text file reader

README.org

@@ -19,6 +19,17 @@ Most of the code is self-explanatory. However some modifications might be requir
 - Set udp port by changing the variable =UDP_PORT=, if using wifi for data transmission.
 - Set =useQuat= to =True= if receiving *quaternions* over serial or WiFi and =False= if receiving *Euler angles*.
 - If receiving quaternions over serial or wifi, the declination at the particular location should to be updated in =quat_to_ypr(q)= function to get correct yaw angles printed *on screen*. (The cube rotation is not dependent on this and will still work fine otherwise)
+- See String passed from file for details regarding visualization from a file
+
+Examples:
+#+BEGIN_EXAMPLE
+# using serial stream and quaternion representation
+python pyteapot.py --useSerial True --useQuat True --port /dev/ttyUSB0
+
+# using udp stream and euler representation
+python pyteapot.py --useSerial False --useQuat False --udp_id 0.0.0.0 --udp_port 5005
+#+END_EXAMPLE
+
 
 * String passed over Serial or Wifi
 To use this module, the data received over serial or udp port should be in the format specified below:
@@ -45,11 +56,24 @@ y168.8099yp12.7914pr-11.8401r
 
 Each of these must be on separate lines (or should have a '\n' at the end of the string). Other data may also be passed over Serial or Wifi, provided that none of the characters =w=, =a=, =b=, =c=, =y=, =p=, =r= are passed (for example, =somethingw0.09wa-0.12ab-0.09bc0.98cy168.8099yp12.7914pr-11.8401rsomethingelse= is valid but =somedataw0.09wa-0.12ab-0.09bc0.98cy168.8099yp12.7914pr-11.8401ranotherstring= is not since it has the characters =a= and =r=)
 
-* TODO Todos
+* String passed from file
+To use this module, the data should be stored in a file and the file name should be passed as an argument to the module. The file should contain the data with values separated by any delimeter.
+The data can be quarternion or euler angles. While running the script =pyteapot_from_file.py=, you need to pass the column ids for the quarternion/euler angles so we can read appropriate values from the file.
+
+Examples
+#+BEGIN_EXAMPLE
+# using quarternion representation reading from csv file with quarternions in the 4,5,6,7 indexed columns (zero indexed)
+python pyteapot_from_file.py --useQuat True --text_file_path /home/menonsandu/Downloads/dataset-corridor1_512_16/mav0/mocap0/data.csv --column_ids 4,5,6,7 --delimiter ','
+
+# using euler representation reading from csv file with euler angles in the 1,2,3 indexed columns (zero indexed)
+python pyteapot_from_file.py --useQuat False --text_file_path /home/menonsandu/Downloads/dataset-corridor1_512_16/mav0/imu0/data.csv --column_ids 1,2,3 --delimiter ','
+#+END_EXAMPLE
+
+* Todos
 - [x] Receive data over WiFi instead of serial. - **Done!**
-- [ ] Add a nice [[https://docs.python.org/3/library/argparse.html][ ~argparse~ ]] interface instead of requiring the user to change variables in the script. Include example usage in docstring (a la [[https://tldr.sh/][tldr]] or [[http://bropages.org][bro]])
+- [x] Add a nice [[https://docs.python.org/3/library/argparse.html][ ~argparse~ ]] interface instead of requiring the user to change variables in the script. Include example usage in docstring (a la [[https://tldr.sh/][tldr]] or [[http://bropages.org][bro]])
 - [ ] Add some keyboard support, eg. pausing / resuming the visualization with spacebar etc
 - [ ] Add optional support for x, y, z too. Also, multiple simultaneous viewports (eg. to compare with ground truth from MoCap)
-- [ ] Read from text file instead of serial or UDP
+- [x] Read from text file instead of serial or UDP
 - [ ] Other data collection methods: bluetooth?
 - [ ] Write tests, docstrings etc

pyteapot.py

@@ -8,23 +8,10 @@
 from OpenGL.GL import *
 from OpenGL.GLU import *
 from pygame.locals import *
+import argparse
 
-useSerial = False # set true for using serial for data transmission, false for wifi
-useQuat = False   # set true for using quaternions, false for using y,p,r angles
 
-if(useSerial):
-    import serial
-    ser = serial.Serial('/dev/ttyUSB0', 38400)
-else:
-    import socket
-
-    UDP_IP = "0.0.0.0"
-    UDP_PORT = 5005
-    sock = socket.socket(socket.AF_INET, # Internet
-                         socket.SOCK_DGRAM) # UDP
-    sock.bind((UDP_IP, UDP_PORT))
-
-def main():
+def main(useSerial, useQuat, ser, sock):
     video_flags = OPENGL | DOUBLEBUF
     pygame.init()
     screen = pygame.display.set_mode((640, 480), video_flags)
@@ -38,13 +25,13 @@ def main():
         if event.type == QUIT or (event.type == KEYDOWN and event.key == K_ESCAPE):
             break
         if(useQuat):
-            [w, nx, ny, nz] = read_data()
+            [w, nx, ny, nz] = read_data(ser, sock, useSerial, useQuat)
         else:
-            [yaw, pitch, roll] = read_data()
+            [yaw, pitch, roll] = read_data(ser, sock, useSerial, useQuat)
         if(useQuat):
-            draw(w, nx, ny, nz)
+            draw(w, nx, ny, nz, useQuat)
         else:
-            draw(1, yaw, pitch, roll)
+            draw(1, yaw, pitch, roll, useQuat)
         pygame.display.flip()
         frames += 1
     print("fps: %d" % ((frames*1000)/(pygame.time.get_ticks()-ticks)))
@@ -75,7 +62,7 @@ def init():
     glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST)
 
 
-def cleanSerialBegin():
+def cleanSerialBegin(useQuat):
     if(useQuat):
         try:
             line = ser.readline().decode('UTF-8').replace('\n', '')
@@ -95,10 +82,10 @@ def cleanSerialBegin():
             pass
 
 
-def read_data():
+def read_data(ser, sock, useSerial, useQuat):
     if(useSerial):
         ser.reset_input_buffer()
-        cleanSerialBegin()
+        cleanSerialBegin(useQuat)
         line = ser.readline().decode('UTF-8').replace('\n', '')
         print(line)
     else:
@@ -120,7 +107,7 @@ def read_data():
         return [yaw, pitch, roll]
 
 
-def draw(w, nx, ny, nz):
+def draw(w, nx, ny, nz, useQuat):
     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
     glLoadIdentity()
     glTranslatef(0, 0.0, -7.0)
@@ -200,4 +187,29 @@ def quat_to_ypr(q):
 
 
 if __name__ == '__main__':
-    main()
+    # parse command line
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument('--useSerial', type=bool, default=False, help='set true for using serial for data transmission, false for wifi')
+    parser.add_argument('--useQuat', type=bool, default=False, help='set true for using quaternions, false for using y,p,r angles')
+    parser.add_argument('--port', type=str, default='/dev/ttyUSB0', help='serial port')
+    parser.add_argument('--udp_id', type=str, default="0.0.0.0")
+    parser.add_argument('--udp_port', type=int, default=5005)
+    args = parser.parse_args()
+
+    useSerial = args.useSerial
+    useQuat = args.useQuat
+
+    if(useSerial):
+        import serial
+        ser = serial.Serial(args.port, 38400)
+    else:
+        import socket
+
+        UDP_IP = args.udp_id
+        UDP_PORT = args.udp_port
+        sock = socket.socket(socket.AF_INET, # Internet
+                            socket.SOCK_DGRAM) # UDP
+        sock.bind((UDP_IP, UDP_PORT))
+
+    main(useSerial, useQuat, ser, sock)
+

pyteapot_from_file.py

@@ -0,0 +1,55 @@
+import os
+import pygame
+from OpenGL.GL import *
+from OpenGL.GLU import *
+from pygame.locals import *
+import argparse
+from pyteapot import resizewin, init, draw
+
+def visualize_quarternion_from_csv(file_path, useQuat, column_ids, delimiter, skip_header=True):
+    video_flags = OPENGL | DOUBLEBUF
+    pygame.init()
+    screen = pygame.display.set_mode((640, 480), video_flags)
+    pygame.display.set_caption("PyTeapot IMU orientation visualization")
+    resizewin(640, 480)
+    init()
+    ticks = pygame.time.get_ticks()
+    frames = 0
+
+    with open(file_path) as f:
+        lines = f.readlines()
+        for line in lines:
+            if(skip_header):
+                skip_header = False
+                continue
+            if(useQuat):
+                [w, nx, ny, nz] = [float(line.split(delimiter)[id]) for id in column_ids]
+                draw(w, nx, ny, nz, useQuat)
+            else:
+                [yaw, pitch, roll] = [float(line.split(delimiter)[id]) for id in column_ids]
+                draw(1, yaw, pitch, roll, useQuat)
+            pygame.display.flip()
+            frames += 1
+    print("fps: %d" % ((frames*1000)/(pygame.time.get_ticks()-ticks)))
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument('--useQuat', type=bool, default=False, help='set true for using quaternions, false for using y,p,r angles')
+    parser.add_argument('--text_file_path', type=str, default='data.csv', help='text file name')
+    parser.add_argument('--delimiter', type=str, default=',', help='delimiter for file')
+    parser.add_argument('--column_ids', type=str, default='1,2,3,4', help='quarternion/euler column indices in the file')
+    args = parser.parse_args()
+
+    useQuat = args.useQuat
+    file_path = args.text_file_path
+    delimiter = args.delimiter
+    column_ids = [int(id) for id in args.column_ids.split(',')]
+    if useQuat and len(column_ids) != 4:
+        raise Exception('Quaternion column indices should be 4. Representing qw, qx, qy, qz respectively')
+    if not useQuat and len(column_ids) != 3:
+        raise Exception('Euler column indices should be 3. Representing yaw, pitch, roll respectively')
+
+    if os.path.exists(file_path):
+        visualize_quarternion_from_csv(file_path, useQuat, column_ids, delimiter, skip_header=True)
+    else:
+        raise FileNotFoundError('File not found: {}'.format(file_path))