# bigger than the last gyroscope time
if acceTimeList[i] > gyroTimeList[-1] or math.fabs(
acceTimeList[i] - gyroTimeList[-1]) < 0.002:
a2gIndexList.append(len(gyroTimeList) - 1)
continue
for j in range(gyroStartIndex, len(gyroTimeList)):
if math.fabs(acceTimeList[i] - gyroTimeList[j]) < 0.002:
a2gIndexList.append(j)
gyroStartIndex = j + 1
break
baseTime = acceTimeList[i]
# Now, the gyroscope should be determined
if gyroTimeList[j] > baseTime:
targetIndex = j if gyroTimeList[
j] - baseTime < baseTime - gyroTimeList[j - 1] else j - 1
a2gIndexList.append(targetIndex)
gyroStartIndex = targetIndex + 1
break
return a2gIndexList
if __name__ == "__main__":
sensorFilePath = ("./Examples/PDRTest/20170622153925_acce.csv",
"./Examples/PDRTest/20170622153925_gyro.csv")
# Load accelerometer data from files
acceTimeList, acceValueList = loadAcceData(sensorFilePath[0],
relativeTime=False)
gyroTimeList, gyroValueList = loadGyroData(sensorFilePath[1],
relativeTime=False)
agTimeAlign(acceTimeList, gyroTimeList)
print("Done.")
acceTimeList, acceValueList = loadAcceData(sensorFilePath[0])
windowSize = 7
acceVotList, acceVarList = varOfAcce(acceTimeList, acceValueList,
windowSize)
# Stationary
timeListForStat = acceVotList[51:341]
timeListForStat = [t - timeListForStat[0] for t in timeListForStat]
valueListForStat = acceVarList[51:341]
# Walking
timeListForWalk = acceVotList[1511:1801]
timeListForWalk = [t - timeListForWalk[0] for t in timeListForWalk]
valueListForWalk = acceVarList[1511:1801]
gyroTimeList, gyroValueList = loadGyroData(sensorFilePath[1])
windowSize = 21
gyroTimeFltList, gyroValueFltList = slidingWindowFilter(
gyroTimeList, gyroValueList, windowSize)
# Normal Walking
timeListForNW = gyroTimeFltList[1101:1601]
timeListForNW = [t - timeListForNW[0] for t in timeListForNW]
valueListForNW = gyroValueFltList[1101:1601]
# Turns
timeListForTurns = gyroTimeFltList[2581:3081]
timeListForTurns = [t - timeListForTurns[0] for t in timeListForTurns]
valueListForTurns = gyroValueFltList[2581:3081]
# Right and Left turn
routeRotClockWise = thirdRouteRotClockWise
moveVector = thirdMoveVector
dataBelongs = "t3"
errorListInSensorError = []
for i in range(min(len(stepLengthErrorList), len(headingErrorList))):
slError4Test = stepLengthErrorList[i]
headingError4Test = headingErrorList[i]
errorBySteps = []
for k in range(10):
for j in range(len(rawDataArray)):
filePaths = rawDataArray[j]
# Load sensor data from files
acceTimeList, acceValueList = loadAcceData(
filePaths[0], relativeTime=False)
gyroTimeList, gyroValueList = loadGyroData(
filePaths[1], relativeTime=False)
wifiTimeList, wifiScanList = loadMovingWifi(filePaths[2])
# load real locations
locRealDF = pd.read_csv(filePaths[3])
locRealList = [(loc[0], loc[1])
for loc in locRealDF.values]
locEstWorldList = secondAiFi.onlineViterbi(
acceTimeList,
acceValueList,
gyroTimeList,
gyroValueList,
wifiTimeList,
wifiScanList,
startingDirection=0.0,
startingPointFlag=True,