def export_file_sensor_data_gps(self, sensor: Sensor, sensors_data: list,
file_format, directory):
# GPS is stored as SIRF data structures.
from libopenimu.importers.wimu import GPSGeodetic
filename = directory + sensor.name
if 'CSV' in file_format:
filename = filename + '.CSV'
elif 'Matlab' in file_format:
filename = filename + '.mat'
print('output to file : ', filename)
# Write CSV header
header = str()
channels = self.get_all_channels(sensor=sensor)
# Create data array
# TODO, WILL HANDLE ONLY ONE GPS CHANNEL FOR NOW
my_array = np.zeros(shape=(len(sensors_data), 3))
for channel in channels:
header = header + 'TIME;' + channel.label + '-Latitude;' + channel.label + '-Longitude;'
for i in range(0, len(sensors_data)):
gps_data = GPSGeodetic()
gps_data.from_bytes(sensors_data[i].data)
# Fill data
my_array[i][0] = sensors_data[
i].timestamps.start_timestamp.timestamp()
my_array[i][1] = gps_data.get_latitude()
my_array[i][2] = gps_data.get_longitude()
# Save CSV
# print('dims:', my_array.shape)
# Write values
if 'CSV' in file_format:
np.savetxt(filename, my_array, delimiter=";", header=header)
elif 'Matlab' in file_format:
sio.savemat(filename, {
sensor.name: my_array.transpose(),
'labels': header.split(';')
},
do_compression=True)
timeseries_gyro[-1]['label'] = channel.label
if sensor.id_sensor_type == SensorType.GPS:
print('Found GPS')
channels = manager.get_all_channels(sensor=sensor)
for channel in channels:
print('Found channel GPS', channel)
# No convesion for GPS, stored in raw binary
channel_data = manager.get_all_sensor_data(recordset=record, convert=False, sensor=sensor,
channel=channel)
from libopenimu.importers.wimu import GPSGeodetic
for sensor_data in channel_data:
geo = GPSGeodetic()
geo.from_bytes(sensor_data.data)
# print(geo)
gps_vals[sensor_data.start_timestamp] = [geo.get_latitude(), geo.get_longitude()]
# Only first recordset
break
# Create widgets
def create_window(label=''):
window = QMainWindow()
view = IMUChartView(window)
window.setCentralWidget(view)
window.setWindowTitle(label)
window.resize(640, 480)
return [window, view]
def create_gps_view(label=''):
window = QMainWindow()
for channel in channels:
print('Found channel GPS', channel)
# No convesion for GPS, stored in raw binary
channel_data = manager.get_all_sensor_data(
recordset=record,
convert=False,
sensor=sensor,
channel=channel)
from libopenimu.importers.wimu import GPSGeodetic
for sensor_data in channel_data:
geo = GPSGeodetic()
geo.from_bytes(sensor_data.data)
# print(geo)
gps_vals[sensor_data.start_timestamp] = [
geo.get_latitude(),
geo.get_longitude()
]
# Only first recordset
break
# Create widgets
def create_window(label=''):
window = QMainWindow()
view = IMUChartView(window)
window.setCentralWidget(view)
window.setWindowTitle(label)
window.resize(640, 480)
return [window, view]