Commit 90ebd47a authored by Sigurd M. Albrektsen's avatar Sigurd M. Albrektsen
Browse files

Merge branch 'develop' into 'master' 

Different delimiter support

See merge request enfo/sentiboard-utils!10
parents 5f55af0d 5e53b637

converters/rtklib2avg.py

+33 −9
Changes for converters/rtklib2avg.py: 33 added lines, 9 removed lines.
Original line number Diff line number Diff line
@@ -2,6 +2,7 @@ 


import sys

import os

import re

import numpy as np

dir_path = os.path.dirname(os.path.realpath(__file__))

sys.path.append(os.path.join(dir_path, '..'))
@@ -11,8 +12,15 @@ def print_usage(): 
    print('  python rtklib2matlab.py [rover.pos]')

    sys.exit(1)



def split_line(line):

    if '|' in line:

        return line.split('|')

    if '\t' in line:

        return line.split('\t')

    return re.sub(' +', ' ', line).split(' ')



def parseline(line, names):

    values = line.split()

    values = split_line(line)

    converters = [int] + [float]*4 + [int]*2 + [float]*8

    conv_vals = [c(v) for c, v in zip(converters, values) ]

    return dict(zip(names, conv_vals))
@@ -33,13 +41,18 @@ if __name__ == '__main__': 
        print('')

        print_usage()



    if len(sys.argv) == 3:

    if len(sys.argv) >= 3:

        min_quality = int(sys.argv[2])

    else:

        min_quality = 1



    if len(sys.argv) >= 4:

        min_sat = int(sys.argv[3])

    else:

        min_sat = 6



    infile = sys.argv[1]

    print('Extracting average from %s with Q <= %d' % (infile, min_quality))

    print('Extracting average from %s with Q <= %d, n_sat >= %d' % (infile, min_quality, min_sat))



    names = ['week', 'tow', 'ecef_x', 'ecef_y', 'ecef_z', 'Q', 'ns', 'sdx', 'sdy',

     'sdz', 'sdxy', 'sdyz', 'sdzx', 'age', 'ratio']
@@ -48,28 +61,30 @@ if __name__ == '__main__': 
        for line in f:

            if line.startswith('%'):

                if 'ratio' in line:

                    names = [fix_name(name) for name in line[1:].split()]

                    names = [fix_name(name) for name in split_line(line.strip('% '))]

                    if 'gpst' in names:

                        names.insert(0, 'week')

                continue

            n_lines += 1

        f.seek(0)



        arr = np.zeros((4, n_lines))

        arr = np.zeros((5, n_lines))

        arr_ix=0

        for line in f:

            if line.startswith('%'):

                continue

            data_line = parseline(line, names)

            for key, val in data_line.items():

                if key in ['x_ecef', 'lat']:

                if key in ['x_ecef', 'lat', 'latitude']:

                    arr[0, arr_ix] = val

                elif key in ['y_ecef', 'lon']:

                elif key in ['y_ecef', 'lon', 'longitude']:

                    arr[1, arr_ix] = val

                elif key in ['z_ecef', 'alt']:

                elif key in ['z_ecef', 'alt', 'height']:

                    arr[2, arr_ix] = val

                elif key == 'q':

                    arr[3, arr_ix] = val

                elif key == 'ns':

                    arr[4, arr_ix] = val

            arr_ix += 1



    print('')
@@ -77,8 +92,17 @@ if __name__ == '__main__': 


    legal_arr = arr[:, arr[3,:] > 0]

    valid_arr = legal_arr[:, legal_arr[3,:] <= min_quality]

    valid_arr = valid_arr[:, valid_arr[4,:] >= min_sat]



    print('Found %d quality points.' % valid_arr.shape[1])



    for ix, key in enumerate(names):

        if key in ['x_ecef', 'lat', 'latitude']:

            name_start_ix = ix

            break

    print('')

    print('Mean: %s' % np.mean(valid_arr, axis=1)[:3])
 
    print('Std : %s' % np.std(valid_arr, axis=1)[:3])

    print('Mean:')

    print('\t'.join(names[name_start_ix:name_start_ix+3]))

    llh = np.mean(valid_arr, axis=1)[:3]

    print('%.12f\t%.12f\t%.12f' % (llh[0], llh[1], llh[2]))

converters/rtklib2matlab.py

+12 −4
Changes for converters/rtklib2matlab.py: 12 added lines, 4 removed lines.
Original line number Diff line number Diff line
@@ -2,18 +2,26 @@ 


import sys

import os

import re

from scipy.io import savemat

dir_path = os.path.dirname(os.path.realpath(__file__))

sys.path.append(os.path.join(dir_path, '..'))





def print_usage():

    print('Usage:')

    print('  python rtklib2matlab.py [rover.pos]')

    sys.exit(1)



def parseline(line, names):

def split_line(line):

    if '|' in line:

        return line.split('|')

    if '\t' in line:

        return line.split('\t')

    return re.sub(' +', ' ', line).split(' ')



    values = line.split('|')

def parseline(line, names):

    values = split_line(line)

    converters = [int] + [float]*4 + [int]*2 + [float]*8

    conv_vals = [c(v) for c, v in zip(converters, values) ]

    return dict(zip(names, conv_vals))
@@ -38,7 +46,7 @@ if __name__ == '__main__': 


    infile = sys.argv[1]

    outfile = os.path.splitext(infile)[0] + '.mat'

    print('Converting %s to to %s' % (infile, outfile))

    print('Converting %s to %s' % (infile, outfile))



    names = ['week', 'tow', 'ecef_x', 'ecef_y', 'ecef_z', 'Q', 'ns', 'sdx', 'sdy',

     'sdz', 'sdxy', 'sdyz', 'sdzx', 'age', 'ratio']
@@ -58,7 +66,7 @@ if __name__ == '__main__': 
        for line in f:

            if line.startswith('%'):

                if 'age' in line:

                    names = [handle_name(name) for name in line.strip('% ').split('|')]

                    names = [handle_name(name) for name in split_line(line.strip('% '))]

                    if names[0] == 'gpst':

                        names.insert(0, 'week')

                continue