Update app.py

app.py

@@ -2,6 +2,7 @@ import streamlit as st
 
 #from pandas import DataFrame as df
 import csv
+import pandas as pd
 import math
 
 def main():
@@ -9,7 +10,7 @@ def main():
     
     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('The input fields include\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')
@@ -23,14 +24,12 @@ def euler_from_quaternion(x, y, z, w):
         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():
@@ -58,38 +57,34 @@ def run_the_app():
             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]))
+            df = pd.read_csv(uploaded_files, sep = ';')
+            for row in range(df.shape[0]):                 
+                roll, pitch, yaw = euler_from_quaternion(float(df.at[row, ' pano_ori_x']),
+                                                        float(df.at[row, ' pano_ori_y']),
+                                                        float(df.at[row, ' pano_ori_z']),
+                                                        float(df.at[row, ' pano_ori_w']))
 
                     # 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
+                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)
+                rec = {fieldnames[0]: df.at[row, '# pano poses v1.0: ID'],
+                           fieldnames[1]: df.at[row, ' filename'][1:],
+                           fieldnames[2]: df.at[row, ' timestamp'],
+                           fieldnames[3]: float(df.at[row, ' pano_pos_x'])*3.28084,
+                           fieldnames[4]: float(df.at[row, ' pano_pos_y'])*3.28084,
+                           fieldnames[5]: float(df.at[row, ' pano_pos_z'])*3.28084,
+                           fieldnames[6]: roll,
+                           fieldnames[7]: pitch,
+                           fieldnames[8]: yaw}
+                writer.writerow(rec)
 
 
 
-                st.download_button("Download the converted files", 
+            st.download_button("Download the converted files", 
                            data = "converted.csv")
 
 if __name__ == "__main__":