Refactor files

Author: sergiopaniego

behavior_metrics/analyze_bag.py

@@ -66,11 +66,11 @@
                     data = json.loads(h)
                     lapdata = json.loads(data['data'])
 
-                for topic, point, t in bag.read_messages(topics=['/time_stats']):
+                for topic, point, t in bag.read_messages(topics=['/time_metrics']):
                     y = yaml.load(str(point), Loader=yaml.FullLoader)
                     h = json.dumps(y, indent=4)
                     data = json.loads(h)
-                    time_stats_metadata = json.loads(data['data'])
+                    time_metrics_metadata = json.loads(data['data'])
 
                 for topic, point, t in bag.read_messages(topics=['/first_image']):
                     first_image = bridge.imgmsg_to_cv2(point, desired_encoding='passthrough')

behavior_metrics/show_plots.py

@@ -18,7 +18,7 @@
 
 
 class MetricsWindow(QtWidgets.QMainWindow):
-    def __init__(self, bag_file, x_points, y_points, first_image, bag_metadata, time_stats_metadata, lap_metrics,
+    def __init__(self, bag_file, x_points, y_points, first_image, bag_metadata, time_metrics_metadata, lap_metrics,
                  circuit_diameter):
         super().__init__()
         self._main = QtWidgets.QWidget()
@@ -30,7 +30,7 @@ def __init__(self, bag_file, x_points, y_points, first_image, bag_metadata, time
         self.y_points = y_points
         self.first_image = first_image
         self.bag_metadata = bag_metadata
-        self.time_stats_metadata = time_stats_metadata
+        self.time_metrics_metadata = time_metrics_metadata
         self.lap_metrics = lap_metrics
         self.circuit_diameter = circuit_diameter
 
@@ -72,19 +72,19 @@ def add_labels(self):
 
         label_mean_iteration_time = QLabel(
             '<span style=" font-size:10pt; font-weight:600; color:#000000;">Mean iteration time: </span>' + str(
-                self.time_stats_metadata['mean_iteration_time']))
+                self.time_metrics_metadata['mean_iteration_time']))
         self.layout.addWidget(label_mean_iteration_time)
         label_mean_inference_time = QLabel(
             '<span style=" font-size:10pt; font-weight:600; color:#000000;">Mean inference time: </span>' + str(
-                self.time_stats_metadata['mean_inference_time']))
+                self.time_metrics_metadata['mean_inference_time']))
         self.layout.addWidget(label_mean_inference_time)
         label_gpu_inference = QLabel(
             '<span style=" font-size:10pt; font-weight:600; color:#000000;">GPU inferencing: </span>' + str(
-                self.time_stats_metadata['gpu_inference']))
+                self.time_metrics_metadata['gpu_inference']))
         self.layout.addWidget(label_gpu_inference)
         label_frame_rate = QLabel(
             '<span style=" font-size:10pt; font-weight:600; color:#000000;">Frame rate: </span>' + str(
-                self.time_stats_metadata['frame_rate']))
+                self.time_metrics_metadata['frame_rate']))
         self.layout.addWidget(label_frame_rate)
 
         label_circuit_diameter = QLabel(
@@ -123,7 +123,7 @@ def read_bags(bags):
     bags_checkpoints = []
     bags_metadata = []
     bags_lapdata = []
-    time_stats = []
+    time_metrics = []
     correct_bags = 0
     for bag_file in bags:
         print('Reading bag: ' + bag_file)
@@ -148,13 +148,13 @@ def read_bags(bags):
                 lapdata = json.loads(data['data'])
                 bags_lapdata.append(lapdata)
 
-            for topic, point, t in bag.read_messages(topics=['/time_stats']):
+            for topic, point, t in bag.read_messages(topics=['/time_metrics']):
                 y = yaml.load(str(point), Loader=yaml.FullLoader)
                 h = json.dumps(y, indent=4)
                 data = json.loads(h)
-                time_stats_metadata = json.loads(data['data'])
-                # first_image = np.array(time_stats_metadata['first_image'])
-                time_stats.append(time_stats_metadata)
+                time_metrics_metadata = json.loads(data['data'])
+                # first_image = np.array(time_metrics_metadata['first_image'])
+                time_metrics.append(time_metrics_metadata)
 
             for topic, point, t in bag.read_messages(topics=['/first_image']):
                 first_image = bridge.imgmsg_to_cv2(point, desired_encoding='passthrough')
@@ -167,18 +167,18 @@ def read_bags(bags):
 
     print('Correct bags: ' + str(correct_bags))
 
-    return bags_checkpoints, bags_metadata, bags_lapdata, time_stats, first_image
+    return bags_checkpoints, bags_metadata, bags_lapdata, time_metrics, first_image
 
 
-def show_metrics(bags, bags_checkpoints, bags_metadata, bags_lapdata, time_stats, first_image):
-    experiments_statistics = []
+def show_metrics(bags, bags_checkpoints, bags_metadata, bags_lapdata, time_metrics, first_image):
+    experiments_metrics = []
     world_completed = {}
 
     for x, checkpoints in enumerate(bags_checkpoints):
         x_points = []
         y_points = []
 
-        experiment_statistics = {'world': bags_metadata[x]['world'], 'brain_path': bags_metadata[x]['brain_path'],
+        experiment_metrics = {'world': bags_metadata[x]['world'], 'brain_path': bags_metadata[x]['brain_path'],
                                  'robot_type': bags_metadata[x]['robot_type']}
         if bags_metadata[x]['world'] == 'simple_circuit.launch':
             perfect_lap_path = 'lap-simple-circuit.bag'
@@ -189,8 +189,8 @@ def show_metrics(bags, bags_checkpoints, bags_metadata, bags_lapdata, time_stats
 
         perfect_lap_checkpoints, circuit_diameter = metrics.read_perfect_lap_rosbag(perfect_lap_path)
         lap_metrics = bags_lapdata[x]
-        experiment_statistics['lap_metrics'] = lap_metrics
-        experiments_statistics.append(experiment_statistics)
+        experiment_metrics['lap_metrics'] = lap_metrics
+        experiments_metrics.append(experiment_metrics)
         if lap_metrics['percentage_completed'] > 100:
             if bags_metadata[x]['world'] in world_completed and \
                     bags_metadata[x]['brain_path'] in world_completed[bags_metadata[x]['world']]:
@@ -212,7 +212,7 @@ def show_metrics(bags, bags_checkpoints, bags_metadata, bags_lapdata, time_stats
             y_points.append(point_yml['pose']['pose']['position']['y'])
 
         qapp = QtWidgets.QApplication(sys.argv)
-        app = MetricsWindow(bags[x], x_points, y_points, first_image, bags_metadata[x], time_stats[x], lap_metrics,
+        app = MetricsWindow(bags[x], x_points, y_points, first_image, bags_metadata[x], time_metrics[x], lap_metrics,
                             circuit_diameter)
         app.show()
         qapp.exec_()
@@ -234,8 +234,8 @@ def main():
     if args.bags:
         config_data['bags'] = args.bags
 
-    bags_checkpoints, bags_metadata, bags_lapdata, time_stats, first_image = read_bags(config_data['bags'])
-    show_metrics(config_data['bags'], bags_checkpoints, bags_metadata, bags_lapdata, time_stats, first_image)
+    bags_checkpoints, bags_metadata, bags_lapdata, time_metrics, first_image = read_bags(config_data['bags'])
+    show_metrics(config_data['bags'], bags_checkpoints, bags_metadata, bags_lapdata, time_metrics, first_image)
 
 
 if __name__ == "__main__":

behavior_metrics/ui/gui/views/stats_window.py

@@ -6,7 +6,7 @@ def __init__(self, parent=None, controller=None):
         super(StatsWindow, self).__init__(parent)
 
         self.controller = controller
-        self.setWindowTitle("Statistics")        
+        self.setWindowTitle("Metrics")
         wid = QWidget(self)
         self.setCentralWidget(wid)