[chronojump] Added accelerometer code
- From: Xavier Padullés <xpadulles src gnome org>
- To: commits-list gnome org
- Cc:
- Subject: [chronojump] Added accelerometer code
- Date: Fri, 19 Feb 2016 11:01:58 +0000 (UTC)
commit 43bad7e255b8e71db530ef4690b3bbf42a064d99
Author: Xavier Padullés <x padulles gmail com>
Date: Fri Feb 19 11:30:48 2016 +0100
Added accelerometer code
accelerometer/accelerometria.R | 278 +++
accelerometer/captures/.~lock.180_graus.txt# | 1 +
accelerometer/captures/0.981m.csv | 801 +++++++
accelerometer/captures/old/180_graus.txt | 2272 +++++++++++++++++++
accelerometer/captures/old/calibra_x.txt | 1722 +++++++++++++++
accelerometer/captures/old/calibra_y.txt | 1359 ++++++++++++
accelerometer/captures/old/calibra_z.txt | 1514 +++++++++++++
accelerometer/captures/old/gir_y.csv | 201 ++
accelerometer/captures/old/gir_y.ods | Bin 0 -> 90580 bytes
accelerometer/captures/old/lent.txt | 3036 ++++++++++++++++++++++++++
accelerometer/captures/old/moderat.txt | 1431 ++++++++++++
accelerometer/captures/old/rapid.txt | 1229 +++++++++++
12 files changed, 13844 insertions(+), 0 deletions(-)
---
diff --git a/accelerometer/accelerometria.R b/accelerometer/accelerometria.R
new file mode 100644
index 0000000..d68ad4f
--- /dev/null
+++ b/accelerometer/accelerometria.R
@@ -0,0 +1,278 @@
+# This file is part of ChronoJump
+#
+# ChronoJump is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# ChronoJump is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+#
+# Copyright (C) 2014- Xavier Padullés <x padulles gmail com>
+
+
+getAbsPosition <- function(data)
+{
+ #data <- calibrate(data)
+ #"Local" or "relative" means "in the reference of the the accelerometer axis"
+ #"Absolute" or "global" means "in the floor reference"
+ omega <- getOmega(data) #Read the data coming from the gyros
+ localRotation <- getLocalRotationQuaternion(omega) # Translate the local rotation in degrees per
second to quaternions
+ localBasis <- getLocalBasis(localRotation) # Create a local basis expressed in the absolute basis.
(200Hz)
+ relAccel <- getRelAcc(data) # Read data coming from the accelerometers
+ absAccel <- getAbsAcceleration(localBasis, relAccel) # Translate the local acceleration to the
absolute acceleration
+ absSpeed <- getAbsSpeed(absAccel) # Integrate the acceleration to thet the speed
+
+ #Read de absolute speed and integrate it to get the absolute position
+ abs_pos <- matrix(, ncol=3, nrow=length(absSpeed[,1]))
+ abs_pos[1,] <- c(0,0,0)
+ for (i in 2:length(absSpeed[,1])){
+ abs_pos[i,1] <- abs_pos[(i-1),1] + absSpeed[(i-1),1]/200
+ abs_pos[i,2] <- abs_pos[(i-1),2] + absSpeed[(i-1),2]/200
+ abs_pos[i,3] <- abs_pos[(i-1),3] + absSpeed[(i-1),3]/200
+ }
+ return(abs_pos)
+}
+
+getOmega <- function(data)
+{
+ #Reads the gyroscope values. Omega is the rotation expressed in the local axes of the accelerometer.
+ omega <- matrix(c(data$GYRO_X, data$GYRO_Y, data$GYRO_Z), ncol=3, byrow=FALSE)
+ return(omega)
+}
+
+getLocalRotationQuaternion <- function(omega)
+{
+ #Get the quaternions of the local rotations given by omega. Each column of omega is Wx, Wy, Wz in
degrees
+ q <- list(getRotationQuaternion(omega[1,1] , 1 , 0 , 0) * getRotationQuaternion(omega[1,2], 0 , 1 ,
0) * getRotationQuaternion(omega[1,3], 0 , 0 , 1))
+ for ( n in 2:nrow(omega))
+ {
+ q[[n]] <- getRotationQuaternion(omega[n,1] , 1 , 0 , 0) * getRotationQuaternion(omega[n,2],
0 , 1 , 0) * getRotationQuaternion(omega[n,3], 0 , 0 , 1)
+ }
+ return(q)
+}
+
+getRotationQuaternion <- function(alpha,a,b,c)
+{
+ # Needs onion package
+ # Get the rotation quaternion given an axis of rotation (a, b, c) and an angle(alpha) in degrees
+
+ #Divided by 2 and converted from degrees to radians
+ alphaRad <- alpha*pi/360
+
+ w <- cos(alphaRad)
+ s <- sin(alphaRad)
+ x <- a*s
+ y <- b*s
+ z <- c*s
+
+ #Normalization of the pure quaternion
+
+ magnitude <- sqrt(w^2 + x^2 + y^2 + z^2)
+ w <- w/magnitude
+ x <- x/magnitude
+ y <- y/magnitude
+ z <- z/magnitude
+
+ #returning the quaternion
+ q <- as.quaternion(matrix(c(w, x, y, z), byrow=FALSE))
+ return(q)
+}
+
+getLocalBasis <- function(localRotation)
+{
+ #Get the orientation of the basis given the local rotation quaternion obtained with the gyroscope.
+ #The basis is expressed in the global coordinate system
+ rotatedBasis <- list(diag(3))
+ for (n in 2:length(localRotation))
+ {
+ rotatedBasis[[n]] <- rotate(rotatedBasis[[n-1]], localRotation[[n-1]] / 200)
+ }
+ return(rotatedBasis)
+}
+
+getRelAcc <- function(dataAccelerometer)
+{
+ relAcc <- matrix(c(dataAccelerometer$ACC_X, dataAccelerometer$ACC_Y, dataAccelerometer$ACC_Z),
ncol=3, byrow=FALSE)
+ return(relAcc)
+}
+
+getAbsAcceleration <- function(basis, relativeAccel)
+{
+ #Reads the relative acceleration (accelerometer refference) and the evolution of the axes
+ #and transform relative to absolute acceleration (ground refference)
+
+ absoluteAccel <- list(matrix(relativeAccel[1,], ncol=3))
+ g <- matrix(c(0, 0, 1000), ncol=3)
+ for (i in 1:length(relativeAccel[,1])){
+ absoluteAccel[[i]] <- relativeAccel[i,] %*% basis[[i]] - g
+ }
+ return(matrix(unlist(absoluteAccel), ncol=3, byrow = TRUE))
+}
+
+getAbsSpeed <- function(absoluteAccel)
+{
+ #Read the absolute acceleration and integrate it to get the absolute velocity
+ absSpeed <- matrix(, ncol=3, nrow=length(absoluteAccel[,1]))
+ absSpeed[1,] <- c(0,0,0)
+ for (i in 2:length(absoluteAccel[,1])){
+ #Acceleration expressed in miliGravity, Sample rate = 200hz
+ absSpeed[i,1] <- absSpeed[(i-1),1] + absoluteAccel[(i-1),1] * (9.81 / 1000) / 200
+ absSpeed[i,2] <- absSpeed[(i-1),2] + absoluteAccel[(i-1),2] * (9.81 / 1000) / 200
+ absSpeed[i,3] <- absSpeed[(i-1),3] + absoluteAccel[(i-1),3] * (9.81 / 1000) / 200
+ }
+ return(absSpeed)
+}
+
+drawPosition <- function(position)
+{
+ l <- length(position[,1])
+ aspect3d("iso")
+ i = diag(3)
+ points3d(position[1:l,], color=heat.colors(l)) #Color starts on red
+}
+
+drawQuaternion <- function (quaternion)
+{
+ #Needs the rgl library. Needs some messa-dev linux packages
+ #Draws a quaternion in the direction of the rotating axis and the length of the cos(alpha/2)
+ aspect3d("iso")
+ i <- matrix(c(1,0,0,0,1,0,0,0,1), ncol=3, byrow=FALSE)
+ magnitude <- sqrt( Re(quaternion)^2 + i(quaternion)^2 + j(quaternion)^2 + k(quaternion)^2)
+ plot3d(i)
+ segments3d( c(0 , i(quaternion)*Re(quaternion)/magnitude), c(0 ,
j(quaternion)*Re(quaternion)/magnitude), c(0 , k(quaternion)*Re(quaternion)/magnitude), col="red")
+}
+
+
+calibrate <- function(accelerometer){
+ accelerometer$ACC_X <- accelerometer$ACC_X - getCalibration(accelerometer$ACC_X)[1]
+ accelerometer$ACC_Y <- accelerometer$ACC_Y - getCalibration(accelerometer$ACC_Y)[1]
+ accelerometer$ACC_Z <- accelerometer$ACC_Z - (getCalibration(accelerometer$ACC_Z)[1] - 1000)
+ accelerometer$GYRO_X <- accelerometer$GYRO_X - getCalibration(accelerometer$GYRO_X)[1]
+ accelerometer$GYRO_Y <- accelerometer$GYRO_Y - getCalibration(accelerometer$GYRO_Y)[1]
+ accelerometer$GYRO_Z <- accelerometer$GYRO_Z - getCalibration(accelerometer$GYRO_Z)[1]
+ return(accelerometer)
+}
+
+getCalibration <- function(data)
+{
+ #Reads the 200 first values (1s) and the last 200 last values and try to calculate the offset.
+ calibration <- c(mean(data[1:200]), mean(data[(length(data)-200):(length(data))]))
+ return(calibration)
+}
+
+drawBasis <- function(p0, basis){
+ #open3d()
+ #axes3d(xlab="X", ylab="Y", zlab="Z")
+ lim = c(-1,1)
+# x = plot3d(c(p0[1], p0[1] + basis[1,1]), c(p0[2], p0[2] + basis[1,2]), c(p0[3], p0[3] +
basis[1,3]), type="l")
+# y = plot3d(c(p0[1], p0[1] + basis[2,1]), c(p0[2], p0[2] + basis[2,2]), c(p0[3], p0[3] +
basis[2,3]), type="l")
+# z = plot3d(c(p0[1], p0[1] + basis[3,1]), c(p0[2], p0[2] + basis[3,2]), c(p0[3], p0[3] +
basis[3,3]), xlim = lim, , ylim = lim , zlim = lim, xlab = "X", ylab="Y", zlab="Z", type="l")
+
+# for(i in 1:length(basis)){
+ segments3d(c(p0[1], p0[1] + basis[1,1]), c(p0[2], p0[2] + basis[1,2]), c(p0[3], p0[3] +
basis[1,3]), color=2)
+ segments3d(c(p0[1], p0[1] + basis[2,1]), c(p0[2], p0[2] + basis[2,2]), c(p0[3], p0[3] +
basis[2,3]), color=3)
+ segments3d(c(p0[1], p0[1] + basis[3,1]), c(p0[2], p0[2] + basis[3,2]), c(p0[3], p0[3] +
basis[3,3]), color=4)
+# Sys.sleep(0.002)
+# rgl.pop(type="shapes", id= x)
+# rgl.pop(type="shapes", id= y)
+# rgl.pop(type="shapes", id= z)
+# }
+}
+
+drawAcceleration <- function(p0, acceleration){
+ lim = c(-max(abs(acceleration)), max(abs(acceleration)))
+ #x = plot3d(c(0,i[1,1]), c(0,i[1,2]), c(0,i[1,3]), xlim = lim, , ylim = lim , zlim = lim, type="l")
+ #y = plot3d(c(0,i[2,1]), c(0,i[2,2]), c(0,i[2,3]), xlim = lim, , ylim = lim , zlim = lim, type="l")
+ #z = plot3d(c(0,i[3,1]), c(0,i[3,2]), c(0,i[3,3]), xlim = lim, , ylim = lim , zlim = lim, xlab =
"X", ylab="Y", zlab="Z", type="l")
+
+ segments3d(c(p0[1], p0[1] + acceleration[1]), c(p0[2], p0[2] + acceleration[2]), c(p0[3], p0[3] +
acceleration[3]), color=5)
+}
+
+drawAll <- function(data, n){
+ open3d()
+ i = diag(3)
+ omega <- getOmega(data) #Read the data coming from the gyros
+ localRotation <- getLocalRotationQuaternion(omega) # Translate the local rotation in degrees per
second to quaternions
+ localBasis <- getLocalBasis(localRotation) # Create a local basis expressed in the absolute basis.
(200Hz)
+ relAccel <- getRelAcc(data) # Read data coming from the accelerometers
+ absAccel <- getAbsAcceleration(localBasis, relAccel) # Translate the local acceleration to the
absolute acceleration
+ absAccel = absAccel / 1000
+ position = getAbsPosition(data)
+ lim = c(-max(abs(absAccel)), max(abs(absAccel)))
+ plot3d(c(0,i[1,1]), c(0,i[1,2]), c(0,i[1,3]), xlim = lim, , ylim = lim , zlim = lim, type="l")
+ plot3d(c(0,i[2,1]), c(0,i[2,2]), c(0,i[2,3]), xlim = lim, , ylim = lim , zlim = lim, xlab = "X",
ylab="Y", zlab="Z", type="l")
+ #plot3d(c(0,i[3,1]), c(0,i[3,2]), c(0,i[3,3]), xlim = lim, , ylim = lim , zlim = lim, xlab = "X",
ylab="Y", zlab="Z", type="l")
+ drawPosition(position)
+
+ p = length(position[,1]) %/% n
+
+ #drawBasis(position[1,], localBasis[[1]])
+ drawAcceleration(position[1,],absAccel[1,])
+ for (i in 1:n){
+ drawBasis(position[i*p,], localBasis[[i*p]] / 10)
+ drawAcceleration(position[i*p,],absAccel[i*p,])
+ #drawAcceleration(position[i*p,],relAccel[i*p,])
+ }
+}
+
+correctSignal <- function(signal, s){
+ #see Giansanti, D.; Maccioni, G.; Macellari, V. Guidelines for Calibration and Drift Compensation of
a
+ #Wearable Device with Rate-Gyroscopes and Accelerometers. In Proceedings of 29th Annual
+ #International Conference of the IEEE Engineering in Medicine and Biology Society, Shanghai,
+ #China, 1–4 September 2007; pp. 2342–2345.
+
+ # s is a matrix with the six measures of the three axis. Measures in columns, axis in rows.
+ # l is the matrix with the supposed values.
+
+ g = 1000
+ l = matrix(c(-g, 0, 0, g, 0, 0, 0, -g, 0, 0, g, 0, 0, 0, -g, 0, 0, g), ncol=6)
+ c = l %*% t(s) %*% (solve(s %*% t(s)))
+ return(signal %*% c)
+}
+
+######### Not used#################
+# getAbsoluteRotationQuaternion <- function(localRotation)
+# {
+# #Given the local rotation quaternions obtained with the Gyroscope returns the total global rotation
+#
+# q <- localRotation[1]
+# for (n in 2:length(localRotation))
+# {
+# q <- c(q, localRotation[n] * q[n-1])
+# #print(q[n])
+# }
+# return(q)
+# }
+
+drawRelative2D <- function(data)
+{
+ data <- data *0.00981 #miliG to ms^2
+
+ png("drawRelative2D.png",width=600, height=400)
+ plot(data$ACC_X, ylim=c(-11, 11), type ="l", col="red",
+ xlab="Temps (ms)", ylab="Acceleració (m/s^2)",
+ main="Acceleracions 3D relatives al llarg del temps")
+ legend("topright", c("X","Y","Z"), col=c("red","green","blue"),lty=1,lwd=1)
+ lines(data$ACC_Y, col="green")
+ lines(data$ACC_Z, col="blue")
+ abline(v=c(200,300,400,600), lty=2)
+ mtext("A",side=3, at=100)
+ mtext("B",side=3, at=250)
+ mtext("C",side=3, at=350)
+ mtext("D",side=3, at=500)
+ mtext("E",side=3, at=700)
+ dev.off()
+}
+
+setwd("ownCloud/Xavier/Chronojump/Accelerometre/")
+data = read.csv("captures/0.981m.csv", sep = ",", dec = ",")
+
+drawRelative2D(data)
+getwd()
diff --git a/accelerometer/captures/.~lock.180_graus.txt# b/accelerometer/captures/.~lock.180_graus.txt#
new file mode 100644
index 0000000..d8d32d0
--- /dev/null
+++ b/accelerometer/captures/.~lock.180_graus.txt#
@@ -0,0 +1 @@
+Xavier Padullés,xpadulles,Padutatil,02.10.2015 09:50,file:///home/xpadulles/.config/libreoffice/4;
\ No newline at end of file
diff --git a/accelerometer/captures/0.981m.csv b/accelerometer/captures/0.981m.csv
new file mode 100644
index 0000000..c11fb8b
--- /dev/null
+++ b/accelerometer/captures/0.981m.csv
@@ -0,0 +1,801 @@
+ACC_X,ACC_Y,ACC_Z,MAG_X,MAG_Y,MAG_Z, GYRO_X,GYRO_Y,GYRO_Z,COUNT
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diff --git a/accelerometer/captures/old/180_graus.txt b/accelerometer/captures/old/180_graus.txt
new file mode 100644
index 0000000..e68a2c7
--- /dev/null
+++ b/accelerometer/captures/old/180_graus.txt
@@ -0,0 +1,2272 @@
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diff --git a/accelerometer/captures/old/calibra_x.txt b/accelerometer/captures/old/calibra_x.txt
new file mode 100644
index 0000000..b4d2ff9
--- /dev/null
+++ b/accelerometer/captures/old/calibra_x.txt
@@ -0,0 +1,1722 @@
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diff --git a/accelerometer/captures/old/calibra_y.txt b/accelerometer/captures/old/calibra_y.txt
new file mode 100644
index 0000000..c9fe126
--- /dev/null
+++ b/accelerometer/captures/old/calibra_y.txt
@@ -0,0 +1,1359 @@
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diff --git a/accelerometer/captures/old/calibra_z.txt b/accelerometer/captures/old/calibra_z.txt
new file mode 100644
index 0000000..01bd720
--- /dev/null
+++ b/accelerometer/captures/old/calibra_z.txt
@@ -0,0 +1,1514 @@
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diff --git a/accelerometer/captures/old/gir_y.csv b/accelerometer/captures/old/gir_y.csv
new file mode 100644
index 0000000..4025691
--- /dev/null
+++ b/accelerometer/captures/old/gir_y.csv
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diff --git a/accelerometer/captures/old/gir_y.ods b/accelerometer/captures/old/gir_y.ods
new file mode 100644
index 0000000..a542846
Binary files /dev/null and b/accelerometer/captures/old/gir_y.ods differ
diff --git a/accelerometer/captures/old/lent.txt b/accelerometer/captures/old/lent.txt
new file mode 100644
index 0000000..bcc7dc0
--- /dev/null
+++ b/accelerometer/captures/old/lent.txt
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diff --git a/accelerometer/captures/old/moderat.txt b/accelerometer/captures/old/moderat.txt
new file mode 100644
index 0000000..24cdc78
--- /dev/null
+++ b/accelerometer/captures/old/moderat.txt
@@ -0,0 +1,1431 @@
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diff --git a/accelerometer/captures/old/rapid.txt b/accelerometer/captures/old/rapid.txt
new file mode 100644
index 0000000..548c132
--- /dev/null
+++ b/accelerometer/captures/old/rapid.txt
@@ -0,0 +1,1229 @@
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