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app.py

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+import streamlit as st
+
+#from pandas import DataFrame as df
+import csv
+import math
+
+def main():
+    st.title('Quaternion to Eular angle conversion for SLAM')
+    
+    st.markdown('Only support single file conversion at this time. Will be processing batch files in the future. \n')
+    st.markdown('The input file should be in the format of csv where fields are separated by ";". The output will be also a csv file. \n')
+    st.markdown('The input field order is\n')
+    st.markdown('fileID; image file name; time stamp; pose_x; pose_y; pose_z; ori_w; ori_x; ori_y; ori_z.\n')
+    st.markdown('The unit of the input pos_x, pos_y and pos_z is meter.\n')
+    st.markdown('The unit of the output pos_x, pos_y and pos_z is feet, and ori_roll, ori_pitch, ori_yaw is degree.\n')
+
+    run_the_app()
+
+@st.cache_data()
+def euler_from_quaternion(x, y, z, w):
+        t0 = +2.0 * (w * x + y * z)
+        t1 = +1.0 - 2.0 * (x * x + y * y)
+        roll_x = math.atan2(t0, t1)
+     
+        t2 = +2.0 * (w * y - z * x)
+        #t2 = +1.0 if t2 > +1.0 else t2
+        #t2 = -1.0 if t2 < -1.0 else t2
+        pitch_y = math.asin(t2)
+     
+        t3 = +2.0 * (w * z + x * y)
+        t4 = +1.0 - 2.0 * (y * y + z * z)
+        yaw_z = math.atan2(t3, t4)
+        # the y here obvious points to the 90 anticlockwise to x, instead of the general definition of quaternion and Eular angles where y points to 90 degree clockwise to x
+        return math.degrees(roll_x), -math.degrees(pitch_y), math.degrees(yaw_z) # in degree
+
+def run_the_app():
+    uploaded_files = st.file_uploader(
+            "Upload csv files", 
+            type="csv", 
+            accept_multiple_files=True)
+    
+    if uploaded_files:
+        if st.button("Clear uploaded files"):
+            st.empty()
+            st.experimental_rerun()
+
+        with open('converted.csv', 'w', newline='', encoding='utf-8') as wf:
+            fieldnames = ['# pano poses v1.0: ID',
+                        'filename',
+                        'timestamp',
+                        'pano_pos_x',
+                        'pano_pos_y',
+                        'pano_pos_z',
+                        'pano_ori_roll',
+                        'pano_ori_pitch',
+                        'pano_ori_yaw'
+                        ]
+            writer = csv.DictWriter(wf, fieldnames=fieldnames)
+            writer.writeheader()
+
+            with open(uploaded_files, 'r', encoding='utf-8') as rf:
+                reader = csv.DictReader(rf)
+                
+                for row in reader:   
+                    row_v = list(row.values())[0].split(';')
+                    # in the input file, the quat order is ori_w,ori_x,ori_y,ori_z
+                    roll, pitch, yaw = euler_from_quaternion(float(row_v[7]),
+                                                                float(row_v[8]),
+                                                                float(row_v[9]),
+                                                                float(row_v[6]))
+
+                    # now yaw is the angle to x, anticlockwise. But our definition is the angle to y(north), clockwise
+                    yaw = -yaw + 90.0
+                    if yaw < -180.0:
+                        yaw += 360.0
+                    elif yaw > 180.0:
+                        yaw -= 360.0
+                    
+                    rec = {fieldnames[0]: row_v[0],
+                                fieldnames[1]: row_v[1][1:],
+                                fieldnames[2]: row_v[2],
+                                fieldnames[3]: float(row_v[3])*3.28084,
+                                fieldnames[4]: float(row_v[4])*3.28084,
+                                fieldnames[5]: float(row_v[5])*3.28084,
+                                fieldnames[6]: roll,
+                                fieldnames[7]: pitch,
+                                fieldnames[8]: yaw}
+                    writer.writerow(rec)
+
+
+
+                st.download_button("Download the converted files", 
+                           data = "converted.csv")
+
+if __name__ == "__main__":
+    main()

requirements.txt

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+streamlit
+csv
+math