Merge remote-tracking branch 'origin/v0.1.11' into dalton/nmea

kanhereashwin · kanhereashwin · commit cf8200a291a2 · 2023-06-26T15:20:58.000-07:00
diff --git a/.gitignore b/.gitignore
@@ -10,7 +10,7 @@ dev/*
 !dev/.gitkeep
 gnss_lib_py_dev/
 
-# development folder
+# results folder
 results/*
 !results/.gitkeep
 
@@ -26,6 +26,7 @@ results/*
 # Ignore downloaded precise ephimerides files by default
 *.sp3
 *.clk
+
 # Include unit test files for precise ephimerides
 !data/unit_test/*/*.sp3
 !data/unit_test/*/*.clk
diff --git a/README.md b/README.md
@@ -81,6 +81,7 @@ In the directory organization above:
       * [2021 Google Android Derived Dataset](https://www.kaggle.com/c/google-smartphone-decimeter-challenge)
       * [2022 Google Android Derived Dataset](https://www.kaggle.com/competitions/smartphone-decimeter-2022)
       * [Precise Ephemeris Data](https://cddis.nasa.gov/Data_and_Derived_Products/GNSS/gnss_mgex.html)
+      * [TU Chemnitz smartLoc Dataset](https://www.tu-chemnitz.de/projekt/smartLoc/gnss_dataset.html.en#Datasets)
 
   * The `utils` directory contains utilities used to handle
     GNSS measurements, time conversions, visualizations, satellite
diff --git a/data/unit_test/smartloc/tu_chemnitz_berlin_1_raw.csv b/data/unit_test/smartloc/tu_chemnitz_berlin_1_raw.csv
diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -90,6 +90,7 @@ In the directory organization above:
       * `2021 Google Android Derived Dataset <https://www.kaggle.com/c/google-smartphone-decimeter-challenge>`__
       * `2022 Google Android Derived Dataset <https://www.kaggle.com/competitions/smartphone-decimeter-2022>`__
       * `Precise Ephemeris Data <https://cddis.nasa.gov/Data_and_Derived_Products/GNSS/gnss_mgex.html>`__
+      * `TU Chemnitz smartLoc Dataset <https://www.tu-chemnitz.de/projekt/smartLoc/gnss_dataset.html.en#Datasets>`__
 
   * The :code:`utils` directory contains utilities used to handle
     GNSS measurements, time conversions, visualizations, satellite
diff --git a/docs/source/reference/parsers/modules.rst b/docs/source/reference/parsers/modules.rst
@@ -10,5 +10,5 @@ parsers
    nmea
    precise_ephemerides
    rinex
-   smart_loc
    sp3
+   smartloc
diff --git a/docs/source/reference/parsers/smart_loc.rst b/docs/source/reference/parsers/smart_loc.rst
diff --git a/docs/source/reference/parsers/smartloc.rst b/docs/source/reference/parsers/smartloc.rst
@@ -0,0 +1,7 @@
+smartloc module
+===============
+
+.. automodule:: smartloc
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_parsers/modules.rst b/docs/source/reference/test_parsers/modules.rst
@@ -9,4 +9,4 @@ parsers
    test_navdata
    test_nmea
    test_precise_ephemerides
-   test_smart_loc
+   test_smartloc
diff --git a/docs/source/reference/test_parsers/test_smart_loc.rst b/docs/source/reference/test_parsers/test_smart_loc.rst
diff --git a/docs/source/reference/test_parsers/test_smartloc.rst b/docs/source/reference/test_parsers/test_smartloc.rst
@@ -0,0 +1,7 @@
+test\_smartloc module
+=====================
+
+.. automodule:: test_smartloc
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/gnss_lib_py/__init__.py b/gnss_lib_py/__init__.py
@@ -12,6 +12,7 @@
 from gnss_lib_py.parsers.navdata import *
 from gnss_lib_py.parsers.precise_ephemerides import *
 from gnss_lib_py.parsers.nmea import *
+from gnss_lib_py.parsers.smartloc import *
 
 from gnss_lib_py.utils.coordinates import *
 from gnss_lib_py.utils.filters import *
diff --git a/gnss_lib_py/parsers/navdata.py b/gnss_lib_py/parsers/navdata.py
@@ -1400,7 +1400,8 @@ def _parse_key_idx(self, key_idx):
             self.in_rows(key_idx)
             rows = [self.map[key_idx]]
             cols = slice(None, None)
-        elif isinstance(key_idx, list) and isinstance(key_idx[0], str):
+        elif isinstance(key_idx, (list,tuple)) \
+            and all(isinstance(idx, str) for idx in key_idx):
             rows = [self.map[k] for k in key_idx]
             cols = slice(None, None)
         elif isinstance(key_idx, slice):
@@ -1421,7 +1422,7 @@ def _parse_key_idx(self, key_idx):
             elif isinstance(key_idx[0], int):
                 rows = [key_idx[0]]
             else:
-                if not isinstance(key_idx[0],list):
+                if not isinstance(key_idx[0],(tuple,list)):
                     row_key = [key_idx[0]]
                 else:
                     row_key = key_idx[0]
diff --git a/gnss_lib_py/parsers/smartloc.py b/gnss_lib_py/parsers/smartloc.py
diff --git a/gnss_lib_py/utils/visualizations.py b/gnss_lib_py/utils/visualizations.py
@@ -808,6 +808,8 @@ def _zoom_center(lats, lons, width_to_height = 1.25):
     lon_zoom = np.interp(width , lon_zoom_range, range(20, 0, -1))
     lat_zoom = np.interp(height, lon_zoom_range, range(20, 0, -1))
     zoom = floor(min(lon_zoom, lat_zoom))
+    # zoom level higher than 18 won't load load properly as of June 2023
+    zoom = min(zoom, 18)
 
     return zoom, center
 
diff --git a/notebooks/tutorials/navdata.ipynb b/notebooks/tutorials/navdata.ipynb
@@ -406,9 +406,9 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "nav_data_csv = nav_data_csv.remove(rows=['new_row', 'new_string_row'])\n",
-    "print(nav_data_csv.rows)\n",
-    "print(nav_data_csv.shape)"
+    "nav_data_removed = nav_data_csv.remove(rows=['new_row', 'new_string_row'])\n",
+    "print(nav_data_removed.rows)\n",
+    "print(nav_data_removed.shape)"
    ]
   },
   {
@@ -417,8 +417,8 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "nav_data_csv = nav_data_csv.remove(cols=[0, 1])\n",
-    "print(nav_data_csv.shape)"
+    "nav_data_removed = nav_data_csv.remove(cols=[0, 1])\n",
+    "print(nav_data_removed.shape)"
    ]
   },
   {
@@ -514,11 +514,11 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "for timestamp, delta_t, small_nav_data in nav_data_pd.loop_time('myTimestamp'):\n",
+    "for timestamp, delta_t, nav_data_subset in nav_data_csv.loop_time('myTimestamp'):\n",
     "    print('Current timestamp: ', timestamp)\n",
     "    print('Difference between current and future time step', delta_t)\n",
     "    print('Current group of data')\n",
-    "    print(small_nav_data.pandas_df())"
+    "    print(nav_data_subset.pandas_df())"
    ]
   },
   {
diff --git a/notebooks/tutorials/parsers.ipynb b/notebooks/tutorials/parsers.ipynb
@@ -546,6 +546,65 @@
     "    print(sv, ':', derived_multi_gnss[sv][0:2])"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "id": "95e58b71",
+   "metadata": {},
+   "source": [
+    "# TU Chemnitz SmartLoc\n",
+    "This tutorial shows how to load data from TU Chemnitz's [smartLoc GNSS Dataset](https://www.tu-chemnitz.de/projekt/smartLoc/gnss_dataset.html.en#Datasets)."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "714dbb21",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import gnss_lib_py as glp"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "b369035d",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# download cropped SmartLoc data file\n",
+    "!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/smartloc/tu_chemnitz_berlin_1_raw.csv --quiet -O \"smartloc.csv\"\n",
+    "    \n",
+    "# load smartLoc data into NavData object\n",
+    "smartloc_data = glp.SmartLocRaw(\"smartloc.csv\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "4dd67679",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# plot the pseudorange over time of each individual satellite\n",
+    "# SBAS 120 is the outlier with its larger orbit\n",
+    "fig = glp.plot_metric(smartloc_data, \"gps_millis\",\"raw_pr_m\", groupby=\"sv_id\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "fe8d92d7",
+   "metadata": {
+    "scrolled": true
+   },
+   "outputs": [],
+   "source": [
+    "# show the ground truth smartLoc data on a map\n",
+    "fig = glp.plot_map(smartloc_data)\n",
+    "fig.show()"
+   ]
+  },
   {
    "cell_type": "markdown",
    "id": "eb016e74",
diff --git a/notebooks/tutorials/visualizations.ipynb b/notebooks/tutorials/visualizations.ipynb
@@ -247,6 +247,29 @@
     "fig = glp.plot_map(state_estimate)\n",
     "fig.show()"
    ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "287beec9",
+   "metadata": {},
+   "source": [
+    "You can plot multiple data traces on the same graph as long as the `*` in the `lat_*_deg` and `lon_*_deg` fields is different for each data trace."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "bd7fbb4b",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# load a separate data file\n",
+    "!wget https://raw.githubusercontent.com/Stanford-NavLab/gnss_lib_py/main/data/unit_test/android_2021/Pixel4_ground_truth.csv --quiet -O \"Pixel4_truth.csv\"\n",
+    "truth_data_second_trace = glp.AndroidGroundTruth2021(\"Pixel4_truth.csv\")\n",
+    "\n",
+    "fig = glp.plot_map(state_estimate, truth_data_second_trace)\n",
+    "fig.show()"
+   ]
   }
  ],
  "metadata": {
diff --git a/tests/parsers/test_navdata.py b/tests/parsers/test_navdata.py
@@ -903,12 +903,19 @@ def fixture_flt_int_slc(df_rows):
                         (('integers', slice(None, None)),
                           lazy_fixture('integers')),
                         (['integers', 'floats'], lazy_fixture('int_flt')),
+                        (('integers', 'floats'), lazy_fixture('int_flt')),
+                        ((['integers', 'floats'], 0), np.array([10., 0.5])),
+                        ((('integers', 'floats'), 0), np.array([10., 0.5])),
                         (('integers', 0), 10.),
                         (('strings', 0), np.asarray([['gps']], dtype=object)),
                         (['names', 'strings'], lazy_fixture('nm_str')),
+                        (('names', 'strings'), lazy_fixture('nm_str')),
                         (['strings', 'names'], lazy_fixture('str_nm')),
+                        (('strings', 'names'), lazy_fixture('str_nm')),
                         ((['integers', 'floats'], slice(3, None)),
                            lazy_fixture('flt_int_slc')),
+                        ((('integers', 'floats'), slice(3, None)),
+                           lazy_fixture('flt_int_slc')),
                         (1, lazy_fixture('integers'))
                         ])
 def test_get_item(data, index, exp_value):
diff --git a/tests/parsers/test_smartloc.py b/tests/parsers/test_smartloc.py
@@ -13,7 +13,7 @@
 
 from gnss_lib_py.parsers.navdata import NavData
 from gnss_lib_py.utils.coordinates import wrap_0_to_2pi
-from gnss_lib_py.parsers.smart_loc import SmartLocRaw, remove_nlos, \
+from gnss_lib_py.parsers.smartloc import SmartLocRaw, remove_nlos, \
                                         calculate_gt_ecef, calculate_gt_vel
 
 
@@ -59,7 +59,7 @@ def fixture_raw_path(root_path):
     .. [2] https://www.tu-chemnitz.de/projekt/smartLoc/gnss_dataset.html.en#Home
 
     """
-    raw_path = os.path.join(root_path, 'tu_chemnitz_berlin_1_raw.csv')
+    raw_path = os.path.join(root_path, 'smartloc', 'tu_chemnitz_berlin_1_raw.csv')
     return raw_path
 
 @pytest.fixture(name="pd_df")
@@ -221,7 +221,7 @@ def test_nlos_removal(smartloc_raw):
 
     Parameters
     ----------
-    smartloc_raw : gnss_lib_py.parsers.smart_loc.SmartLocRaw
+    smartloc_raw : gnss_lib_py.parsers.smartloc.SmartLocRaw
         Instance of SmartLocRaw for testing
     """
     first_shape = smartloc_raw.shape
@@ -245,7 +245,7 @@ def test_calculate_gt_ecef(smartloc_raw):
 
     Parameters
     ----------
-    smartloc_raw : gnss_lib_py.parsers.smart_loc.SmartLocRaw
+    smartloc_raw : gnss_lib_py.parsers.smartloc.SmartLocRaw
         Instance of SmartLocRaw for testing
     """
     old_shape = np.asarray(smartloc_raw.shape)
@@ -262,7 +262,7 @@ def test_calculate_gt_vel_ecef(smartloc_raw):
 
     Parameters
     ----------
-    smartloc_raw : gnss_lib_py.parsers.smart_loc.SmartLocRaw
+    smartloc_raw : gnss_lib_py.parsers.smartloc.SmartLocRaw
         Instance of SmartLocRaw for testing
     """
     old_shape = np.asarray(smartloc_raw.shape)
