Added tests for AndroidDerived2022 and GT loaders

Author: kanhereashwin

data/unit_test/android_2022/alt_nan_ground_truth.csv

@@ -0,0 +1,4 @@
+MessageType,Provider,LatitudeDegrees,LongitudeDegrees,AltitudeMeters,SpeedMps,AccuracyMeters,BearingDegrees,UnixTimeMillis
+Fix,GT,37.4166186,-122.082065,,0.002044282,0.1,92.96875,1.58957E+12
+Fix,GT,37.4166186,-122.082065,,0.002198359,0.1,92.969666,1.58957E+12
+Fix,GT,37.4166186,-122.082065,,0.001414214,0.1,92.96985,1.58957E+12

data/unit_test/android_2022/device_gnss.csv

@@ -5,7 +5,7 @@
 __authors__ = "Shubh Gupta, Adam Dai, Ashwin Kanhere"
 __date__ = "02 Nov 2021"
 
-from distutils.log import warn
+
 import os
 import csv
 import warnings
@@ -22,7 +22,7 @@ class AndroidDerived2021(NavData):
 
     Inherits from NavData().
     """
-    def __init__(self, input_path):
+    def __init__(self, input_path, remove_bad_measures=True):
         """Android specific loading and preprocessing
 
         Parameters
@@ -47,9 +47,10 @@ def __init__(self, input_path):
 
 
         # Correction 5 implemented verbatim from competition tips
-        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()
+        if remove_bad_measures:
+            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()
 
         super().__init__(pandas_df=pd_df)
 
@@ -101,14 +102,40 @@ def _row_map():
         return row_map
 
 
-class AndroidDerived2022(AndroidDerived2021):
+class AndroidDerived2022(NavData):
     """Class handling derived measurements from Android dataset.
 
-    Inherits from AndroidDerived2021().
-    The row nomenclature for the new derived dataset changed. We reflect
-    this changed nomenclature in the _row_map() method.
+    Inherits from NavData().
+    The row nomenclature for the new derived dataset has changed.
+    We reflect this changed nomenclature in the _row_map() method.
     """
 
+    def __init__(self, input_path):
+        """Android specific loading and preprocessing
+
+        Parameters
+        ----------
+        input_path : string
+            Path to measurement csv file
+        """
+        super().__init__(csv_path=input_path)
+
+    def postprocess(self):
+        """Android derived specific postprocessing
+
+        Notes
+        -----
+        Adds corrected pseudoranges to measurements. Time step corrections
+        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', :]
+        self['corr_pr_m'] = pr_corrected
+
     @staticmethod
     def _row_map():
         """Map of row names from loaded to gnss_lib_py standard
@@ -207,7 +234,7 @@ 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.np.nan_to_num(self['alt_gt_m'])
+            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_ecef = geodetic_to_ecef(gt_lla)
         self["x_gt_m"] = gt_ecef[:,0]
@@ -225,9 +252,9 @@ def _row_map():
                 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'
+                       'LongitudeDegrees' : 'long_gt_deg',
+                       'AltitudeMeters' : 'alt_gt_m',
+                       'UnixTimeMillis' : 'unix_millis'
                     }
             return row_map
 
@@ -358,7 +385,7 @@ def make_csv(input_path, output_directory, field, show_path=False):
     with MakeCsv() in opensource/ReadGnssLogger.m
 
     """
-    if not os.path.isdir(output_directory):
+    if not os.path.isdir(output_directory): #pragma: no cover
         os.makedirs(output_directory)
     output_path = os.path.join(output_directory, field + ".csv")
     with open(output_path, 'w', encoding="utf8") as out_csv:
@@ -378,7 +405,7 @@ def make_csv(input_path, output_directory, field, show_path=False):
                     line_data = line.rstrip('\n').replace(" ","").split(",")
                     if line_data[0] == field:
                         writer.writerow(line_data[1:])
-    if show_path:
+    if show_path: #pragma: no cover
         print(output_path)
 
     return output_path

data/unit_test/android_2022/ground_truth.csv

@@ -379,11 +379,16 @@ def gps_to_unix_millis(gps_millis, rem_leap_secs=True):
     """
     #NOTE: Ensure that one of these methods is always adding/removing
     # leap seconds here
-    t_utc = gps_millis_to_datetime(gps_millis, rem_leap_secs=rem_leap_secs)
-    unix_millis = datetime_to_unix_millis(t_utc)
+    if isinstance(gps_millis, np.ndarray) and len(gps_millis) > 1:
+        unix_millis = np.zeros_like(gps_millis)
+        for t_idx, gps in enumerate(gps_millis):
+            t_utc = gps_millis_to_datetime(gps, rem_leap_secs=rem_leap_secs)
+            unix_millis[t_idx] = datetime_to_unix_millis(t_utc)
+    else:
+        t_utc = gps_millis_to_datetime(gps_millis, rem_leap_secs=rem_leap_secs)
+        unix_millis = datetime_to_unix_millis(t_utc)
     return unix_millis
 
-
 def _check_tzinfo(t_datetime):
     """Raises warning if time doesn't have timezone and converts to UTC.
 

gnss_lib_py/parsers/android.py

@@ -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\")"
+    "derived_data = AndroidDerived2021(\"Pixel4XL_derived.csv\", remove_bad_measures=False)"
    ]
   },
   {

gnss_lib_py/utils/time_conversions.py

@@ -45,6 +45,18 @@
     "Loading the data into an instance of `NavData` is as easy as creating an instance of `AndroidDerived2021` with the relevant file path."
    ]
   },
+  {
+   "cell_type": "markdown",
+   "id": "0e7c9e45",
+   "metadata": {},
+   "source": [
+    "**Note:**\n",
+    "\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"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -55,7 +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\")"
+    "derived_data = AndroidDerived2021(\"Pixel4XL_derived.csv\", remove_bad_measures=False)"
    ]
   },
   {

notebooks/tutorials/algorithms.ipynb

@@ -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\")"
+    "derived_data = AndroidDerived2021(\"Pixel4XL_derived.csv\", remove_bad_measures=False)"
    ]
   },
   {

notebooks/tutorials/parsers.ipynb

@@ -12,6 +12,7 @@
 import pytest
 
 from gnss_lib_py.parsers.android import AndroidDerived2021, AndroidRawFixes, AndroidRawImu, AndroidGroundTruth2021
+from gnss_lib_py.parsers.android import AndroidDerived2022, AndroidGroundTruth2022
 from gnss_lib_py.parsers.navdata import NavData
 from gnss_lib_py.parsers.android import make_csv
 
@@ -37,6 +38,11 @@ def fixture_root_path():
 def fixture_derived_path(root_path):
     """Filepath of Android Derived measurements
 
+    Parameters
+    ----------
+    root_path : string
+        Path of testing dataset root path
+
     Returns
     -------
     derived_path : string
@@ -65,6 +71,11 @@ def fixture_derived_path(root_path):
 def fixture_raw_path(root_path):
     """Filepath of Android Raw measurements
 
+    Parameters
+    ----------
+    root_path : string
+        Path of testing dataset root path
+
     Returns
     -------
     raw_path : string
@@ -352,14 +363,14 @@ def fixture_gtruth_path(root_path):
 
     Notes
     -----
-    Test data is a subset of the Android Ground Truth Dataset [2]_,
+    Test data is a subset of the Android Ground Truth Dataset [3]_,
     particularly the train/2020-05-14-US-MTV-1/Pixel4 trace. The dataset
     was retrieved from
     https://www.kaggle.com/c/google-smartphone-decimeter-challenge/data
 
     References
     ----------
-    .. [2] Fu, Guoyu Michael, Mohammed Khider, and Frank van Diggelen.
+    .. [3] Fu, Guoyu Michael, Mohammed Khider, and Frank van Diggelen.
         "Android Raw GNSS Measurement Datasets for Precise Positioning."
         Proceedings of the 33rd International Technical Meeting of the
         Satellite Division of The Institute of Navigation (ION GNSS+
@@ -397,3 +408,132 @@ def test_android_gtruth(android_gtruth_path):
     isinstance(test_gtruth, NavData)
 
 
+def test_gt_2022(root_path):
+    """Testing that Android ground truth 2022 is created without errors.
+
+    Parameters
+    ----------
+    gt_2022_path : string
+        Location for the unit_test Android ground truth 2022 measurements
+    """
+    gt_path = os.path.join(root_path, 'ground_truth.csv')
+    gt_2021 = AndroidGroundTruth2021(gt_path)
+    assert isinstance(gt_2021, NavData)
+
+
+######################################################################
+#### Android Derived 2022 Dataset tests
+######################################################################
+
+@pytest.fixture(name="root_path_2022")
+def fixture_root_path_2022():
+    """Location of measurements for unit test
+
+    Returns
+    -------
+    root_path : string
+        Folder location containing measurements
+    """
+    root_path = os.path.dirname(
+                os.path.dirname(
+                os.path.dirname(
+                os.path.realpath(__file__))))
+    root_path = os.path.join(root_path, 'data/unit_test/android_2022')
+    return root_path
+
+
+@pytest.fixture(name="derived_2022_path")
+def fixture_derived_2022_path(root_path_2022):
+    """Filepath of Android Derived measurements
+
+    Returns
+    -------
+    derived_path : string
+        Location for the unit_test Android derived 2022 measurements
+
+    Notes
+    -----
+    Test data is a subset of the Android Raw Measurement Dataset [4]_,
+    from the 2022 Decimeter Challenge. Particularly, the
+    train/2021-04-29-MTV-2/SamsungGalaxyS20Ultra trace. The dataset
+    was retrieved from
+    https://www.kaggle.com/competitions/smartphone-decimeter-2022/data
+
+    References
+    ----------
+    .. [4] Fu, Guoyu Michael, Mohammed Khider, and Frank van Diggelen.
+        "Android Raw GNSS Measurement Datasets for Precise Positioning."
+        Proceedings of the 33rd International Technical Meeting of the
+        Satellite Division of The Institute of Navigation (ION GNSS+
+        2020). 2020.
+    """
+    derived_path = os.path.join(root_path_2022, 'device_gnss.csv')
+    return derived_path
+
+
+@pytest.fixture(name="gt_2022_path")
+def fixture_gt_2022_path(root_path_2022):
+    """Filepath of Android ground truth estimates
+
+    Returns
+    -------
+    derived_path : string
+        Location for the unit_test Android ground truth estimates
+
+    Notes
+    -----
+    Test data is a subset of the Android Raw Measurement Dataset [5]_,
+    from the 2022 Decimeter Challenge. Particularly, the
+    train/2021-04-29-MTV-2/SamsungGalaxyS20Ultra trace. The dataset
+    was retrieved from
+    https://www.kaggle.com/competitions/smartphone-decimeter-2022/data
+
+    References
+    ----------
+    .. [5] Fu, Guoyu Michael, Mohammed Khider, and Frank van Diggelen.
+        "Android Raw GNSS Measurement Datasets for Precise Positioning."
+        Proceedings of the 33rd International Technical Meeting of the
+        Satellite Division of The Institute of Navigation (ION GNSS+
+        2020). 2020.
+    """
+    gt_path = os.path.join(root_path_2022, 'ground_truth.csv')
+    return gt_path
+
+
+def test_derived_2022(derived_2022_path):
+    """Testing that Android Derived 2022 is created without errors.
+
+    Parameters
+    ----------
+    derived_2022_path : string
+        Location for the unit_test Android derived 2022 measurements
+    """
+    derived_2022 = AndroidDerived2022(derived_2022_path)
+    assert isinstance(derived_2022, NavData)
+
+
+def test_gt_2022(gt_2022_path):
+    """Testing that Android ground truth 2022 is created without errors.
+
+    Parameters
+    ----------
+    gt_2022_path : string
+        Location for the unit_test Android ground truth 2022 measurements
+    """
+    gt_2022 = AndroidGroundTruth2022(gt_2022_path)
+    assert isinstance(gt_2022, NavData)
+
+
+def test_gt_alt_nan(root_path_2022):
+    """Testing that Android Ground Truth Loader sets blank altitudes to 0.
+
+    Parameters
+    ----------
+    root_path_2022 : string
+        Location for the files with missing altitude, including the file
+        with missing altitude
+    """
+    gt_2022_nan = os.path.join(root_path_2022, 'alt_nan_ground_truth.csv')
+    with pytest.warns(RuntimeWarning):
+        gt_2022 = AndroidGroundTruth2022(gt_2022_nan)
+        np.testing.assert_almost_equal(gt_2022['alt_gt_m'], np.zeros(len(gt_2022)))

notebooks/tutorials/utilities.ipynb

@@ -251,6 +251,24 @@ def test_gps_unix_millis():
     assert unix_millis == rev_unix_millis
 
 
+def test_gps_unix_millis_vect():
+    """Test vectorized version of unix_to_gps_millis and gps_to_unix_millis.
+
+    Notes
+    -----
+    Test based on the test implemented in test_gps_unix_millis
+    """
+
+    delta_times = np.arange(10)
+    unix_millis_vect = 1660161069000. + delta_times
+    exp_gps_millis_vect  = 1344196287000. + delta_times
+    out_gps_millis_vect = tc.unix_to_gps_millis(unix_millis_vect)
+    np.testing.assert_almost_equal(exp_gps_millis_vect, out_gps_millis_vect)
+    # Testing reverse conversion
+    rev_unix_millis_vect = tc.gps_to_unix_millis(exp_gps_millis_vect)
+    np.testing.assert_almost_equal(unix_millis_vect, rev_unix_millis_vect)
+
+
 def test_tz_conversion():
     """Checking internal timezone conversions to UTC