def gyroRTC(self, id): t = unwrapTimestamps(self.rawGyroRTC(id))[0] #if id in bsOffset: # return t + 48000 #else: return t
def allBsRTC(self): return unwrapTimestamps(self.allRawBsRTC())
def bsRTC(self,id): return unwrapTimestamps(self.rawBsRTC(id))[0]
def magRTC(self, id): return unwrapTimestamps(self.rawMagRTC(id))[0]
def accelRTC(self, id): return unwrapTimestamps(self.rawAccelRTC(id))[0]
#NODE_ID, ACCEL_RTC, GYRO_RTC, MAG_RTC, ACCEL, GYRO, MAG = range(7) CAL_PATH="../ScottishBallet/finalCapture/calibration/" PC_SEND_FREQ = 5 PC_FILE= "../ScottishBallet/finalCapture/pcCaptures/ID_arm02.log" dataset = OrientPCDataset(PC_FILE) plot(dataset.accelVectors(6)[:,2]) show() data_array = loadtxt(PC_FILE, delimiter=',',skiprows=1) s = Panda(live=False, sd=False, path=CAL_PATH, send_freq=PC_SEND_FREQ) print "loaded" print len(data_array) unwrapped_timestamps = unwrapTimestamps(data_array[:,15])[0] #plot(unwrapped_timestamps) #show() SEQByNodeID = dict() for i in range(len(data_array)): if data_array[i,1] == 6 and data_array[i,8] < 0: print "calibration stance " + str(i) type,nodeID,seqNumber,accelRTC,gyroRTC,magRTC,accelX,accelY,accelZ,gyroX,gyroY,gyroZ,magX,magY,magZ,bsRTC = data_array[i,:] SEQByNodeID[nodeID] = seqNumber gyro = array((float(-gyroY), float(-gyroX), float(-gyroZ)))