File size: 3,386 Bytes
784266f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 | from __future__ import annotations
import math
import numpy as np
from multipledispatch import dispatch
class IMUData():
@dispatch(float, float, float, float, float, float, int)
def __init__(self, acc_x:float, acc_y:float, acc_z:float,
gyr_x:float, gyr_y:float, gyr_z:float, timestamp:int):
self.acc_x = acc_x
self.acc_y = acc_y
self.acc_z = acc_z
self.gyr_x = gyr_x
self.gyr_y = gyr_y
self.gyr_z = gyr_z
self.timestamp = timestamp
self.acc_np = np.array([self.acc_x, self.acc_y, self.acc_z])
self.gyr_np = np.array([self.gyr_x, self.gyr_y, self.gyr_z])
self.imu_np = np.concatenate((self.acc_np, self.gyr_np), axis=0)
self.plane_directions = np.array([
[-0.23709712, 0.20552186, -0.93578157],
[-0.94889871, 0.04797022, 0.28491208],
[-0.0617075, 0.95126743, 0.29782995],
[ 0.99204434, -0.06982192, 0.00740044]
])
@dispatch(dict)
def __init__(self, data:dict):
self.__init__(data['acc_x'], data['acc_y'], data['acc_z'],
data['gyr_x'], data['gyr_y'], data['gyr_z'], data['timestamp'])
def __getitem__(self, index):
return [self.acc_x, self.acc_y, self.acc_z, self.gyr_x, self.gyr_y, self.gyr_z][index]
def __str__(self):
return 'Acc [x: {:.2f} y: {:.2f} z: {:.2f}] Gyr[x: {:.2f} y: {:.2f} z: {:.2f}] Timestamp {}'.format(
self.acc_x, self.acc_y, self.acc_z, self.gyr_x, self.gyr_y, self.gyr_z, self.timestamp
)
@property
def gyr_norm(self):
return math.sqrt(self.gyr_x * self.gyr_x + self.gyr_y * self.gyr_y + self.gyr_z * self.gyr_z)
@property
def acc_norm(self):
return math.sqrt(self.acc_x * self.acc_x + self.acc_y * self.acc_y + self.acc_z * self.acc_z)
def scale(self) -> IMUData:
return IMUData(self.acc_x / 9.8, -self.acc_y / 9.8, -self.acc_z / 9.8,
self.gyr_x / math.pi * 180, -self.gyr_y / math.pi * 180, -self.gyr_z / math.pi * 180, self.timestamp)
def direction(self) -> int: # TODO: -> str
for i in range(len(self.plane_directions)):
if np.dot(self.acc_np / self.acc_norm, self.plane_directions[i]) >= math.sqrt(2) / 2:
return i
return -1
def to_numpy(self):
return np.array([self.acc_x, self.acc_y, self.acc_z, self.gyr_x, self.gyr_y, self.gyr_z])
def to_numpy_with_timestamp(self):
return np.array([self.acc_x, self.acc_y, self.acc_z, self.gyr_x, self.gyr_y, self.gyr_z, self.timestamp], dtype=np.float64)
def assigned_by(self, data):
# remain timestamp
self.acc_x = data.acc_x
self.acc_y = data.acc_y
self.acc_z = data.acc_z
self.gyr_x = data.gyr_x
self.gyr_y = data.gyr_y
self.gyr_z = data.gyr_z
self.acc_np = np.array([self.acc_x, self.acc_y, self.acc_z])
self.gyr_np = np.array([self.gyr_x, self.gyr_y, self.gyr_z])
self.imu_np = np.concatenate((self.acc_np, self.gyr_np), axis=0)
class IMUDataGroup():
def __init__(self, data:list[IMUData]):
self.data = data
def __getitem__(self, index) -> IMUData:
return self.data[index]
def __str__(self):
return '\n'.join(map(str, self.data)) + '\n'
def scale(self) -> IMUDataGroup:
return IMUDataGroup([x.scale() for x in self.data])
def to_numpy(self):
return np.array([x[j] for x in self.data for j in range(6)])
@property
def timestamp(self):
return self.data[0].timestamp |