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Fixed displacement plot median position calculation. #370

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Merged
adamshapiro0 merged 2 commits into from
May 15, 2025
Merged

Fixed displacement plot median position calculation. #370

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e86d180
Include baseline distance/std dev in raw GNSS attitude printout.
adamshapiro0 May 14, 2025
7e5fdb4
Fixed displacement plot median position calculation.
adamshapiro0 May 14, 2025
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11 changes: 10 additions & 1 deletion python/fusion_engine_client/analysis/analyzer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -911,8 +911,17 @@ def _plot_pose_displacement(self, title='Pose Displacement', reference=None):
reference_ecef_m = position_ecef_m[:, 0]
title_suffix = ' From First Position'
elif reference == 'median':
reference_ecef_m = position_ecef_m[:, 0]
reference_ecef_m = np.median(position_ecef_m, axis=1)
title_suffix = ' From Median Position'
elif reference == 'median_fixed':
idx = solution_type == SolutionType.RTKFixed
if np.any(idx):
reference_ecef_m = np.median(position_ecef_m[:, idx], axis=1)
title_suffix = ' From Median Fixed Position'
else:
self.logger.warning('No fixed positions available. Using median as displacement plot reference.')
reference_ecef_m = np.median(position_ecef_m, axis=1)
title_suffix = ' From Median Position'
else:
raise ValueError('Unrecognized reference specifier.')
else:
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2 changes: 2 additions & 0 deletions python/fusion_engine_client/messages/measurements.py
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Expand Up @@ -1398,6 +1398,8 @@ def __str__(self):
Solution Type: {self.solution_type}
Relative position (ENU) (m): {self.relative_position_enu_m[0]:.2f}, {self.relative_position_enu_m[1]:.2f}, {self.relative_position_enu_m[2]:.2f}
Position std (ENU) (m): {self.position_std_enu_m[0]:.2f}, {self.position_std_enu_m[1]:.2f}, {self.position_std_enu_m[2]:.2f}
Baseline distance (m): {np.linalg.norm(self.relative_position_enu_m):.2f}
Baseline std (m): {np.sqrt(np.sum(self.position_std_enu_m ** 2)):.2f}
YPR (deg): {ypr_deg[0]:.2f}, {ypr_deg[1]:.2f}, {ypr_deg[2]:.2f}"""

@classmethod
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