| 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: |
| 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): |
| |
| 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 |
