def __init__(self, time, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag,
abs_pressure, diff_pressure, pressure_alt, temperature,
acc_mean=0, acc_var=0,
gyro_mean=0, gyro_var=0,
mag_mean=0, mag_var=0,
baro_mean=0, baro_var=0):
self.time = time
self.xacc = xacc
self.yacc = yacc
self.zacc = zacc
self.xgyro = xgyro
self.ygyro = ygyro
self.zgyro = zgyro
self.xmag = xmag
self.ymag = ymag
self.zmag = zmag
self.abs_pressure = abs_pressure
self.diff_pressure = diff_pressure
self.pressure_alt = pressure_alt
self.temperature = temperature
#TODO restore noise after testing
self.acc_noise = noise.GaussianNoise(acc_mean, acc_var)
self.gyro_noise = noise.GaussianNoise(gyro_mean, gyro_var)
self.mag_noise = noise.GaussianNoise(mag_mean, mag_var)
self.baro_noise = noise.GaussianNoise(baro_mean, baro_var)
def __init__(self,
time,
fix_type,
lat,
lon,
alt,
eph,
epv,
vel,
cog,
satellites_visible,
pos_mean=0,
pos_var=0,
alt_mean=0,
alt_var=0,
vel_mean=0,
vel_var=0):
self.time = time
self.fix_type = fix_type
#noiseless params, because the noise terms are slightly complicated
self.lat_noiseless = lat
self.lon_noiseless = lon
self.alt_noiseless = alt
self.vel_noiseless = vel
self.lat = lat
self.lon = lon
self.alt = alt
self.eph = eph
self.epv = epv
self.vel = vel
self.cog = cog
self.satellites_visible = satellites_visible
self.vn = 0
self.ve = 0
self.vd = 0
self.pos_noise = noise.GaussianNoise(pos_mean, pos_var)
self.alt_noise = noise.GaussianNoise(alt_mean, alt_var)
self.vel_noise = noise.GaussianNoise(vel_mean, vel_var)
def __init__(self, time, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible,
pos_mean=0, pos_var=0, alt_mean=0, alt_var=0, vel_mean=0, vel_var=0):
self.time = time
self.fix_type = fix_type
self.lat = lat
self.lon = lon
self.alt = alt
self.eph = eph
self.epv = epv
self.vel = vel
self.cog = cog
self.satellites_visible = satellites_visible
self.vn = 0
self.ve = 0
self.vd = 0
self.pos_noise = noise.GaussianNoise(pos_mean, pos_var)
self.alt_noise = noise.GaussianNoise(alt_mean, alt_var)
self.vel_noise = noise.GaussianNoise(vel_mean, vel_var)
def noisy(noise_type, image, std=0.3, p=0.1, q=0.0):
if noise_type == "gauss":
a = noise.GaussianNoise(std, scale=[0, 255])
noisy = a.apply(image)
return noisy
elif noise_type == "s&p":
b = noise.SaltAndPepperNoise(p, scale=[0, 255])
noisy = b.apply(image)
return noisy
elif noise_type == "quantization":
c = noise.QuantizationNoise(q, scale=[0, 255])
noisy = c.apply(image)
return noisy
def noisy(noise_type, image, gp1=0.9, spp=0.9, qup=0.9, b=2):
if noise_type == "gauss":
g = noise.GaussianNoise(gp1, scale=[0, 255])
noisy = g._apply(image)
return noisy
elif noise_type == "s&p":
sp = noise.SaltAndPepperNoise(spp)
noisy = sp._apply(image)
return noisy
elif noise_type == "quantization":
qu = noise.QuantizationNoise(qup)
noisy = qu._apply(image)
return noisy
elif noise_type == "blurring":
noisy = scipy.ndimage.gaussian_filter(image, sigma=b)
return noisy