Table Of Contents
sensbiotk.io package¶
Subpackages¶
Submodules¶
sensbiotk.io.ahrs module¶
Loader/Saver for attitude and heading reference system (ahrs)
- sensbiotk.io.ahrs.load_ahrs_csvfile(filename)[source]¶
Load Ahrs data from a CSV file version with the format line :
t qw qx qy qz roll pitch yaw
The colon separation is a tab
Parameters: filename : str
Name of the CSV file containing ahrs data
Returns: time : numpy.array
time in sec
quat : numpy.array
[qw, qx, qy, qz]
euler : numpy.array
angles in radians [roll, pitch, yaw]
Examples
>>> timu, quat, euler = load_ahrs_csvfile("data/output_ahrs.csv") >>> print quat
- sensbiotk.io.ahrs.save_ahrs_csvfile(filename, time, quat, ang_euler)[source]¶
save a ascii csv ahrs file with the format line :
t qw qx qy qz roll pitch yaw
The colon separation is a tab
Parameters: time : numpy.array
in second
quat : numpy array
[qw, qx qy qz]
ang_euler : numpy array
angles in radians [roll pitch yaw]
filename : str
The ouput .csv file name
Returns: status : str
‘OK’ / ‘ERROR’
Examples
>>> timu = [0, 1] >>> quat = [[1,0,0,0], [1,0,0,0]] >>> euler = [[0,0,0], [0,0,0]] >>> save_ahrs_csvfile("data/ahrs.csv", timu, quat, euler)
sensbiotk.io.iofox module¶
Loader for HikoB Fox Node format
- sensbiotk.io.iofox.convert_sensors_rawfile(binfilename, accfilename='output_acc.csv', magfilename='output_mag.csv', gyrfilename='output_gyr.csv', presstfilename='output_presst.csv', gpiofilename='output_gpio.csv')[source]¶
Convert a raw bin HikoB Fox sensors file into an ascii csv files.
Parameters: binfilename : str
Name of the raw file to load and convert.
accfilename : str
Name of the csv accelerometers imu file
magfilename : str
Name of the csv magnetometers imu file
gyrfilename : str
Name of the csv gyrometers imu file
presstfilename : str
Name of the csv pressure & temperature sensors file
gpiofilename : str
Name of the csv gpio file
Returns :
——- :
status : str
‘OK’ / ‘ERROR’
- sensbiotk.io.iofox.load_foxacc_csvfile(filename)[source]¶
Load Acceleration IMU HikoB Fox Node from a CSV file.
Parameters: filename : str
Name of the CSV file to load.
Returns: two numpy array which contains [t,dt] and [accx,accy,accz] :
- sensbiotk.io.iofox.load_foxcsvfile(filename)[source]¶
Load IMU HikoB Fox Node data from a CSV file version 2
id t dt ax ay az mx my mz gx gy gz
columns are separated by a tab
Parameters: filename : str
Name of the CSV file containing inertial data :
- sensbiotk.io.iofox.load_foxgpio_csvfile(filename)[source]¶
Load Gpio HikoB Fox Node from a CSV file.
Parameters: filename : str
Name of the CSV file to load.
Returns: [time, gpio] : np.array
The matrix contains time [time,dt], gpio1 (0/1), gpio2 (0/1) gpio3 (0/1), gpio4 (0/1), gpio5 (0/1)
- sensbiotk.io.iofox.load_foxgyr_csvfile(filename)[source]¶
Load Gyrometers IMU HikoB Fox Node from a CSV file.
Parameters: filename : str
Name of the CSV file to load.
Returns: two numpy array which contains [t,dt] and [gyrx,gyry,gyrz] :
- sensbiotk.io.iofox.load_foximu_csvfile(filename_acc, filename_mag, filename_gyr, dtime, deg_s=1)[source]¶
Load IMU HikoB Fox Node from a CSV file version 2
Parameters: filename_acc : str
Name of the CSV files to load accelerometers
filename_mag : str
Name of the CSV files to load magnetometers
filename_gyr : str
Name of the CSV files to load gyrometers
dtime: float :
sampling period in seconds
deg_s : int
the order of the spline fit used for signal resampling. 1 <= k <= 5
Returns: [t_interp, acc_interp, mag_interp, gyr_interp] : numpy.array
for numpy array which contains t_interp, acc_interp = [accx,accy,accz], :
mag_interp = [magx,magy,magz], gyr_interp = [gyrx,gyry,gyrz] :
- sensbiotk.io.iofox.load_foxmag_csvfile(filename)[source]¶
Load Magnetometers IMU HikoB Fox Node from a CSV file.
Parameters: filename : str
Name of the CSV file to load.
Returns: two numpy array which contains [t,dt] and [magx,magy,magz] :
- sensbiotk.io.iofox.load_foxpresst_csvfile(filename)[source]¶
Load Pression/Temperature HikoB Fox Node from a CSV file.
Parameters: filename: str :
Name of the CSV file to load.
Returns: time : np.array
The matrix contains time [time,dt], pression (bar) and temperature (degree). id is an int and time,dt,bar and degree are float values.
- sensbiotk.io.iofox.save_foxacc_csvfile(accfilename, time, acc)[source]¶
save a ascii csv file accelerometers IMU HikoB Fox file
Parameters: accfilename : str
Name of the csv imu file
time : numpy array
[t, dt]
acc : numpy array
[ax ay az]
Returns: status : str
‘OK’ or ‘ERROR’
- sensbiotk.io.iofox.save_foxgyr_csvfile(gyrfilename, time, gyr)[source]¶
save a ascii csv file gyrometers IMU HikoB Fox file
Parameters: accfilename : str
Name of the csv imu file
time : numpy array
[t, dt]
gyr : numpy array
[mx my mz]
Returns: status : str
‘OK’ / ‘ERROR’
- sensbiotk.io.iofox.save_foxmag_csvfile(magfilename, time, mag)[source]¶
save a ascii csv file magnetometers IMU HikoB Fox file
Parameters: accfilename : str
Name of the csv imu file
time : numpy array
[t, dt]
mag : numpy array
[mx my mz]
Returns: status : str
‘OK’ or ‘ERROR’
- sensbiotk.io.iofox.save_foxsignals_csvfile(time, acc, mag, gyr, filename)[source]¶
- save a ascii csv file with the following structure using
- time, acc, mag and gyr numpy arrays:
# id t dt ax ay az mx my mz gx gy gz
Parameters: time signal : numpy array [t, dt]
acc : numpy array
[ax ay az]
mag : numpy array
[mx my mz]
gyr : numpy array
[gx gy gz]
gpio : numpy array
[gpio0 gpio1 gpio2 gpio3 gpio4]
filename : str
The ouput .csv file name
Returns: status : str
‘OK’ or ‘ERROR’
sensbiotk.io.iofox_deprec module¶
Loader for HikoB Fox Node format - deprecated data format
- sensbiotk.io.iofox_deprec.convert_fox_rawfile(binfilename, imufilename, presstfilename)[source]¶
Convert a raw bin HikoB Fox file into an ascii csv files.
Parameters: binfilename : str
Name of the raw file to load and convert.
imufilename : str
Name of the csv imu file
presstfilename : str
Name of the presst file
Returns: status : str
“OK” or “ERROR”
- sensbiotk.io.iofox_deprec.info_fox_rawfile(binfilename)[source]¶
Extract info. HikoB Fox Node from a raw bin file.
Parameters: filename : str
Name of the bin file to load.
- sensbiotk.io.iofox_deprec.load_foximu_csvfile(filename)[source]¶
Load IMU HikoB Fox Node from a CSV file.
Parameters: filename: str :
Name of the CSV file to load.
Returns: tabA numpy array which contains id :
- sensbiotk.io.iofox_deprec.load_foxpresst_csvfile(filename)[source]¶
Load Pression/Temperature HikoB Fox Node from a CSV file.
Parameters: filename: str :
Name of the CSV file to load.
Returns: time : np.array
The matrix contains time [id,time,dt], pression (bar) and temperature (degree). id is an int and time,dt,bar and degree are float values.
- sensbiotk.io.iofox_deprec.save_foximu_csvfile(accfilename, time, acc, mag, gyr, separator='\t')[source]¶
save a ascii csv file accelerometers IMU HikoB Fox file
Parameters: accfilename : str
Name of the csv imu file
time : numpy array
[t, dt]
acc : numpy array
[ax ay az]
mag : numpy array
[mx my mz]
gyr : numpy array
[gx gy gz]
Returns: status : str
“OK” or “ERROR”
sensbiotk.io.uigetfile module¶
MATLAB-like “uigetfile” function. @author: bsijober
- sensbiotk.io.uigetfile.uigetfile(title=None, filetypes=[('All files', '*.*')], initialdir=None)[source]¶
MATLAB-like “uigetfile” function. Enables the user to graphically choose a file and get its absolute path.
Parameters: title : string
The displayed GUI title
filetypes : tuple
ex : filetypes = [(“All files”, “.”)]
initialdir : string
Specifies that the files in directory should be displayed when the dialog pops up
Returns: file_path : string
The GUI selected file path
sensbiotk.io.viz module¶
Plot for sensors data