_canc=(60, 75))
pos = getMiddlePath(positions.loc['Pos5'], positions.loc['Pos6'], 1 / 3)
move(positions.loc['Pos5'], pos, 10, 'medium', 'top-left')
move(pos,
positions.loc['Pos6'],
20,
'medium',
'top-right',
noise_canc=(70, 80))
stay(positions.loc['Pos6'], 20, 'medium', 'top', noise_canc=(80, 85))
move(positions.loc['Pos6'],
pos,
20,
'medium',
'top-right',
noise_canc=(70, 85))
move(pos,
positions.loc['Pos5'],
10,
'medium',
'top-left',
noise_canc=(60, 70))
move(positions.loc['Pos5'],
positions.loc['Pos3'],
120,
'medium',
noise_canc=(80, 85))
move(positions.loc['Pos3'],
positions.loc['Pos1'],
60,
'medium2low',
noise_canc=(80, 85))
move(positions.loc['Pos1'],
positions.loc['Pos0'],
60,
'low2medium',
noise_canc=(55, 75))
pathCV2_df = path_df
pathCV2_df['x'] = 5 - path_df['x']
fig, ax = plt.subplots(figsize=(xfig, yfig))
plotStanza(xfig, yfig, cameras_df.loc['CV1'], pathCV2_df, fig)
pathCV2_df.to_csv('CV_CV2_' +
str(datetime.today().strftime('%y%m%d')).split()[0] +
'.csv',
encoding='utf-8')
if animation:
a = animate.AnimatedScatter(len(pathCV2_df), pathCV2_df, xfig, yfig,
cameras_df.loc['CV1'])
def createCV1Path(animation):
stay(positions.loc['Pos0'], 20, 'medium')
move(positions.loc['Pos0'],
positions.loc['Pos1'],
60,
'hight2medium',
noise_canc=(55, 75))
stay(positions.loc['Pos1'], 20, 'medium')
move(positions.loc['Pos1'],
positions.loc['Pos2'],
30,
'hight',
noise_canc=(90, 95))
stay(positions.loc['Pos2'], 20, 'hight')
move(positions.loc['Pos2'],
positions.loc['Pos1'],
30,
'hight',
noise_canc=(90, 95))
move(positions.loc['Pos1'],
positions.loc['Pos3'],
60,
'low',
noise_canc=(55, 65))
stay(positions.loc['Pos3'], 20, 'low')
# x = min(positions.loc['Pos4'].x, positions.loc['Pos3'].x) + (max(positions.loc['Pos4'].x, positions.loc['Pos3'].x) - min(positions.loc['Pos4'].x, positions.loc['Pos3'].x))/2
# data = {'x': x, 'y': positions.loc['Pos3'].y, 'z': positions.loc['Pos3'].z}
# pos = pd.Series(data=data, index=['x', 'y', 'z'])
pos = getMiddlePath(positions.loc['Pos4'], positions.loc['Pos3'])
move(positions.loc['Pos3'], pos, 15, 'medium', noise_canc=(0, 0))
move(pos, positions.loc['Pos4'], 15, 'low', 'left', noise_canc=(0, 0))
stay(positions.loc['Pos4'], 20, 'medium', '')
move(positions.loc['Pos4'], pos, 15, 'medium', noise_canc=(0, 0))
move(pos, positions.loc['Pos3'], 15, 'medium', noise_canc=(0, 0))
move(positions.loc['Pos3'],
positions.loc['Pos5'],
120,
'low',
noise_canc=(0, 0))
stay(positions.loc['Pos5'], 20, 'low')
move(positions.loc['Pos5'],
positions.loc['Pos6'],
30,
'low',
noise_canc=(0, 0))
stay(positions.loc['Pos6'], 20, 'low')
move(positions.loc['Pos6'],
positions.loc['Pos5'],
30,
'low',
noise_canc=(0, 0))
move(positions.loc['Pos5'],
positions.loc['Pos3'],
120,
'low',
noise_canc=(0, 0))
move(positions.loc['Pos3'],
positions.loc['Pos1'],
60,
'low',
noise_canc=(55, 65))
move(positions.loc['Pos1'],
positions.loc['Pos0'],
60,
'medium',
noise_canc=(55, 75))
pathCV1_df = path_df
pathCV1_df['x'] = 5 - path_df['x']
# dfupdate = path_df.sample(np.random.randint(round(len(pathCV1_df)*0.65),round(len(pathCV1_df)*0.75)))
# if 0 in dfupdate.index.values:
# dfupdate=dfupdate.drop(0)
# pathCV1_df = pathCV1_df.drop(dfupdate.index)
fig, ax = plt.subplots(figsize=(xfig, yfig))
plotStanza(xfig, yfig, cameras_df.loc['CV1'], pathCV1_df, fig)
pathCV1_df.to_csv('CV_CV1_' +
str(datetime.today().strftime('%y%m%d')).split()[0] +
'.csv',
encoding='utf-8')
if animation:
a = animate.AnimatedScatter(len(pathCV1_df), pathCV1_df, xfig, yfig,
cameras_df.loc['CV1'])
df.plot(kind='line', y='distance', color='red', use_index=True, label='Distances')
numpoints = len(dfmerged)
# inverto x con y per fare la figura larga
y = (5-dfmerged.x_1)
x = dfmerged.y_1
xfig = 16.5 # room length
yfig = 5 # room width
#a = animate.AnimatedScatter(numpoints,x,y,xfig,yfig)
=======
numtimes = len(dfmerged)
xfig = 16.5 # room length
yfig = 5 # room width
a = animate.AnimatedScatter(numtimes,dfmerged,xfig,yfig)
>>>>>>> 0dc0a84e68dd32f88db3ee08b514ec04ba3da7e1
plt.show()
# Program entry point
if __name__ == "__main__":
print("init")
source_path=""
cv_file_name=""
uwb_file_name=""
if len(sys.argv)>1:
source_path=sys.argv[1]
cv_file_name=sys.argv[2]
uwb_file_name=sys.argv[3]
else:
