feat: statistics

main.py

@@ -31,11 +31,39 @@ def main():
     # make_global_photo('map.jpg')
 
     # Получаем траекторию от пользователя
-    points = get_trajectory_points('map.jpg')
-#     points = [np.float64(0.5443937502226799), np.float64(0.4030424838774785)], [np.float64(0.18517133490120316), np.float64(0.4586935604608052)], [np.float64(0.1641887171838272), np.float64(0.5586383510594329)], [np.float64(0.587198290366127), 
-# np.float64(0.5699957136274587)]
-    # points = [[np.float64(0.5028362002950056), np.float64(0.508463417020251)], [np.float64(0.5079239482442035), np.float64(0.508463417020251)], [np.float64(0.5045321162780716), np.float64(0.5210964284169014)], [np.float64(0.509054558899581), np.float64(0.5200436774671806)]]
-    # print(points)
+    # points = get_trajectory_points('map.jpg')
+
+    # Trajectory #1
+    points = [[np.float64(0.5384504359393909), np.float64(0.4084520767967683)], [np.float64(0.4451750568707629), np.float64(0.38213330305374654)], [np.float64(0.49266070439660997), np.float64(0.2789637099811013)], [np.float64(0.36377108968359656), np.float64(0.3263375027185404)], [np.float64(0.3535955937852008), np.float64(0.4337180995900692)]]
+
+    # Trajectory #2
+    # points = [[np.float64(0.29197731306713737), np.float64(0.3452870198135161)], [np.float64(0.33494051797147517), np.float64(0.2010601397017569)], [np.float64(0.39768940934491587), np.float64(0.25369768718780034)], [np.float64(0.4027771572941138), np.float64(0.4158213334448144)], [np.float64(0.2914120077394487), np.float64(0.5547844588079692)]]
+
+    # Trajectory #3
+    # points = [[np.float64(0.2755834585641664), np.float64(0.45687862048392835)], [np.float64(0.295934450360958), np.float64(0.5021469113219258)], [np.float64(0.32872215936689997), np.float64(0.4810918923275084)], [np.float64(0.3649017003389739), np.float64(0.5295184360146684)], [np.float64(0.3999506306556705), np.float64(0.49477765467387963)]]
+
+    # Trajectory #4
+    # points = [[np.float64(0.42143223310783934), np.float64(0.6663760594783815)], [np.float64(0.4253893704016599), np.float64(0.5537317078582484)], [np.float64(0.5124463908657128), np.float64(0.5621537154560153)], [np.float64(0.5124463908657128), np.float64(0.6684815613778233)], [np.float64(0.42143223310783934), np.float64(0.6663760594783815)]]
+
+    # Trajectory #5
+    # points = [[np.float64(0.5983728006743884), np.float64(0.7348048712102382)], [np.float64(0.5966768846913225), np.float64(0.5453097002604814)], [np.float64(0.6345523416464622), np.float64(0.7190136069644251)], [np.float64(0.6402053949233488), np.float64(0.5495207040593649)], [np.float64(0.5983728006743884), np.float64(0.7348048712102382)]]
+
+    # Trajectory #6
+    # points = [[np.float64(0.4406526142492536), np.float64(0.28106921188054296)], [np.float64(0.38581799746345413), np.float64(0.2968604761263561)], [np.float64(0.3931669667234066), np.float64(0.353709027411283)], [np.float64(0.4248240650739713), np.float64(0.35265627646156217)], [np.float64(0.40616898926024564), np.float64(0.3179154951207735)]]
+
+    # Trajectory #7
+    # points = [[np.float64(0.5491912371654754), np.float64(0.7505961354560512)], [np.float64(0.5537136797869846), np.float64(0.6863783275230781)], [np.float64(0.5017055896396284), np.float64(0.6653233085286606)], [np.float64(0.5520177638039186), np.float64(0.6042637534448503)], [np.float64(0.5593667330638712), np.float64(0.516885424618018)]]
+
+    # Trajectory #8
+    # points = 
+
+    # Trajectory #9
+    # points = 
+
+    # Trajectory #10
+    # points = 
+
+    print(points)
 
     # Для каждой точки сделаем приближенный снимок
     yandexMap = YandexMap()
@@ -102,6 +130,12 @@ def main():
 
     zoom_next_event = random.randint(5, 10)
 
+    errors = []
+    chunk_errors = []
+    chunk_improves = []
+
+    last_chunk_index = 0
+
     for i in range(10000000000):
         print(f"Image #{i}")
         if i == zoom_next_event:
@@ -121,14 +155,20 @@ def main():
         vis_manager.update_display()
         vis_manager.pause(0.2)
 
-        if command.stop:
-            break
-
         vis_manager.set_target_index(pilot.target_idx)
         vis_manager.update_drone_trajectory(pilot.geo.x, pilot.geo.y)
         vis_manager.update_global_map(simulator.geo.x, simulator.geo.y)
         vis_manager.update_error_plot(i, pilot.geo.x, pilot.geo.y, simulator.geo.x, simulator.geo.y)
 
+        errors.append(np.hypot(pilot.geo.x - simulator.geo.x, pilot.geo.y - simulator.geo.y))
+        if last_chunk_index != pilot.target_idx:
+            last_chunk_index = pilot.target_idx
+            chunk_errors.append(errors[-1])
+            chunk_improves.append(errors[-1] - errors[max(len(errors) - 2, 0)])
+
+        if command.stop:
+            break
+
         simulator.handle(command.dangle, command.velocity)
 
         vis_manager.update_display()
@@ -137,7 +177,13 @@ def main():
         last_proc_times = proc_time[-10:]
         print("Average FPS:", 1 / last_proc_times.mean())
 
+    print("Errors:", errors)
+    print("MSE:", (np.array(errors) ** 2).mean())
+    print("RMSE:", (np.array(errors) ** 2).mean() ** 0.5)
+    print("Chunk errors:", chunk_errors)
+    print("Chunk error improves:", chunk_improves)
+    print("Average FPS:", 1 / proc_time.mean())
     vis_manager.show_final()
 
 if __name__ == "__main__":
-    main()
+    main()