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| import streamlit as st | |
| #from pandas import DataFrame as df | |
| import csv | |
| import math | |
| def main(): | |
| st.title('Quaternion to Eular angle conversion for SLAM') | |
| st.markdown('Only support single file conversion at this time. Will be processing batch files in the future. \n') | |
| st.markdown('The input file should be in the format of csv where fields are separated by ";". The output will be also a csv file. \n') | |
| st.markdown('The input field order is\n') | |
| st.markdown('fileID; image file name; time stamp; pose_x; pose_y; pose_z; ori_w; ori_x; ori_y; ori_z.\n') | |
| st.markdown('The unit of the input pos_x, pos_y and pos_z is meter.\n') | |
| st.markdown('The unit of the output pos_x, pos_y and pos_z is feet, and ori_roll, ori_pitch, ori_yaw is degree.\n') | |
| run_the_app() | |
| def euler_from_quaternion(x, y, z, w): | |
| t0 = +2.0 * (w * x + y * z) | |
| t1 = +1.0 - 2.0 * (x * x + y * y) | |
| roll_x = math.atan2(t0, t1) | |
| t2 = +2.0 * (w * y - z * x) | |
| #t2 = +1.0 if t2 > +1.0 else t2 | |
| #t2 = -1.0 if t2 < -1.0 else t2 | |
| pitch_y = math.asin(t2) | |
| t3 = +2.0 * (w * z + x * y) | |
| t4 = +1.0 - 2.0 * (y * y + z * z) | |
| yaw_z = math.atan2(t3, t4) | |
| # the y here obvious points to the 90 anticlockwise to x, instead of the general definition of quaternion and Eular angles where y points to 90 degree clockwise to x | |
| return math.degrees(roll_x), -math.degrees(pitch_y), math.degrees(yaw_z) # in degree | |
| def run_the_app(): | |
| uploaded_files = st.file_uploader( | |
| "Upload csv files", | |
| type="csv", | |
| accept_multiple_files=True) | |
| if uploaded_files: | |
| if st.button("Clear uploaded files"): | |
| st.empty() | |
| st.experimental_rerun() | |
| with open('converted.csv', 'w', newline='', encoding='utf-8') as wf: | |
| fieldnames = ['# pano poses v1.0: ID', | |
| 'filename', | |
| 'timestamp', | |
| 'pano_pos_x', | |
| 'pano_pos_y', | |
| 'pano_pos_z', | |
| 'pano_ori_roll', | |
| 'pano_ori_pitch', | |
| 'pano_ori_yaw' | |
| ] | |
| writer = csv.DictWriter(wf, fieldnames=fieldnames) | |
| writer.writeheader() | |
| with open(uploaded_files, 'r', encoding='utf-8') as rf: | |
| reader = csv.DictReader(rf) | |
| for row in reader: | |
| row_v = list(row.values())[0].split(';') | |
| # in the input file, the quat order is ori_w,ori_x,ori_y,ori_z | |
| roll, pitch, yaw = euler_from_quaternion(float(row_v[7]), | |
| float(row_v[8]), | |
| float(row_v[9]), | |
| float(row_v[6])) | |
| # now yaw is the angle to x, anticlockwise. But our definition is the angle to y(north), clockwise | |
| yaw = -yaw + 90.0 | |
| if yaw < -180.0: | |
| yaw += 360.0 | |
| elif yaw > 180.0: | |
| yaw -= 360.0 | |
| rec = {fieldnames[0]: row_v[0], | |
| fieldnames[1]: row_v[1][1:], | |
| fieldnames[2]: row_v[2], | |
| fieldnames[3]: float(row_v[3])*3.28084, | |
| fieldnames[4]: float(row_v[4])*3.28084, | |
| fieldnames[5]: float(row_v[5])*3.28084, | |
| fieldnames[6]: roll, | |
| fieldnames[7]: pitch, | |
| fieldnames[8]: yaw} | |
| writer.writerow(rec) | |
| st.download_button("Download the converted files", | |
| data = "converted.csv") | |
| if __name__ == "__main__": | |
| main() | |