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DocVaughanDocVaughan
committedSep 23, 2015
GPS visualization
1 parent 097272c commit b1a3a1e

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+5902
-3
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‎GPS_visualization/GPS_Visualization_Folium.py

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@@ -27,9 +27,13 @@
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# * 09/12/15 - JEV - joshua.vaughan@louisiana.edu
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# - conversion to Python 3
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# - begin conversion away from Anaconda data
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# * 09/16/15 - JEV - joshua.vaughan@louisiana.edu
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# - Update parsing for ARLISS 2015 data log order
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#
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##########################################################################################
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from __future__ import print_function, division
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import numpy as np
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import folium
@@ -39,6 +43,8 @@
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import geographic_calculations as geoCalc
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import datetime
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PRODUCE_FOLIUMMAP = True # Produce a Folium-based map?
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DRAW_WAYPOINTS = False # Draw the waypoints?
@@ -50,7 +56,7 @@ def create_map(data_filename):
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waypoints = None
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# TODO: be more efficient
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with open(data_filename, 'rb') as data_file:
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data = np.genfromtxt(data_file, delimiter=',', skip_header = 1, dtype = 'float')
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data = np.genfromtxt(data_file, delimiter=',', skip_header = 1)#, dtype = 'float')
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if np.shape(data)[1] == 14: # _controlHistory... file
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data_ok = True
@@ -99,6 +105,34 @@ def create_map(data_filename):
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gps_speed = data[:,18]
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waypoints = None
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if np.shape(data)[1] == 11: # pyBoard... file
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# (timestamp, past point, current point, current bearing, desired bearing, angle, target distance)
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data_ok = True
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hours = data[:,0]
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minutes = data[:,1]
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seconds = data[:,2]
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time = []
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for index, hour in enumerate(hours):
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time_stamp = datetime.datetime(2015, 9, 16, int(hours[index]), int(minutes[index]), int(seconds[index]))
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time = np.append(time, time_stamp.strftime('%H:%M:%S'))
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past_latitude = data[:,3]
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past_longitude = data[:,4]
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# current
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latitude = data[:,5]
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longitude = data[:,6]
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current_bearing = data[:,7]
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desired_bearing = data[:,8]
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angle_to_turn = data[:,9]
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target_distance = data[:,10]
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else:
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data_ok = False
@@ -107,7 +141,7 @@ def create_map(data_filename):
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if data_ok: # If we have meaningful data, make the map
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# Define the start, target, and midpoint locations
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start = np.array([latitude[0], longitude[0]])
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start = np.array([past_latitude[0], past_longitude[0]])
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if waypoints is not None:
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target = waypoints[-1,:] # last waypoint is the target location
@@ -162,7 +196,7 @@ def create_map(data_filename):
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# in a popup when clicked on
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for index, current_pos in enumerate(path):
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mymap.circle_marker(location = [current_pos[0], current_pos[1]], radius = 1,
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popup = 'Time: {:3.2f} s -- Lat, Lon: {:4.4f}, {:4.4f} -- Speed: {:3.2f} m/s -- Actual Heading: {:3.0f} deg -- Desired Heading: {:3.0f} deg -- Distance to Waypoint: {:.0f} m'.format(time[index], latitude[index], longitude[index], gps_speed[index], imu_heading[index], bearing_to_waypoint[index], distance_to_waypoint[index]),
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#popup = 'Time: {} -- Lat, Lon: {:4.4f}, {:4.4f} -- Speed: {:3.2f} m/s -- Actual Heading: {:3.0f} deg -- Desired Heading: {:3.0f} deg -- Distance to Waypoint: {:.0f} m'.format(time[index], latitude[index], longitude[index], gps_speed[index], imu_heading[index], bearing_to_waypoint[index], distance_to_waypoint[index]),
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line_color = '#0000FF', fill_color = '#0000FF')
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‎GPS_visualization/__pycache__/geographic_calculations.cpython-34.pyc

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‎GPS_visualization/geographic_calculations.pyc

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‎GPS_visualization/log.csv

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-----------------------------
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(21, 50, 50.0), (40.84274, -119.0779), (40.84274, -119.0779), 0.0, 295.7986, -64.20142 ,, 5280.068
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-----------------------------
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(21, 50, 57.0), (40.84274, -119.0779), (40.84274, -119.0779), 0.0, 295.7986, -64.20142 ,, 5280.068
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-----------------------------
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(21, 51, 12.0), (40.84274, -119.0779), (40.84275, -119.0779), 0.0, 295.7893, -64.2107 ,, 5279.903
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-----------------------------
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(21, 51, 15.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7893, -64.2107 ,, 5279.903
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-----------------------------
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(21, 51, 30.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7893, -64.2107 ,, 5279.903
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-----------------------------
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(21, 51, 39.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7893, -64.2107 ,, 5279.903
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-----------------------------
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(21, 51, 42.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7893, -64.2107 ,, 5279.903
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-----------------------------
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(21, 51, 50.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7893, -64.2107 ,, 5279.903
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-----------------------------
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(21, 52, 0.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7893, -64.2107 ,, 5279.903
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-----------------------------
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(21, 52, 8.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7893, -64.2107 ,, 5279.903
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-----------------------------
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(21, 52, 17.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7893, -64.2107 ,, 5279.903
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-----------------------------
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(21, 52, 26.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7893, -64.2107 ,, 5279.903
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-----------------------------
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(21, 52, 35.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7893, -64.2107 ,, 5279.903
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-----------------------------
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(21, 52, 50.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7874, -64.21256 ,, 5279.738
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-----------------------------
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(21, 52, 53.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7874, -64.21256 ,, 5279.738
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-----------------------------
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(21, 53, 1.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7874, -64.21256 ,, 5279.738
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-----------------------------
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(21, 53, 10.0), (40.84275, -119.0779), (40.84275, -119.0779), 180.0, 295.7893, 115.7893 ,, 5279.903
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-----------------------------
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(21, 53, 26.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7893, -64.2107 ,, 5279.903
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-----------------------------
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(21, 53, 30.0), (40.84275, -119.0779), (40.84275, -119.0779), 0.0, 295.7893, -64.2107 ,, 5279.903
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-----------------------------
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(21, 53, 44.0), (40.84275, -119.0779), (40.84277, -119.0778), 58.79022, 295.7526, -123.0376, 5282.018

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