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visualization1.py
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visualization1.py
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"""
PyTeapot module for drawing rotating cube using OpenGL as per
quaternion or yaw, pitch, roll angles received over serial port.
"""
import pygame
import math
from OpenGL.GL import *
from OpenGL.GLU import *
from pygame.locals import *
import pandas as pd
import numpy as np
from scipy.spatial.transform import Rotation as R
useSerial = False # set true for using serial for data transmission, false for wifi
useQuat = True # set true for using quaternions, false for using y,p,r angles
PI=3.1415926
def resizewin(width, height):
"""
For resizing window
"""
if height == 0:
height = 1
glViewport(0, 0, width, height)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(45, 1.0 * width / height, 0.1, 100.0)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
def init():
glShadeModel(GL_SMOOTH)
glClearColor(0.0, 0.0, 0.0, 0.0)
glClearDepth(1.0)
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LEQUAL)
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST)
def draw(w, nx, ny, nz):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
glTranslatef(0, 0.0, -7.0)
drawText((-2.6, 1.8, 2), "PyTeapot", 18)
drawText((-2.6, 1.6, 2), "Module to visualize quaternion or Euler angles data", 16)
drawText((-2.6, -2, 2), "Press Escape to exit.", 16)
if (useQuat):
[yaw, pitch, roll] = quat_to_ypr([w, nx, ny, nz])
drawText((-2.6, -1.8, 2), "Yaw: %f, Pitch: %f, Roll: %f" % (yaw, pitch, roll), 16)
glRotatef(2 * math.acos(w) * 180.00 / math.pi, -1 * nx, nz, ny)
else:
yaw = nx
pitch = ny
roll = nz
drawText((-2.6, -1.8, 2), "Yaw: %f, Pitch: %f, Roll: %f" % (yaw, pitch, roll), 16)
glRotatef(-roll, 0.00, 0.00, 1.00)
glRotatef(pitch, 1.00, 0.00, 0.00)
glRotatef(yaw, 0.00, 1.00, 0.00)
glBegin(GL_QUADS)
glColor3f(0.0, 1.0, 0.0)
glVertex3f(1.0, 0.2, -1.0)
glVertex3f(-1.0, 0.2, -1.0)
glVertex3f(-1.0, 0.2, 1.0)
glVertex3f(1.0, 0.2, 1.0)
glColor3f(1.0, 0.5, 0.0)
glVertex3f(1.0, -0.2, 1.0)
glVertex3f(-1.0, -0.2, 1.0)
glVertex3f(-1.0, -0.2, -1.0)
glVertex3f(1.0, -0.2, -1.0)
glColor3f(1.0, 0.0, 0.0)
glVertex3f(1.0, 0.2, 1.0)
glVertex3f(-1.0, 0.2, 1.0)
glVertex3f(-1.0, -0.2, 1.0)
glVertex3f(1.0, -0.2, 1.0)
glColor3f(1.0, 1.0, 0.0)
glVertex3f(1.0, -0.2, -1.0)
glVertex3f(-1.0, -0.2, -1.0)
glVertex3f(-1.0, 0.2, -1.0)
glVertex3f(1.0, 0.2, -1.0)
glColor3f(0.0, 0.0, 1.0)
glVertex3f(-1.0, 0.2, 1.0)
glVertex3f(-1.0, 0.2, -1.0)
glVertex3f(-1.0, -0.2, -1.0)
glVertex3f(-1.0, -0.2, 1.0)
glColor3f(1.0, 0.0, 1.0)
glVertex3f(1.0, 0.2, -1.0)
glVertex3f(1.0, 0.2, 1.0)
glVertex3f(1.0, -0.2, 1.0)
glVertex3f(1.0, -0.2, -1.0)
glEnd()
def drawText(position, textString, size):
font = pygame.font.SysFont("Courier", size, True)
textSurface = font.render(textString, True, (255, 255, 255, 255), (0, 0, 0, 255))
textData = pygame.image.tostring(textSurface, "RGBA", True)
glRasterPos3d(*position)
glDrawPixels(textSurface.get_width(), textSurface.get_height(), GL_RGBA, GL_UNSIGNED_BYTE, textData)
def quat_to_ypr(q):
yaw = math.atan2(2.0 * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3])
pitch = -math.sin(2.0 * (q[1] * q[3] - q[0] * q[2]))
roll = math.atan2(2.0 * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3])
pitch *= 180.0 / math.pi
yaw *= 180.0 / math.pi
yaw -= -0.13 # Declination at Chandrapur, Maharashtra is - 0 degress 13 min
roll *= 180.0 / math.pi
return [yaw, pitch, roll]
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()
def visualization_main(quat):
draw(quat[3], quat[0], quat[1], quat[2])
pygame.display.flip()
# if __name__ == '__main__':
# data=pd.read_csv("d:/IMU_move_905_gyr.txt").iloc[1:-1]
# data_angle=data[["anglex","angley","anglez"]].values.astype(np.float)/32768*PI
# for i in range(len(data)):
# quat = R.from_euler("ZYX", [data_angle[i][2], data_angle[i][1], data_angle[i][0]]).as_quat()
# visualization_main(quat)