android docstrings, testing, remove_timing_outliers

Author: betaBison

gnss_lib_py/parsers/android.py

@@ -2,7 +2,7 @@
 
 """
 
-__authors__ = "Shubh Gupta, Adam Dai, Ashwin Kanhere"
+__authors__ = "Ashwin Kanhere, Shubh Gupta, Adam Dai"
 __date__ = "02 Nov 2021"
 
 
@@ -22,23 +22,22 @@ class AndroidDerived2021(NavData):
 
     Inherits from NavData().
     """
-    def __init__(self, input_path, remove_bad_measures=True):
+    def __init__(self, input_path, remove_timing_outliers=True):
         """Android specific loading and preprocessing
 
         Parameters
         ----------
         input_path : string
             Path to measurement csv file
-
-        remove_bad_measures : bool
+        remove_timing_outliers : bool
             Flag for whether to remove measures that are too close or
             too far away in time. Code from the competition hosts used
-            to implement changes
+            to implement changes. See note.
 
         Notes
         -----
         Removes duplicate rows using correction 5 from competition hosts
-        implemented from https://www.kaggle.com/c/google-smartphone-decimeter-challenge/data
+        implemented from https://www.kaggle.com/code/gymf123/tips-notes-from-the-competition-hosts/notebook
         retrieved on 10 August, 2022
 
         """
@@ -52,7 +51,7 @@ def __init__(self, input_path, remove_bad_measures=True):
 
 
         # Correction 5 implemented verbatim from competition tips
-        if remove_bad_measures:
+        if remove_timing_outliers:
             delta_millis = pd_df['millisSinceGpsEpoch'] - pd_df['receivedSvTimeInGpsNanos'] / 1e6
             where_good_signals = (delta_millis > 0) & (delta_millis < 300)
             pd_df = pd_df[where_good_signals].copy()
@@ -68,11 +67,11 @@ def postprocess(self):
         implemented from https://www.kaggle.com/c/google-smartphone-decimeter-challenge/data
         retrieved on 10 August, 2022
         """
-        pr_corrected = self['raw_pr_m', :] \
-                     + self['b_sv_m', :] \
-                     - self['intersignal_bias_m', :] \
-                     - self['tropo_delay_m', :] \
-                     - self['iono_delay_m', :]
+        pr_corrected = self['raw_pr_m'] \
+                     + self['b_sv_m'] \
+                     - self['intersignal_bias_m'] \
+                     - self['tropo_delay_m'] \
+                     - self['iono_delay_m']
         self['corr_pr_m'] = pr_corrected
 
     @staticmethod
@@ -134,11 +133,11 @@ def postprocess(self):
         implemented from https://www.kaggle.com/c/google-smartphone-decimeter-challenge/data
         retrieved on 10 August, 2022
         """
-        pr_corrected = self['raw_pr_m', :] \
-                     + self['b_sv_m', :] \
-                     - self['intersignal_bias_m', :] \
-                     - self['tropo_delay_m', :] \
-                     - self['iono_delay_m', :]
+        pr_corrected = self['raw_pr_m'] \
+                     + self['b_sv_m'] \
+                     - self['intersignal_bias_m'] \
+                     - self['tropo_delay_m'] \
+                     - self['iono_delay_m']
         self['corr_pr_m'] = pr_corrected
 
     @staticmethod
@@ -202,27 +201,29 @@ def postprocess(self):
         """
         # Correcting reported altitude
         self['alt_gt_m'] = self['alt_gt_m'] - 61.
-        gt_lla = np.transpose(np.vstack([self['lat_gt_deg'], self['long_gt_deg'], self['alt_gt_m']]))
+        gt_lla = np.transpose(np.vstack([self['lat_gt_deg'],
+                                         self['long_gt_deg'],
+                                         self['alt_gt_m']]))
         gt_ecef = geodetic_to_ecef(gt_lla)
         self["x_gt_m"] = gt_ecef[:,0]
         self["y_gt_m"] = gt_ecef[:,1]
         self["z_gt_m"] = gt_ecef[:,2]
 
     @staticmethod
     def _row_map():
-            """Map of row names from loaded ground truth to gnss_lib_py standard
+        """Map of row names from loaded ground truth to gnss_lib_py standard
 
-            Returns
-            -------
-            row_map : Dict
-                Dictionary of the form {old_name : new_name}
-            """
-            row_map = {'latDeg' : 'lat_gt_deg',
-                    'lngDeg' : 'long_gt_deg',
-                    'heightAboveWgs84EllipsoidM' : 'alt_gt_m',
-                    'millisSinceGpsEpoch' : 'gps_millis'
-                    }
-            return row_map
+        Returns
+        -------
+        row_map : Dict
+            Dictionary of the form {old_name : new_name}
+        """
+        row_map = {'latDeg' : 'lat_gt_deg',
+                   'lngDeg' : 'long_gt_deg',
+                   'heightAboveWgs84EllipsoidM' : 'alt_gt_m',
+                   'millisSinceGpsEpoch' : 'gps_millis'
+                }
+        return row_map
 
 
 class AndroidGroundTruth2022(AndroidGroundTruth2021):
@@ -240,7 +241,9 @@ def postprocess(self):
         if np.any(np.isnan(self['alt_gt_m'])):
             warnings.warn("Some altitude values were missing, using 0m ", RuntimeWarning)
             self['alt_gt_m'] = np.nan_to_num(self['alt_gt_m'])
-        gt_lla = np.transpose(np.vstack([self['lat_gt_deg'], self['long_gt_deg'], self['alt_gt_m']]))
+        gt_lla = np.transpose(np.vstack([self['lat_gt_deg'],
+                                         self['long_gt_deg'],
+                                         self['alt_gt_m']]))
         gt_ecef = geodetic_to_ecef(gt_lla)
         self["x_gt_m"] = gt_ecef[:,0]
         self["y_gt_m"] = gt_ecef[:,1]
@@ -249,19 +252,19 @@ def postprocess(self):
 
     @staticmethod
     def _row_map():
-            """Map of row names from loaded ground truth to gnss_lib_py standard
-
-            Returns
-            -------
-            row_map : Dict
-                Dictionary of the form {old_name : new_name}
-            """
-            row_map = {'LatitudeDegrees' : 'lat_gt_deg',
-                       'LongitudeDegrees' : 'long_gt_deg',
-                       'AltitudeMeters' : 'alt_gt_m',
-                       'UnixTimeMillis' : 'unix_millis'
-                    }
-            return row_map
+        """Map row names from loaded data to gnss_lib_py standard
+
+        Returns
+        -------
+        row_map : Dict
+            Dictionary of the form {old_name : new_name}
+        """
+        row_map = {'LatitudeDegrees' : 'lat_gt_deg',
+                   'LongitudeDegrees' : 'long_gt_deg',
+                   'AltitudeMeters' : 'alt_gt_m',
+                   'UnixTimeMillis' : 'unix_millis'
+                }
+        return row_map
 
 class AndroidRawImu(NavData):
     """Class handling IMU measurements from raw Android dataset.
@@ -304,11 +307,14 @@ def preprocess(self, input_path):
                     elif row[0] == 'Gyro':
                         gyro.append(row[1:])
 
-        accel = pd.DataFrame(accel[1:], columns = accel[0], dtype=np.float64)
-        gyro = pd.DataFrame(gyro[1:], columns = gyro[0], dtype=np.float64)
+        accel = pd.DataFrame(accel[1:], columns = accel[0],
+                             dtype=np.float64)
+        gyro = pd.DataFrame(gyro[1:], columns = gyro[0],
+                            dtype=np.float64)
 
         #Drop common columns from gyro and keep values from accel
-        gyro.drop(columns=['utcTimeMillis', 'elapsedRealtimeNanos'], inplace=True)
+        gyro.drop(columns=['utcTimeMillis', 'elapsedRealtimeNanos'],
+                  inplace=True)
         measurements = pd.concat([accel, gyro], axis=1)
         #NOTE: Assuming pandas index corresponds to measurements order
         #NOTE: Override times of gyro measurements with corresponding
@@ -413,4 +419,4 @@ def make_csv(input_path, output_directory, field, show_path=False):
     if show_path: #pragma: no cover
         print(output_path)
 
-    return output_path
+    return output_path

gnss_lib_py/parsers/navdata.py

@@ -311,7 +311,6 @@ def __setitem__(self, key_idx, newvalue):
         newvalue : np.ndarray/list/int
             Values to be added to self.array attribute
         """
-        #TODO: Fix error when assigning strings with 2D arrays
         if isinstance(key_idx, int) and len(self.map)<=key_idx:
             raise KeyError('Row indices must be strings when assigning new values')
         if isinstance(key_idx, slice) and len(self.map)==0:
@@ -454,7 +453,7 @@ def add(self, csv_path=None, pandas_df=None, numpy_array=None):
             if old_len == 0:
                 self.from_pandas_df(pandas_df)
             else:
-                #TODO: Case handling for when column name in dataframe is different?
+
                 self.array = np.hstack((self.array, np.empty(pandas_df.shape).T))
                 for col in pandas_df.columns:
                     self[col, new_data_cols] = np.asarray(pandas_df[col].values)

gnss_lib_py/utils/time_conversions.py

@@ -17,24 +17,24 @@
 
 # Manually need to add leapSeconds when needed for future ones
 LEAPSECONDS_TABLE = [datetime(2017, 1, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(2015, 7, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(2012, 7, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(2009, 1, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(2006, 1, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(1999, 1, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(1997, 7, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(1996, 1, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(1994, 7, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(1993, 7, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(1992, 7, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(1991, 1, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(1990, 1, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(1988, 1, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(1985, 7, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(1983, 7, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(1982, 7, 1, 0, 0, tzinfo=timezone.utc),
-                        datetime(1981, 7, 1, 0, 0, tzinfo=timezone.utc),
-                        GPS_EPOCH_0]
+                     datetime(2015, 7, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(2012, 7, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(2009, 1, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(2006, 1, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(1999, 1, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(1997, 7, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(1996, 1, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(1994, 7, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(1993, 7, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(1992, 7, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(1991, 1, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(1990, 1, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(1988, 1, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(1985, 7, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(1983, 7, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(1982, 7, 1, 0, 0, tzinfo=timezone.utc),
+                     datetime(1981, 7, 1, 0, 0, tzinfo=timezone.utc),
+                     GPS_EPOCH_0]
 
 def get_leap_seconds(gps_time):
     """Compute leap seconds to be added in time conversions.

notebooks/tutorials/algorithms.ipynb

@@ -32,7 +32,7 @@
    "source": [
     "# load Android Google Challenge data\n",
     "!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/Pixel4XL_derived.csv --quiet -O \"Pixel4XL_derived.csv\"\n",
-    "derived_data = AndroidDerived2021(\"Pixel4XL_derived.csv\", remove_bad_measures=False)"
+    "derived_data = AndroidDerived2021(\"Pixel4XL_derived.csv\", remove_timing_outliers=False)"
    ]
   },
   {

notebooks/tutorials/parsers.ipynb

@@ -54,7 +54,7 @@
     "\n",
     "In this case, the data is filtered to be seconds apart, in the regular\n",
     "setting, such measurements would be removed. To prevent this from happening,\n",
-    "we use the remove_bad_measures flag here. For the full dataset, set this flag to True"
+    "we use the remove_timing_outliers flag here. For the full dataset, set this flag to True"
    ]
   },
   {
@@ -67,7 +67,7 @@
     "# download Android data file\n",
     "!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/Pixel4XL_derived.csv --quiet -O \"Pixel4XL_derived.csv\"\n",
     "# load Android Google Challenge data\n",
-    "derived_data = AndroidDerived2021(\"Pixel4XL_derived.csv\", remove_bad_measures=False)"
+    "derived_data = AndroidDerived2021(\"Pixel4XL_derived.csv\", remove_timing_outliers=False)"
    ]
   },
   {

notebooks/tutorials/utilities.ipynb

@@ -23,7 +23,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "from datetime import datetime\n",
+    "from datetime import datetime, timezone\n",
     "from gnss_lib_py.utils.time_conversions import datetime_to_tow"
    ]
   },
@@ -42,7 +42,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "time_now = datetime.now()\n",
+    "time_now = datetime.now(tz=timezone.utc)\n",
     "time_now"
    ]
   },
@@ -96,7 +96,7 @@
     "\n",
     "# load Android Google Challenge data\n",
     "!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/Pixel4XL_derived.csv --quiet -O \"Pixel4XL_derived.csv\"\n",
-    "derived_data = AndroidDerived2021(\"Pixel4XL_derived.csv\", remove_bad_measures=False)"
+    "derived_data = AndroidDerived2021(\"Pixel4XL_derived.csv\", remove_timing_outliers=False)"
    ]
   },
   {