Testrig Dashboard updates

stretch_camera_testrig/.idea/.gitignore

@@ -1,3 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml

stretch_camera_testrig/.idea/inspectionProfiles/profiles_settings.xml

@@ -1,6 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <settings>
-    <option name="USE_PROJECT_PROFILE" value="false" />
-    <version value="1.0" />
-  </settings>
-</component>

stretch_camera_testrig/.idea/misc.xml

@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.6" project-jdk-type="Python SDK" />
-</project>

stretch_camera_testrig/.idea/modules.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/stretch_camera_testrig.iml" filepath="$PROJECT_DIR$/.idea/stretch_camera_testrig.iml" />
-    </modules>
-  </component>
-</project>

stretch_camera_testrig/.idea/stretch_camera_testrig.iml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="PYTHON_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="inheritedJdk" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>

stretch_camera_testrig/.idea/vcs.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
-  </component>
-</project>

stretch_camera_testrig/data/results/testrig_results_202202171855.yaml

@@ -1,65 +1,6 @@
 capture_id: '202202171855'
-lighting_condition:
-  brightness: null
-  temperature: null
-null_frames:
-  base_left_marker_pose: 0
-  base_right_marker_pose: 0
-  shoulder_marker_pose: 327
-  wrist_inside_marker_pose: 0
-  wrist_top_marker_pose: 0
+lighting_condition: {brightness: null, temperature: null}
+null_frames: {base_left_marker_pose: 0, base_right_marker_pose: 0, shoulder_marker_pose: 327,
+  wrist_inside_marker_pose: 0, wrist_top_marker_pose: 0}
 number_samples: 600
-performance_metrics:
-  angle_rotation_error:
-    base_left_marker_pose:
-      maximum: 3.130310772767618
-      mean: 3.1123105605302857
-      median: 3.1121101802740316
-      rmse: 3.1123183433291164
-    base_right_marker_pose:
-      maximum: 3.141490159715747
-      mean: 3.126268687591132
-      median: 3.1270113289070975
-      rmse: 3.1262809684459114
-    shoulder_marker_pose:
-      maximum: 3.1351679171566076
-      mean: 3.112359136964902
-      median: 3.1132823943622094
-      rmse: 3.112370862795674
-    wrist_inside_marker_pose:
-      maximum: 3.1351074913380303
-      mean: 3.091203628929577
-      median: 3.0897949788692305
-      rmse: 3.09122966284615
-    wrist_top_marker_pose:
-      maximum: 3.1412404426476863
-      mean: 3.1094737772610457
-      median: 3.1103044636557806
-      rmse: 3.1095094548879647
-  euclidean_error:
-    base_left_marker_pose:
-      maximum: 0.5824225026965391
-      mean: 0.5820963567556977
-      median: 0.5820901959143456
-      rmse: 0.5820963644996675
-    base_right_marker_pose:
-      maximum: 0.5793795286072739
-      mean: 0.578940614355908
-      median: 0.5789297846748012
-      rmse: 0.5789406328075614
-    shoulder_marker_pose:
-      maximum: 0.5814463353933174
-      mean: 0.5812017213971998
-      median: 0.5812040960870808
-      rmse: 0.5812017272530052
-    wrist_inside_marker_pose:
-      maximum: 0.5788094647317441
-      mean: 0.5784990979155296
-      median: 0.5784922563334053
-      rmse: 0.5784991059700069
-    wrist_top_marker_pose:
-      maximum: 0.5806082586912994
-      mean: 0.5802254663635843
-      median: 0.5802384545676887
-      rmse: 0.5802254782763624
-realsense_firmware: 05.13.00.50
+realsense_firmware: null

stretch_camera_testrig/nodes/testrig_analyze_data.py

@@ -101,10 +101,15 @@ class TestRig_Analyze:
         return null_counts
 
     def get_realsense_fw(self):
-        fw_details = Popen("rs-fw-update -l | grep -i 'firmware'", shell=True, bufsize=64, stdin=PIPE, stdout=PIPE,
-                           close_fds=True).stdout.read()
-        fw_details = fw_details.split(',')[3]
-        fw_version = fw_details.split(' ')[-1]
+        fw_version = None
+        try:
+            fw_details = Popen("rs-fw-update -l | grep -i 'firmware'", shell=True, bufsize=64, stdin=PIPE, stdout=PIPE,
+                               close_fds=True).stdout.read()
+            fw_v = fw_details.split(',')[3]
+            fw_v = fw_details.split(' ')[-1]
+        except:
+            print('[Error] Realsense FW not found.')
+
         return fw_version
 
     def testrg_data_parse(self, filename):
@@ -131,7 +136,7 @@ class TestRig_Analyze:
                         data_dict[key].append(None)
             return data_dict
         except IOError:
-            print('[Error]:Unable to open Testrig Data file: {0}'.format(filename))
+            print('[Error] Unable to open Testrig Data file: {0}'.format(filename))
 
     def get_euclidean_errors(self, data_dict, nominal_poses_dict):
         error_dict = {}
@@ -140,7 +145,7 @@ class TestRig_Analyze:
         for key in self.data_keys:
             error_dict[key] = []
             if Num_samples != len(data_dict[key]):
-                print('[Warning]: Number of samples found inconsistent for each Marker tag.')
+                print('[Warning] Number of samples found inconsistent for each Marker tag.')
 
         for key in error_dict.keys():
             for i in range(Num_samples):
@@ -157,7 +162,7 @@ class TestRig_Analyze:
         for key in self.data_keys:
             error_dict[key] = []
             if Num_samples != len(data_dict[key]):
-                print('[Warning]: Number of samples found inconsistent for each Marker tag.')
+                print('[Warning] Number of samples found inconsistent for each Marker tag.')
 
         for key in error_dict.keys():
             for i in range(Num_samples):
@@ -187,7 +192,7 @@ class TestRig_Analyze:
                 nominal_poses_dict[key] = np.array(data['testrig_aruco_marker_info'][key])
             return nominal_poses_dict
         except IOError:
-            print('[Error]:Unable to open Testrig Nominal Poses file: {0}'.format(filename))
+            print('[Error] Unable to open Testrig Nominal Poses file: {0}'.format(filename))
 
     def save_error_computations(self):
         t = time.localtime()

stretch_camera_testrig/nodes/testrig_dashboard.py

@@ -1,11 +1,12 @@
 #!/usr/bin/env python
-from tkinter import *
+from Tkinter import *
 from testrig_analyze_data import TestRig_Analyze
 import os
 import yaml
 import numpy as np
 from tabulate import tabulate
 import math
+import pprint
 
 
 class TestRig_dashboard():
@@ -64,7 +65,7 @@ class TestRig_dashboard():
         self.nominal_poses_label.place(x=x_off + 20, y=y_off + 120)
         self.matrix_text_var = None
         self.matrix_entries = None
-        self.create_matrix_entry(x_off + 50, y_off + 150)
+        self.create_matrix_entry(x_off + 30, y_off + 150)
         self.update_nominal_poses_btn = Button(self.window, text="Update Nominal Poses",
                                                command=self.update_nominal_poses)
         self.update_nominal_poses_btn.place(x=x_off + 20, y=y_off + 280)
@@ -77,13 +78,15 @@ class TestRig_dashboard():
                             command=self.radiobutton_sel)
             self.nominal_poses_radiobuttons.append(r)
         for i in range(len(self.nominal_poses_radiobuttons)):
-            self.nominal_poses_radiobuttons[i].place(x=x_off + 220, y=y_off + 165 + i * 20)
+            self.nominal_poses_radiobuttons[i].place(x=x_off + 155, y=y_off + 150 + i * 20)
 
         ################## Test Results Display Pane ########################
         self.x_off_mid = 0
         self.y_off_mid = 0
         self.test_results_title = Label(self.window, text="Testrig Computed Results", font=("Arial", 18))
         self.test_results_title.place(x=self.x_off_mid + 20, y=self.y_off_mid + 330)
+        self.metric_title = None
+        self.test_info_title = None
 
         ################### Bottom Pane #########################
         x_off_bottom = 0
@@ -103,6 +106,19 @@ class TestRig_dashboard():
         self.target_samples_lbl = Label(self.window, text="Enter Target frames:")
         self.target_samples_lbl.place(x=x_off_bottom + 310, y=y_off_bottom + 546)
 
+    def test_data_info(self, x_pos, y_pos):
+        self.test_info_title = Label(self.window, text='Test Info', font=("Arial", 13, 'bold'))
+        self.test_info_title.place(x=x_pos, y=y_pos - 25)
+
+        info_dict = self.test_rig.test_results_dict
+        try:
+            del info_dict['performance_metrics']
+        except KeyError:
+            None
+        info_txt = str(yaml.safe_dump(info_dict, allow_unicode=True, default_flow_style=False))
+        self.info_print = Label(self.window, text=info_txt, anchor="w", font=("Arial", 12), justify=LEFT)
+        self.info_print.place(x=x_pos, y=y_pos)
+
     def metrics_table_print(self, pos_x, pos_y, error_key):
         n_rows = len(self.data_keys) + 1
         n_columns = len(self.metrics_keys) + 1
@@ -114,10 +130,12 @@ class TestRig_dashboard():
                 d.append(results[key][mkey])
             data_list.append(d)
         mkeys = self.metrics_keys
-        mkeys = ['Marker Tag'] + mkeys
+        mkeys = ['Marker Tags'] + mkeys
         data_list = [mkeys] + data_list
         x2 = 0
         y2 = 0
+        self.metric_title = Label(self.window, text=error_key + ' Metrics', font=("Arial", 13, 'bold'))
+        self.metric_title.place(x=pos_x, y=pos_y - 25)
         for i in range(n_rows):
             for j in range(n_columns):
                 if j == 0:
@@ -182,7 +200,7 @@ class TestRig_dashboard():
                 self.test_capture_id_lbl.configure(
                     text="Testrig Data Capture ID : {} loaded".format(self.test_rig.data_capture_date))
                 self.log('Loaded Test Rig data file : {}'.format(self.test_rig.data_filename.split('/')[-1]))
-            except:
+            except IOError:
                 self.log('Unable to load given data file:{}'.format(self.data_file_path.get()))
         else:
             self.log('Enter a data file path.')
@@ -201,6 +219,7 @@ class TestRig_dashboard():
         self.test_rig = test_rig
         self.metrics_table_print(self.x_off_mid + 130, self.y_off_mid + 420, 'euclidean_error')
         self.metrics_table_print(self.x_off_mid + 130, self.y_off_mid + 620, 'angle_rotation_error')
+        self.test_data_info(360, 150)
         return test_rig
 
     def mainloop(self):