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Speed up CSV generation examples.
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Jonathan Diamond committed Oct 11, 2023
1 parent ca0d768 commit 4f4c74f
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27 changes: 15 additions & 12 deletions python/examples/extract_imu_data.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,36 +49,39 @@

# Read satellite data from the file.
reader = DataLoader(input_path)
result = reader.read(message_types=[IMUOutput, RawIMUOutput], show_progress=True)
result = reader.read(message_types=[IMUOutput, RawIMUOutput], show_progress=True, return_numpy=True)
imu_data = result[IMUOutput.MESSAGE_TYPE]
raw_imu_data = result[RawIMUOutput.MESSAGE_TYPE]
if len(imu_data.messages) == 0 and len(raw_imu_data.messages) == 0:
if len(imu_data.p1_time) == 0 and len(raw_imu_data.p1_time) == 0:
logger.warning('No IMU data found in log file.')
sys.exit(2)

# Generate a CSV file for corrected IMU data.
if len(imu_data.messages) != 0:
if len(imu_data.p1_time) != 0:
path = os.path.join(output_dir, 'imu_data.csv')
logger.info("Generating '%s'." % path)
gps_time = reader.convert_to_gps_time(imu_data.p1_time)
with open(path, 'w') as f:
f.write('P1 Time (sec), GPS Time (sec), Accel X (m/s^2), Y, Z, Gyro X (rad/s), Y, Z\n')
for message in imu_data.messages:
gps_time = reader.convert_to_gps_time(message.p1_time)
f.write('%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f\n' %
(float(message.p1_time), float(gps_time), *message.accel_mps2, *message.gyro_rps))
np.savetxt(f, np.concatenate([imu_data.p1_time[:, None],
gps_time[:, None],
imu_data.accel_mps2.T,
imu_data.gyro_rps.T], axis=1), fmt='%.6f')
else:
logger.info("No corrected IMU data.")

# Generate a CSV file for raw IMU data.
if len(raw_imu_data.messages) != 0:
if len(raw_imu_data.p1_time) != 0:
path = os.path.join(output_dir, 'raw_imu_data.csv')
logger.info("Generating '%s'." % path)
gps_time = reader.convert_to_gps_time(raw_imu_data.p1_time)
with open(path, 'w') as f:
f.write('P1 Time (sec), GPS Time (sec), Accel X (m/s^2), Y, Z, Gyro X (rad/s), Y, Z, Temp(C)\n')
for message in raw_imu_data.messages:
gps_time = reader.convert_to_gps_time(message.p1_time)
f.write('%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f\n' %
(float(message.p1_time), float(gps_time), *message.accel_mps2, *message.gyro_rps, message.temperature_degc))
np.savetxt(f, np.concatenate([raw_imu_data.p1_time[:, None],
gps_time[:, None],
raw_imu_data.accel_mps2.T,
raw_imu_data.gyro_rps.T,
raw_imu_data.temperature_degc[:, None]], axis=1), fmt='%.6f')
else:
logger.info("No raw IMU data.")

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84 changes: 36 additions & 48 deletions python/examples/extract_vehicle_speed_data.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,87 +55,75 @@
RawWheelSpeedOutput,
VehicleSpeedOutput,
RawVehicleSpeedOutput],
show_progress=True)
if all(len(d.messages) == 0 for d in result.values()):
show_progress=True,
return_numpy=True)
if all(len(d.p1_time) == 0 for d in result.values()):
logger.warning('No speed data found in log file.')
sys.exit(2)

wheel_speed_data = result[WheelSpeedOutput.MESSAGE_TYPE]
raw_wheel_speed_data = result[RawWheelSpeedOutput.MESSAGE_TYPE]
vehicle_speed_data = result[VehicleSpeedOutput.MESSAGE_TYPE]
raw_vehicle_speed_data = result[RawVehicleSpeedOutput.MESSAGE_TYPE]

# Generate a CSV file for corrected wheel speed data.
if len(wheel_speed_data.messages) != 0:
if len(wheel_speed_data.p1_time) != 0:
path = os.path.join(output_dir, 'wheel_speed_data.csv')
logger.info("Generating '%s'." % path)
gps_time = reader.convert_to_gps_time(wheel_speed_data.p1_time)
with open(path, 'w') as f:
f.write('P1 Time (sec), GPS Time (sec), Front Left Speed (m/s), Front Right Speed (m/s), Back Left Speed (m/s), Back Right Speed (m/s), Gear\n')
for message in wheel_speed_data.messages:
gps_time = reader.convert_to_gps_time(message.p1_time)
f.write(
'%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %d\n' %
(float(message.p1_time),
float(gps_time),
message.front_left_speed_mps,
message.front_right_speed_mps,
message.rear_left_speed_mps,
message.rear_right_speed_mps,
message.gear))
np.savetxt(f, np.stack([wheel_speed_data.p1_time,
gps_time,
wheel_speed_data.front_left_speed_mps,
wheel_speed_data.front_right_speed_mps,
wheel_speed_data.rear_left_speed_mps,
wheel_speed_data.rear_right_speed_mps,
wheel_speed_data.gear], axis=1), fmt='%.6f')
else:
logger.info("No corrected wheel speed data.")

raw_wheel_speed_data = result[RawWheelSpeedOutput.MESSAGE_TYPE]
# Generate a CSV file for raw wheel speed data.
if len(raw_wheel_speed_data.messages) != 0:
if len(raw_wheel_speed_data.p1_time) != 0:
path = os.path.join(output_dir, 'raw_wheel_speed_data.csv')
logger.info("Generating '%s'." % path)
gps_time = reader.convert_to_gps_time(raw_wheel_speed_data.p1_time)
with open(path, 'w') as f:
f.write('P1 Time (sec), GPS Time (sec), Front Left Speed (m/s), Front Right Speed (m/s), Back Left Speed (m/s), Back Right Speed (m/s), Gear\n')
for message in wheel_speed_data.messages:
gps_time = reader.convert_to_gps_time(message.p1_time)
f.write(
'%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %d\n' %
(float(message.p1_time),
float(gps_time),
message.front_left_speed_mps,
message.front_right_speed_mps,
message.rear_left_speed_mps,
message.rear_right_speed_mps,
message.gear))
np.savetxt(f, np.stack([raw_wheel_speed_data.p1_time,
gps_time,
raw_wheel_speed_data.front_left_speed_mps,
raw_wheel_speed_data.front_right_speed_mps,
raw_wheel_speed_data.rear_left_speed_mps,
raw_wheel_speed_data.rear_right_speed_mps,
raw_wheel_speed_data.gear], axis=1), fmt='%.6f')
else:
logger.info("No raw wheel speed data.")

vehicle_speed_data = result[VehicleSpeedOutput.MESSAGE_TYPE]
# Generate a CSV file for corrected vehicle speed data.
if len(vehicle_speed_data.messages) != 0:
if len(vehicle_speed_data.p1_time) != 0:
path = os.path.join(output_dir, 'vehicle_speed_data.csv')
logger.info("Generating '%s'." % path)
gps_time = reader.convert_to_gps_time(vehicle_speed_data.p1_time)
with open(path, 'w') as f:
f.write('P1 Time (sec), GPS Time (sec), Vehicle Speed (m/s), Gear\n')
for message in vehicle_speed_data.messages:
gps_time = reader.convert_to_gps_time(message.p1_time)
f.write(
'%.6f, %.6f, %.6f, %d\n' %
(float(message.p1_time),
float(gps_time),
message.vehicle_speed_mps,
message.gear))
np.savetxt(path, np.stack([vehicle_speed_data.p1_time,
gps_time,
vehicle_speed_data.vehicle_speed_mps,
vehicle_speed_data.gear], axis=1), fmt='%.6f')
else:
logger.info("No corrected vehicle speed data.")

raw_vehicle_speed_data = result[RawVehicleSpeedOutput.MESSAGE_TYPE]
# Generate a CSV file for raw vehicle speed data.
if len(raw_vehicle_speed_data.messages) != 0:
if len(raw_vehicle_speed_data.p1_time) != 0:
path = os.path.join(output_dir, 'raw_vehicle_speed_data.csv')
logger.info("Generating '%s'." % path)
gps_time = reader.convert_to_gps_time(raw_vehicle_speed_data.p1_time)
with open(path, 'w') as f:
f.write('P1 Time (sec), GPS Time (sec), Vehicle Speed (m/s), Gear\n')
for message in vehicle_speed_data.messages:
gps_time = reader.convert_to_gps_time(message.p1_time)
f.write(
'%.6f, %.6f, %.6f, %d\n' %
(float(message.p1_time),
float(gps_time),
message.vehicle_speed_mps,
message.gear))
np.savetxt(path, np.stack([raw_vehicle_speed_data.p1_time,
gps_time,
raw_vehicle_speed_data.vehicle_speed_mps,
raw_vehicle_speed_data.gear], axis=1), fmt='%.6f')
else:
logger.info("No raw vehicle speed data.")

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