def return_false_func():
return False
if __name__ == '__main__':
# dir_name = '/home/steve/Data/IU/92/'
dir_name = '/home/steve/Data/II/16/'
# dir_name = "/home/steve/Code/Mini_IMU/Scripts/IMUWB/91/"
imu_data = np.loadtxt(dir_name + 'imu.txt', delimiter=',')
mag_cali_data = np.loadtxt('/home/steve/Data/II/21/imu.txt', delimiter=',')
fuse = Fusion()
fuse.own_calibrate(mag_cali_data[:, 7:10])
attitude = np.zeros([imu_data.shape[0], 3])
for i in range(imu_data.shape[0]):
bb_times = 5
if i is 0:
bb_times = 100
for j in range(bb_times):
fuse.update(imu_data[i, 1:4], imu_data[i, 4:7], imu_data[i, 7:10],
0.005 / float(bb_times))
# fuse.update(imu_data[i, 1:4], imu_data[i, 4:7], imu_data[i, 7:10],0.001)
# time.sleep(0.005)
if i % 200 == 0:
print("attitude:{:7.3f} {:7.3f} {:7.3f}".format(
