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Analysis Module

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This directory contains tools for recording, storing, and analyzing vehicle path data.

Directory Structure

recorded_data/

Contains the raw and processed data from vehicle runs.

  • original_run/: Data from the initial/reference run.
  • smoothed_run/: Data from runs using the smoothed path.
  • output.pickle: The graph data generated by the mapping tool.

recording/

Scripts related to data acquisition. See the Recording Documentation for detailed instructions.

  • record_ros.py: A ROS node script to record vehicle pose (/ndt_pose) and steering (/mpc/steer_angle) to CSV files.

Scripts

compare_pickles.py

Compares two graph pickle files (output.pickle) to analyze differences in node positions and attributes (Yaw, etc.).

python compare_pickles.py path/to/run1/output.pickle path/to/run2_folder
python analysis/compare_pickles.py analysis/recorded_data/original_run/output.pickle analysis/recorded_data/smoothed_run/output.pickle

compare_runs.py

Compares recorded CSV vehicle data (trajectory, steering, speed) between two runs.

python compare_runs.py recorded_data/run1 recorded_data/run2
python analysis/compare_runs.py analysis/recorded_data/original_run analysis/recorded_data/smoothed_run

compare_lanes.py

Analyzes lane data from .npy files.

Note: This script currently uses hardcoded paths in __main__. You may need to edit it to point to your specific data files.

analyze_buggy.py

Additional analysis utilities for debugging vehicle behavior.

Note: Requires manual configuration of input file paths within the script.