def test1():
""" Test1
"""
from sensbiotk.io import iofox_deprec as fox
from sensbiotk.io import viz
print "Test Calibration"
[time, acc, mag, gyr] = fox.load_foximu_csvfile(FILETEST)
viz.plot_imu(0, "calib", time[:, 1], acc, mag, gyr)
acc_motionless = acc[5500:7500]
gyr_motionless = gyr[5500:7500]
mag_motion = mag[8000:18000]
scale, offset = calib_acc.compute_simple(acc_motionless)
print "Acc"
print "Scale=", scale
print "Offset=", offset
scale, offset = calib_mag.compute(mag_motion)
print "Mag"
print "Scale=", scale
print "Offset=", offset
scale, offset = calib_gyr.compute(gyr_motionless)
print "Gyr"
print "Scale=", scale
print "Offset=", offset
viz.plot_show()
return
def test0():
""" Test 0
"""
filein = DIR + "HIGPS00.RAW"
fileout = DIR + "imu00.csv"
fileoutp = DIR + "presst00.csv"
fox.convert_fox_rawfile(filein, fileout, fileoutp)
[time, acc_imu, mag_imu, gyr_imu] = fox.load_foximu_csvfile(fileout)
time_imu = time[:, 1]
viz.plot_imu(1, "FOX IMU sensors", time_imu, acc_imu, mag_imu, gyr_imu)
def visu_running():
""" plotting of a running
"""
# Fichier ascii de donnees FOX
filename = "./data/imu11.csv"
# Read IMU data
[time, acc_imu, mag_imu, gyr_imu] = fox.load_foximu_csvfile(filename)
# Split data
time_imu = time[:, 1]
viz.plot_imu(1, "FOX IMU sensors", time_imu, acc_imu, mag_imu, gyr_imu)
viz.plot_show()
return
def imu_door_norm(filename):
""" Visualize the IMU signals, compute their norms,
and give the extremun magnetometers norm
Parameters
----------
filename : filename IMU door to be analyzed
time_i : begin time of the extremun research
time_f : end time of the extremun research
Returns
-------
[data
"""
# Read IMU data
[time, acc_imu, mag_imu, gyr_imu] = fox.load_foximu_csvfile(filename)
time_imu = time[:, 1]
# Sensors norm
acc_norm = np.sqrt(np.sum(acc_imu[:, i]**2 for i in range(0, 3)))
mag_norm = np.sqrt(np.sum(mag_imu[:, i]**2 for i in range(0, 3)))
gyr_norm = np.sqrt(np.sum(gyr_imu[:, i]**2 for i in range(0, 3)))
viz.plot_imu(1, "FOX IMU sensors", time_imu, acc_imu, mag_imu, gyr_imu)
plt.figure(2)
plt.subplot(311)
plt.plot(time_imu, acc_norm)
plt.title("FOX IMU norm signals sensors")
plt.legend(('x', 'y', 'z'),
bbox_to_anchor=(0, 1, 1, 0),
ncol=2,
loc=3,
borderaxespad=0.)
plt.ylabel('ACC (m/s^2)')
plt.subplot(312)
plt.plot(time_imu, mag_norm)
plt.ylabel('MAG (gauss)')
plt.subplot(313)
plt.plot(time_imu, gyr_norm)
plt.ylabel('GYR (rad/s)')
plt.xlabel('time (s)')
plt.figure(3)
plt.title("FOX IMU samples verification")
plt.plot(time_imu[1:], time[1:, 2])
return [time_imu, acc_norm, mag_norm, gyr_norm]
def main(argv):
""" Main command
"""
options = []
filename = ""
try:
opts, _ = getopt.getopt(argv, "i:d:b:vt:f:pamgh", [
"input=", "dir=", "basename", "verif", "time=", "frequency=",
"plot", "acc", "mag", "gyr", "help"
])
except getopt.GetoptError:
usage()
sys.exit(2)
period = 0.005
diroutput = "."
newbasename = ""
filenames = ""
for opt, arg in opts:
if opt in ("-h", "--help"):
usage()
sys.exit()
elif opt in ("-i", "--input"):
fnames = arg
if not os.path.isfile(fnames):
if not os.path.isdir(fnames):
print "error: input file/dir does not exist"
usage()
sys.exit(2)
else:
# directory input specified
filenames = os.listdir(fnames)
idx = 0
for onefile in filenames:
filenames[idx] = fnames + "/" + onefile
#filenames[idx] = fnames + "/" + filenames[idx]
idx = idx + 1
else:
# filename input specified
filenames = [fnames]
elif opt in ("-d", "--dir"):
diroutput = arg
elif opt in ("-b", "--basename"):
newbasename = arg
elif opt in ("-v", "--verif"):
options.append("-v")
elif opt in ("-t", "--time"):
try:
period = float(arg)
except ValueError:
usage()
sys.exit(2)
if period <= 0:
usage()
sys.exit(2)
elif opt in ("-f", "--frequency"):
try:
period = float(arg)
except ValueError:
usage()
sys.exit(2)
if period <= 0:
usage()
sys.exit(2)
else:
period = 1 / period
elif opt in ("-p", "--plot"):
options.append("-p")
elif opt in ("-a", "--acc"):
options.append("-a")
elif opt in ("-m", "--mag"):
options.append("-m")
elif opt in ("-g", "--gyr"):
options.append("-g")
if len(filenames) == 0:
usage()
sys.exit(2)
for filename in filenames:
print "Conversion:", filename
# Get names file
basefile, fileacc, filemag, filegyr, fileimu =\
getnamefiles(filename, newbasename, diroutput)
# Read and convert file
answer = iofox.convert_sensors_rawfile(filename, fileacc, filemag,
filegyr)
if answer != "OK":
usage()
sys.exit(2)
# Load ascii files converted
[myt, acc, mag, gyr] = \
iofox.load_foximu_csvfile(fileacc, filemag, filegyr, period, 1)
iofox.save_foxsignals_csvfile(myt, acc, mag, gyr, *fileimu)
# Plot if necessary
if "-p" in options:
label = basefile + " IMU"
viz.plot_imu(-1, label, myt, acc, mag, gyr)
if "-a" in options:
label = basefile + " Acc"
plotsig(myt, acc, label, "ACC (m/s^2")
if "-m" in options:
label = basefile + " Mag"
plotsig(myt, mag, label, "MAG (gauss)")
if "-g" in options:
label = basefile + " Gyr"
plotsig(myt, gyr, label, "GYR (rad/s)")
if "-v" in options:
[myt, acc] = iofox.load_foxacc_csvfile(fileacc)
label = basefile + " time verif."
veriftime(label, myt[:, 0])
# Clean temp files
os.remove(fileacc)
os.remove(filemag)
os.remove(filegyr)
plt.show()