def load_data(dataset, texture):
'''
Load and preprocess data
Input:
dataset - number of dataset to use
texture - boolean to switch on texture mapping (include kinect data)
Output:
enc_data - Encoder data in dictionary, with left and right displacement, and timestamps
imu_data - IMU data in dictionary, with angular velocity (yaw rate), linear acceleration and timestamps
lidar_data - LiDAR data in dictionary, with ranges, angles and timestamps
'''
#load data
imu_data = ld.get_imu(dataset)
lidar_data = ld.get_lidar(dataset)
enc_data = ld.get_enc(dataset)
if texture == True:
kinect_data = ld.get_kinect_time(dataset)
else:
kinect_data = 0
# remove bias for odometry, init state is (0,0,0)
yaw_bias_av = np.mean(imu_data['av'][0:380])
imu_data['av'] -= yaw_bias_av
#apply band pass filter
order = 1
fs = 50 # sample rate, Hz
low = 0.000001 # desired band frequency of the filter, Hz
high = 10
imu_data['av'] = butter_bandpass_filter(imu_data['av'], low, high, fs,
order)
return enc_data, imu_data, lidar_data, kinect_data
def load_folder(folder_par):
# prefix_list= ["Hokuyo","Encoders","imu"]
# find location of period (where file extension starts) and extract unique filenames
unique_files = list(
set([i[i.find(".") - 2:i.find(".")] for i in os.listdir(folder_par)]))
# load all map attributes into classes
'''NOTE: r prefix tells interpreter the backslash is to be take literally, as any other character.'''
map_list = [map_object(\
id,\
load_data.get_lidar(folder_par+r"/Hokuyo{0}".format(id)),\
load_data.get_encoder(folder_par+r"/Encoders{0}".format(id)),\
load_data.get_imu(folder_par+r"/imu{0}".format(id)))\
for id in unique_files]
return map_list
# Jinwook Huh
import load_data as ld
import p3_util as ut
acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z, imu_ts = ld.get_imu('imuRaw20')
FR, FL, RR, RL,enc_ts = ld.get_encoder('Encoders20')
lidar = ld.get_lidar('Hokuyo20')
ut.replay_lidar(lidar)
#!/usr/bin/env python
# coding: utf-8
# In[10]:
#load data
import matplotlib.pyplot as plt
import load_data as ld
import math
import numpy as np
import MapUtils as MU
from scipy.special import logsumexp
acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z, imu_ts = ld.get_imu('data/imu23')
FR, FL, RR, RL, enc_ts = ld.get_encoder('data/Encoders23')
lidar = ld.get_lidar('data/Hokuyo23')
# In[11]:
# Bresenham's ray tracing algorithm in 2D.
# Inputs:
#(sx, sy) start point of ray
#(ex, ey) end point of ray
def bresenham2D(sx, sy, ex, ey):
sx = int(round(sx))
sy = int(round(sy))
ex = int(round(ex))
ey = int(round(ey))