def json_to_dict_mileage(data_file, known_file):
if os.path.exists(data_file + ".pickle"):
return pickle_to_dict_mileage(data_file + ".pickle")
gyroXangle = gyroYangle = gyroZangle = CFangleX = CFangleY = CFangleZ = 0
last_time = None
for line_no, obj in pirail.read(data_file):
if obj['class'] != "ATT":
continue
if 'roll' in obj and 'yaw' in obj and 'pitch' in obj:
mileage = obj['mileage']
mileageToData[mileage] = acceleration_gyroscopic_data(
obj['acc_x'], obj['acc_y'], obj['acc_z'], obj['roll'],
obj['pitch'], obj['yaw'])
continue
if last_time is not None:
DT = (pirail.parse_time(obj['time']) -
pirail.parse_time(last_time)).total_seconds()
last_time = obj['time']
else:
DT = 0
# Calculate Yaw/Pitch/Roll
# Based on:
# https://github.com/ozzmaker/BerryIMU/blob/master/python-BerryIMU-gryo-accel-compass/berryIMU-simple.py
gyroXangle += obj['gyro_x'] * DT
gyroYangle += obj['gyro_y'] * DT
gyroZangle += obj['gyro_z'] * DT
AccXangle = math.degrees(
(float)(math.atan2(obj['acc_y'], obj['acc_z']) + math.pi))
AccYangle = math.degrees(
(float)(math.atan2(obj['acc_z'], obj['acc_x']) + math.pi))
AccZangle = math.degrees(
(float)(math.atan2(obj['acc_y'], obj['acc_x']) + math.pi))
# Complementary Filter
CFangleX = AA * (CFangleX + obj['gyro_x'] * DT) + (1 - AA) * AccXangle
CFangleY = AA * (CFangleY + obj['gyro_y'] * DT) + (1 - AA) * AccYangle
CFangleZ = AA * (CFangleZ + obj['gyro_z'] * DT) + (1 - AA) * AccZangle
if 'mileage' not in obj:
if 'lat' in obj and 'lon' in obj:
obj['mileage'], obj['certainty'] = gps_to_mileage.Gps2Miles(
known_file).find_mileage(obj['lat'], obj['lon'])
mileageToData[obj['mileage']] = acceleration_gyroscopic_data(
AccXangle, AccYangle, AccZangle, CFangleY, CFangleX, CFangleZ)
with open(data_file + ".pickle", "wb") as f:
pickle.dump(mileageToData, f, pickle.HIGHEST_PROTOCOL)
return mileageToData
def get_maxAll(track: dict):
list_x = []
list_y = []
list_z = []
list_roll = []
list_pitch = []
list_yaw = []
for data_point in track.values():
list_x.append(data_point.get_accX())
list_y.append(data_point.get_accY())
list_z.append(data_point.get_accZ())
list_roll.append(data_point.get_roll())
list_pitch.append(data_point.get_pitch())
list_yaw.append(data_point.get_yaw())
sd_x = max(list_x)
sd_y = max(list_y)
sd_z = max(list_z)
sd_roll = max(list_roll)
sd_pitch = max(list_pitch)
sd_yaw = max(list_yaw)
return acceleration_gyroscopic_data(sd_x, sd_y, sd_z, sd_roll, sd_pitch,
sd_yaw)
def calc_standard_deviation_all(track: dict):
list_x = []
list_y = []
list_z = []
list_roll = []
list_pitch = []
list_yaw = []
for data_point in track.values():
list_x.append(data_point.get_accX())
list_y.append(data_point.get_accY())
list_z.append(data_point.get_accZ())
list_roll.append(data_point.get_roll())
list_pitch.append(data_point.get_pitch())
list_yaw.append(data_point.get_yaw())
sd_x = statistics.stdev(list_x)
sd_y = statistics.stdev(list_y)
sd_z = statistics.stdev(list_z)
sd_roll = statistics.stdev(list_roll)
sd_pitch = statistics.stdev(list_pitch)
sd_yaw = statistics.stdev(list_yaw)
return acceleration_gyroscopic_data(sd_x, sd_y, sd_z, sd_roll, sd_pitch,
sd_yaw)
def calc_average_acceleration_gyro(track: dict):
average_accX = average_accY = average_accZ = average_roll = average_pitch = average_yaw = 0
n = len(track.values())
for data_point in track.values():
average_accX += data_point.get_accX()
average_accY += data_point.get_accY()
average_accZ += data_point.get_accZ()
average_roll += data_point.get_roll()
average_pitch += data_point.get_pitch()
average_yaw += data_point.get_yaw()
return acceleration_gyroscopic_data(average_accX / n, average_accY / n,
average_accZ / n, average_roll / n,
average_pitch / n, average_yaw / n)