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@@ -66,15 +66,15 @@ class ZipCSVProcessor:
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# Define column mappings more clearly
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EGO_COLS_NEW = [
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"simTime", "simFrame", "playerId", "v", "speedX", "speedY",
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- "posH", "pitch", "roll", "speedH", "posX", "posY", "accelX", "accelY", "accelZ",
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+ "posH", "pitch", "roll", "roll_rate", "pitch_rate", "speedH", "posX", "posY", "accelX", "accelY", "accelZ",
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"travelDist", "composite_v", "relative_dist", "x_relative_dist", "y_relative_dist", "type" # Added type
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]
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OBJ_COLS_OLD_SUFFIXED = [
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- "v_obj", "speedX_obj", "speedY_obj", "posH_obj", "pitch_obj", "roll_obj", "speedH_obj",
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+ "v_obj", "speedX_obj", "speedY_obj", "posH_obj", "pitch_obj", "roll_obj", "roll_rate_obj", "pitch_rate_obj", "speedH_obj",
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"posX_obj", "posY_obj", "accelX_obj", "accelY_obj", "accelZ_obj", "travelDist_obj"
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]
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OBJ_COLS_MAPPING = {old: new for old, new in
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- zip(OBJ_COLS_OLD_SUFFIXED, EGO_COLS_NEW[3:16])} # Map suffixed cols to standard names
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+ zip(OBJ_COLS_OLD_SUFFIXED, EGO_COLS_NEW[3:18])} # Map suffixed cols to standard names
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def __init__(self, config: Config):
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self.config = config
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@@ -111,8 +111,10 @@ class ZipCSVProcessor:
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"speedY": "y_speed",
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"speedX": "x_speed",
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"posH": "yaw",
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- "pitch": "pitch",
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+ "pitch": "tilt",
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"roll": "roll",
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+ "roll_rate": "roll_rate",
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+ "pitch_rate": "tilt_rate",
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"speedH": "yaw_rate",
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"posX": "latitude_dd", # Source before projection
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"posY": "longitude_dd", # Source before projection
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@@ -127,9 +129,9 @@ class ZipCSVProcessor:
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"y_relative_dist": "y_distance",
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"type": None # Will be set later
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},
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- "db_columns": ["ID", "second", "usecond", "speed", "y_speed", "x_speed",
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- "yaw", "yaw_rate", "latitude_dd", "longitude_dd",
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- "x_acceleration", "y_acceleration", "total_distance"] # Actual cols to SELECT
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+ "db_columns": ["ID", "second", "usecond", "speed", "y_speed", "x_speed", "pitch_rate", "z_acceleration",
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+ "yaw", "tilt", "roll", "yaw_rate", "latitude_dd", "longitude_dd", "roll_rate", "total_distance",
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+ "x_acceleration", "y_acceleration", "total_distance", "distance", "x_distance", "y_distance"] # Actual cols to SELECT
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}
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def _get_can_config(self):
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@@ -146,6 +148,8 @@ class ZipCSVProcessor:
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"posH": "VUT_Heading",
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"pitch": "VUT_Pitch",
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"roll": "VUT_Roll",
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+ "pitch_rate": None,
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+ "roll_rate": None,
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"accelX": "VUT_Acc_X",
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"accelY": "VUT_Acc_Y",
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"accelZ": "VUT_Acc_Z",
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@@ -159,6 +163,8 @@ class ZipCSVProcessor:
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"posH_obj": "Heading",
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"pitch_obj": None,
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"roll_obj": None,
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+ "pitch_rate_obj": None,
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+ "roll_rate_obj": None,
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"accelX_obj": "Acc_X",
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"accelY_obj": "Acc_Y",
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"accelZ_obj": "Acc_Z",
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@@ -436,6 +442,7 @@ class ZipCSVProcessor:
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# Sort and clean up
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df_merged.sort_values(by=["simTime", "simFrame", "playerId"], inplace=True)
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+ df_merged.fillna(0, inplace = True)
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df_merged.reset_index(drop=True, inplace=True)
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# Fill potential NaNs introduced by reindexing or missing data
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@@ -586,6 +593,8 @@ class ZipCSVProcessor:
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df_vehicle["simFrame"] = np.arange(1, len(df_vehicle) + 1)
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df_vehicle["playerId"] = int(player_id)
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df_vehicle['playerId'] = pd.to_numeric(df_vehicle['playerId']).astype(int)
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+ df_vehicle["pitch_rate"] = df_vehicle["pitch"].diff() / df_vehicle["simTime"].diff()
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+ df_vehicle["roll_rate"] = df_vehicle["roll"].diff() / df_vehicle["simTime"].diff()
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except ValueError as ve:
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print(f"{ve}")
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except TypeError as te:
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