Functions
def	binning_decay (timestamp_way_offset, decay_microsec)

def	calc_2nd_derivate_from_xy (xaxis, yaxis)

def	calc_azimuth_gradient (timestamp_way_offset)

def	filter_azimuth (timestamp_way_offset, min_azimuth)

def	filter_local_maxima (timestamp_way_offset)

def	filter_local_minima (timestamp_way_offset)

def	get_closest_timestamp (timestamp_velocity, imu_timestamp)

Variables
	args = parser.parse_args()

	ax1

	ax2

	ax3

bool	compute_derivates = False

string	csv_filename = '../test/20231024_multiscan_timestamp_azimuth_imuacceleration.csv'

	default

	dt

	fname

	help

float	imu_latency_sec = dt * 1.0e-6

def	imu_timestamp = timestamp_min_imu_accel[row, 0]

	imu_value = float(token)

	lidar_timestamp

	line = line.replace(',', '.')

list	lines = [line.rstrip() for line in file]

float	min_imu_latency_sec = 1.0e6

	parser

bool	show_plot = True

	timestamp = float(token)

def	timestamp_azi_gradient = calc_azimuth_gradient(timestamp_way_offset)

	timestamp_imu_z = np.zeros([0,2])

def	timestamp_max_velocity = filter_local_maxima(timestamp_azi_gradient)

def	timestamp_min_imu_accel = filter_local_minima(timestamp_imu_z)

def	timestamp_min_imu_accel_sorted = timestamp_min_imu_accel[timestamp_min_imu_accel[:, 1].argsort()]

float	timestamp_start = -1.0

	timestamp_way_offset = np.zeros([0,2])

	token_list = line.split(";")

	type

	way_offset = float(token)

	xaxis_azi_grad = np.array(timestamp_azi_gradient[:,0])

	xaxis_azi_org = np.array(timestamp_way_offset[:, 0])

	xaxis_imu_org = np.array(timestamp_imu_z[:,0])

	xaxis_max_velocity = np.array(timestamp_max_velocity[:,0])

	xaxis_min_imu_accel = np.array(timestamp_min_imu_accel[:,0])

def	y_2nd_derivate = calc_2nd_derivate_from_xy(xaxis_azi_org, yaxis_azi_org)

	yaxis_azi_grad = -np.array(timestamp_azi_gradient[:,1])

	yaxis_azi_org = np.array(timestamp_way_offset[:, 1])

	yaxis_imu_org = np.array(timestamp_imu_z[:,1])

	yaxis_max_velocity = np.array(timestamp_max_velocity[:,1])

	yaxis_min_imu_accel = np.array(timestamp_min_imu_accel[:,1])

Detailed Description

Command line tool to for IMU delay Test

Function Documentation

◆ binning_decay()

def imu_delay_tester.binning_decay	(	timestamp_way_offset,
		decay_microsec
	)

binning of azimuth angles in 1, 2 or 3 lidar segments with decay time ca. 10 milliseconds

Definition at line 13 of file imu_delay_tester.py.

◆ calc_2nd_derivate_from_xy()

def imu_delay_tester.calc_2nd_derivate_from_xy	(	xaxis,
		yaxis
	)

Idea taken from https://mathformeremortals.wordpress.com/2013/01/12/a-numerical-second-derivative-from-three-points/

Definition at line 91 of file imu_delay_tester.py.

◆ calc_azimuth_gradient()

def imu_delay_tester.calc_azimuth_gradient ( timestamp_way_offset )

calculates the gradients of azimuth angles

Definition at line 42 of file imu_delay_tester.py.

◆ filter_azimuth()

def imu_delay_tester.filter_azimuth	(	timestamp_way_offset,
		min_azimuth
	)

remove azimuth angles less than e.g. 16 degree (other segments or outliers)

Definition at line 30 of file imu_delay_tester.py.

◆ filter_local_maxima()

def imu_delay_tester.filter_local_maxima ( timestamp_way_offset )

returns the array of (timestamp, value) of all local maxim

Definition at line 69 of file imu_delay_tester.py.

◆ filter_local_minima()

def imu_delay_tester.filter_local_minima ( timestamp_way_offset )

returns the array of (timestamp, value) of all local minima

Definition at line 57 of file imu_delay_tester.py.

◆ get_closest_timestamp()

def imu_delay_tester.get_closest_timestamp	(	timestamp_velocity,
		imu_timestamp
	)

Definition at line 81 of file imu_delay_tester.py.

Variable Documentation

◆ args

imu_delay_tester.args = parser.parse_args()

Definition at line 124 of file imu_delay_tester.py.

◆ ax1

imu_delay_tester.ax1

Definition at line 205 of file imu_delay_tester.py.

◆ ax2

imu_delay_tester.ax2

Definition at line 205 of file imu_delay_tester.py.

◆ ax3

imu_delay_tester.ax3

Definition at line 205 of file imu_delay_tester.py.

◆ compute_derivates

bool imu_delay_tester.compute_derivates = False

Definition at line 172 of file imu_delay_tester.py.

◆ csv_filename

string imu_delay_tester.csv_filename = '../test/20231024_multiscan_timestamp_azimuth_imuacceleration.csv'

Definition at line 122 of file imu_delay_tester.py.

◆ default

imu_delay_tester.default

Definition at line 123 of file imu_delay_tester.py.

◆ dt

imu_delay_tester.dt

Definition at line 192 of file imu_delay_tester.py.

◆ fname

imu_delay_tester.fname

Definition at line 223 of file imu_delay_tester.py.

◆ help

imu_delay_tester.help

Definition at line 123 of file imu_delay_tester.py.

◆ imu_latency_sec

float imu_delay_tester.imu_latency_sec = dt * 1.0e-6

Definition at line 193 of file imu_delay_tester.py.

◆ imu_timestamp

def imu_delay_tester.imu_timestamp = timestamp_min_imu_accel[row, 0]

Definition at line 191 of file imu_delay_tester.py.

◆ imu_value

imu_delay_tester.imu_value = float(token)

Definition at line 151 of file imu_delay_tester.py.

◆ lidar_timestamp

imu_delay_tester.lidar_timestamp

Definition at line 192 of file imu_delay_tester.py.

◆ line

imu_delay_tester.line = line.replace(',', '.')

Definition at line 135 of file imu_delay_tester.py.

◆ lines

list imu_delay_tester.lines = [line.rstrip() for line in file]

Definition at line 129 of file imu_delay_tester.py.

◆ min_imu_latency_sec

imu_delay_tester.min_imu_latency_sec = 1.0e6

Definition at line 189 of file imu_delay_tester.py.

◆ parser

imu_delay_tester.parser

Initial value:

 =  argparse.ArgumentParser(
                     prog='IMU Delay Tester',
                     formatter_class=RawTextHelpFormatter,
                     description="Calculates delay between LIDAR and IMU\n"
                                )

Definition at line 116 of file imu_delay_tester.py.

◆ show_plot

bool imu_delay_tester.show_plot = True

Definition at line 202 of file imu_delay_tester.py.

◆ timestamp

float imu_delay_tester.timestamp = float(token)

Definition at line 142 of file imu_delay_tester.py.

◆ timestamp_azi_gradient

def imu_delay_tester.timestamp_azi_gradient = calc_azimuth_gradient(timestamp_way_offset)

Definition at line 168 of file imu_delay_tester.py.

◆ timestamp_imu_z

imu_delay_tester.timestamp_imu_z = np.zeros([0,2])

Definition at line 132 of file imu_delay_tester.py.

◆ timestamp_max_velocity

def imu_delay_tester.timestamp_max_velocity = filter_local_maxima(timestamp_azi_gradient)

Definition at line 177 of file imu_delay_tester.py.

◆ timestamp_min_imu_accel

def imu_delay_tester.timestamp_min_imu_accel = filter_local_minima(timestamp_imu_z)

Definition at line 176 of file imu_delay_tester.py.

◆ timestamp_min_imu_accel_sorted

def imu_delay_tester.timestamp_min_imu_accel_sorted = timestamp_min_imu_accel[timestamp_min_imu_accel[:, 1].argsort()]

Definition at line 180 of file imu_delay_tester.py.

◆ timestamp_start

imu_delay_tester.timestamp_start = -1.0

Definition at line 133 of file imu_delay_tester.py.

◆ timestamp_way_offset

def imu_delay_tester.timestamp_way_offset = np.zeros([0,2])

Definition at line 131 of file imu_delay_tester.py.

◆ token_list

imu_delay_tester.token_list = line.split(";")

Definition at line 136 of file imu_delay_tester.py.

◆ type

imu_delay_tester.type

Definition at line 123 of file imu_delay_tester.py.

◆ way_offset

imu_delay_tester.way_offset = float(token)

Definition at line 148 of file imu_delay_tester.py.

◆ xaxis_azi_grad

imu_delay_tester.xaxis_azi_grad = np.array(timestamp_azi_gradient[:,0])

Definition at line 169 of file imu_delay_tester.py.

◆ xaxis_azi_org

imu_delay_tester.xaxis_azi_org = np.array(timestamp_way_offset[:, 0])

Definition at line 161 of file imu_delay_tester.py.

◆ xaxis_imu_org

imu_delay_tester.xaxis_imu_org = np.array(timestamp_imu_z[:,0])

Definition at line 165 of file imu_delay_tester.py.

◆ xaxis_max_velocity

imu_delay_tester.xaxis_max_velocity = np.array(timestamp_max_velocity[:,0])

Definition at line 185 of file imu_delay_tester.py.

◆ xaxis_min_imu_accel

imu_delay_tester.xaxis_min_imu_accel = np.array(timestamp_min_imu_accel[:,0])

Definition at line 183 of file imu_delay_tester.py.

◆ y_2nd_derivate

def imu_delay_tester.y_2nd_derivate = calc_2nd_derivate_from_xy(xaxis_azi_org, yaxis_azi_org)

Definition at line 200 of file imu_delay_tester.py.

◆ yaxis_azi_grad

imu_delay_tester.yaxis_azi_grad = -np.array(timestamp_azi_gradient[:,1])

Definition at line 170 of file imu_delay_tester.py.

◆ yaxis_azi_org

imu_delay_tester.yaxis_azi_org = np.array(timestamp_way_offset[:, 1])

Definition at line 163 of file imu_delay_tester.py.

◆ yaxis_imu_org

imu_delay_tester.yaxis_imu_org = np.array(timestamp_imu_z[:,1])

Definition at line 166 of file imu_delay_tester.py.

◆ yaxis_max_velocity

imu_delay_tester.yaxis_max_velocity = np.array(timestamp_max_velocity[:,1])

Definition at line 186 of file imu_delay_tester.py.

◆ yaxis_min_imu_accel

imu_delay_tester.yaxis_min_imu_accel = np.array(timestamp_min_imu_accel[:,1])

Definition at line 184 of file imu_delay_tester.py.

Functions

Variables

Detailed Description

Function Documentation

◆ binning_decay()

◆ calc_2nd_derivate_from_xy()

◆ calc_azimuth_gradient()

◆ filter_azimuth()

◆ filter_local_maxima()

◆ filter_local_minima()

◆ get_closest_timestamp()

Variable Documentation

◆ args

◆ ax1

◆ ax2

◆ ax3

◆ compute_derivates

◆ csv_filename

◆ default

◆ dt

◆ fname

◆ help

◆ imu_latency_sec

◆ imu_timestamp

◆ imu_value

◆ lidar_timestamp

◆ line

◆ lines

◆ min_imu_latency_sec

◆ parser

◆ show_plot

◆ timestamp

◆ timestamp_azi_gradient

◆ timestamp_imu_z

◆ timestamp_max_velocity

◆ timestamp_min_imu_accel

◆ timestamp_min_imu_accel_sorted

◆ timestamp_start

◆ timestamp_way_offset

◆ token_list

◆ type

◆ way_offset

◆ xaxis_azi_grad

◆ xaxis_azi_org

◆ xaxis_imu_org

◆ xaxis_max_velocity

◆ xaxis_min_imu_accel

◆ y_2nd_derivate

◆ yaxis_azi_grad

◆ yaxis_azi_org

◆ yaxis_imu_org

◆ yaxis_max_velocity

◆ yaxis_min_imu_accel