def plot_imu(self,
fig=None,
plot_num=1,
plot_rows=2,
plot_cols=2,
figsize=None,
**kwargs):
if fig is None:
fig = plt.figure(figsize=figsize)
ax = fig.add_subplot(plot_rows,
plot_cols,
plot_num,
title=self.name + ' Gyros')
moveThreshGyro = pysurvive.configf(self.so.contents.ctx,
"move-threshold-gyro",
pysurvive.SC_GET, 0)
moveThreshAcc = pysurvive.configf(self.so.contents.ctx,
"move-threshold-acc",
pysurvive.SC_GET, 0)
axes_name = ['X', 'Y', 'Z']
gyros = np.array(self.gyros)
ax.plot([self.imu_times[0], self.imu_times[-1]], [moveThreshGyro] * 2,
linewidth=1)
ax.plot(self.imu_times,
np.linalg.norm(gyros, axis=1),
linewidth=1,
label='Norm')
for i in range(3):
ax.plot(self.imu_times,
gyros[:, i],
linewidth=1,
label=axes_name[i])
ax.legend()
ax = fig.add_subplot(plot_rows,
plot_cols,
plot_num + 1,
title=self.name + ' Accels')
ax.plot([self.imu_times[0], self.imu_times[-1]], [moveThreshAcc] * 2,
linewidth=1)
ax.plot(self.imu_times[1:],
np.linalg.norm(np.diff(self.accels, axis=0), axis=1),
linewidth=1)
return 2
def plot_light_diff(self,
fig=None,
plot_num=1,
plot_rows=1,
plot_cols=1,
figsize=None,
norm_diff=True,
**kwargs):
if len(self.angles) == 0:
return 0
if fig is None:
fig = plt.figure(figsize=figsize_or_default(figsize))
ax = fig.add_subplot(plot_rows,
plot_cols,
plot_num,
title=self.name + ' light diff')
moveThreshAng = pysurvive.configf(self.so.contents.ctx,
"move-threshold-ang",
pysurvive.SC_GET, 0)
ax.plot([self.imu_times[0], self.imu_times[-1]], [moveThreshAng] * 2,
linewidth=1)
for k, v in self.angles.items():
if len(v) <= 1:
continue
vv = np.array(v)
norm = np.diff(vv[:, 0]) if norm_diff else 1.
data = np.stack([vv[1:, 0], np.array(np.diff(vv[:, 1]) / norm)])
diff_data = insert_blanks(data)
times = diff_data[:, 0]
data = diff_data[:, 1]
ax.plot(times, data, '-', label=k, linewidth=1)
return 1
def plot_accel(self,
fig=None,
plot_num=1,
plot_rows=1,
plot_cols=1,
only_avg=True,
figsize=None,
**kwargs):
if fig is None:
fig = plt.figure(figsize=figsize_or_default(figsize))
accel_running_avg = self.datalogs['accel running average']
if len(accel_running_avg) == 0:
only_avg = False
moveThreshAcc = pysurvive.configf(self.so.contents.ctx,
"move-threshold-acc",
pysurvive.SC_GET, 0)
ax = fig.add_subplot(plot_rows,
plot_cols,
plot_num,
title=self.name + ' Accels')
ax.plot([self.imu_times[0], self.imu_times[-1]], [moveThreshAcc] * 2,
'--',
linewidth=1.5,
label="Move threshold")
if not only_avg:
ax.plot(self.imu_times[1:],
np.linalg.norm(np.diff(self.accels, axis=0), axis=1),
linewidth=0.5,
label="Norm diff")
ax.plot(self.imu_times,
np.linalg.norm(self.accels, axis=1),
linewidth=1,
label="Norm")
accel_running_avg = self.datalogs['accel running average']
if len(accel_running_avg):
plot_with_time(ax,
accel_running_avg,
data_fn=np.linalg.norm,
label="Running accel average")
start = len(self.imu_times) - len(get_data(accel_running_avg))
ax.plot(self.imu_times[start:],
np.linalg.norm(self.accels[start:] -
get_data(accel_running_avg),
axis=1),
linewidth=0.5,
label="Norm diff(avg)")
ax.plot(get_times(accel_running_avg)[1:],
np.linalg.norm(np.diff(get_data(accel_running_avg),
axis=0),
axis=1),
label="Running accel average diff")
accels = np.array(self.accels)
axes_name = ['X', 'Y', 'Z']
for i in range(3):
if not only_avg:
ax.plot(self.imu_times,
accels[:, i],
linewidth=0.5,
label=axes_name[i])
ax.plot(get_times(accel_running_avg),
get_data(accel_running_avg)[:, i],
label="Avg" + axes_name[i])
ax.legend()