93 lines
2.0 KiB
Python
93 lines
2.0 KiB
Python
import os
|
|
|
|
GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated'))
|
|
|
|
class ObservationKind:
|
|
UNKNOWN = 0
|
|
NO_OBSERVATION = 1
|
|
GPS_NED = 2
|
|
ODOMETRIC_SPEED = 3
|
|
PHONE_GYRO = 4
|
|
GPS_VEL = 5
|
|
PSEUDORANGE_GPS = 6
|
|
PSEUDORANGE_RATE_GPS = 7
|
|
SPEED = 8
|
|
NO_ROT = 9
|
|
PHONE_ACCEL = 10
|
|
ORB_POINT = 11
|
|
ECEF_POS = 12
|
|
CAMERA_ODO_TRANSLATION = 13
|
|
CAMERA_ODO_ROTATION = 14
|
|
ORB_FEATURES = 15
|
|
MSCKF_TEST = 16
|
|
FEATURE_TRACK_TEST = 17
|
|
LANE_PT = 18
|
|
IMU_FRAME = 19
|
|
PSEUDORANGE_GLONASS = 20
|
|
PSEUDORANGE_RATE_GLONASS = 21
|
|
PSEUDORANGE = 22
|
|
PSEUDORANGE_RATE = 23
|
|
ECEF_VEL = 35
|
|
ECEF_ORIENTATION_FROM_GPS = 32
|
|
NO_ACCEL = 33
|
|
ORB_FEATURES_WIDE = 34
|
|
|
|
ROAD_FRAME_XY_SPEED = 24 # (x, y) [m/s]
|
|
ROAD_FRAME_YAW_RATE = 25 # [rad/s]
|
|
STEER_ANGLE = 26 # [rad]
|
|
ANGLE_OFFSET_FAST = 27 # [rad]
|
|
STIFFNESS = 28 # [-]
|
|
STEER_RATIO = 29 # [-]
|
|
ROAD_FRAME_X_SPEED = 30 # (x) [m/s]
|
|
ROAD_ROLL = 31 # [rad]
|
|
|
|
names = [
|
|
'Unknown',
|
|
'No observation',
|
|
'GPS NED',
|
|
'Odometric speed',
|
|
'Phone gyro',
|
|
'GPS velocity',
|
|
'GPS pseudorange',
|
|
'GPS pseudorange rate',
|
|
'Speed',
|
|
'No rotation',
|
|
'Phone acceleration',
|
|
'ORB point',
|
|
'ECEF pos',
|
|
'camera odometric translation',
|
|
'camera odometric rotation',
|
|
'ORB features',
|
|
'MSCKF test',
|
|
'Feature track test',
|
|
'Lane ecef point',
|
|
'imu frame eulers',
|
|
'GLONASS pseudorange',
|
|
'GLONASS pseudorange rate',
|
|
'pseudorange',
|
|
'pseudorange rate',
|
|
|
|
'Road Frame x,y speed',
|
|
'Road Frame yaw rate',
|
|
'Steer Angle',
|
|
'Fast Angle Offset',
|
|
'Stiffness',
|
|
'Steer Ratio',
|
|
'Road Frame x speed',
|
|
'Road Roll',
|
|
'ECEF orientation from GPS',
|
|
'NO accel',
|
|
'ORB features wide camera',
|
|
'ECEF_VEL',
|
|
]
|
|
|
|
@classmethod
|
|
def to_string(cls, kind):
|
|
return cls.names[kind]
|
|
|
|
|
|
SAT_OBS = [ObservationKind.PSEUDORANGE_GPS,
|
|
ObservationKind.PSEUDORANGE_RATE_GPS,
|
|
ObservationKind.PSEUDORANGE_GLONASS,
|
|
ObservationKind.PSEUDORANGE_RATE_GLONASS]
|