def _relative_predicted_pose_to_absolute_pose(self,
previous_iteration_pose,
pose):
"""
Transforms relative pose data to absolute pose
@param previous_iteration_pose:
@param pose:
@return:
"""
if previous_iteration_pose is None and self._is_input_data_relative:
translations = Geometry.assemble_delta_translations(pose[:, 3:])
rotations = Geometry.assemble_delta_tait_bryan_rotations(
pose[:, :3])
return numpy.concatenate((rotations, translations), axis=1)
elif previous_iteration_pose is not None and not self._is_input_data_relative:
translations = Geometry.get_position_differences(pose[:, 3:])
rotations = Geometry.get_tait_bryan_orientation_differences(
pose[:, :3])
else:
translations = pose[:, 3:]
rotations = pose[:, :3]
# only keep the non overlapping predictions
relative_pose_overlap = self._sliding_window_overlap - 1
translations = translations[relative_pose_overlap:]
rotations = rotations[relative_pose_overlap:]
translations = Geometry.remap_position_axes(
Geometry.tait_bryan_rotation_to_quaternion(
previous_iteration_pose[-1, :3]), translations)
# assemble with the previous iteration poses
temp_translation = numpy.concatenate(
(previous_iteration_pose[-1, 3:].reshape((1, 3)), translations),
axis=0)
positions = Geometry.assemble_delta_translations(temp_translation)[2:]
temp_rotations = numpy.concatenate(
(previous_iteration_pose[-1, :3].reshape((1, 3)), rotations),
axis=0)
orientations = Geometry.assemble_delta_tait_bryan_rotations(
temp_rotations)[2:]
orientations = numpy.around(orientations, 7)
return numpy.concatenate((orientations, positions), axis=1)
def test_get_position_differences(self):
expected = self.dataset.__getitem__(1)[1].numpy()[:, 3:]
differences = Geometry.get_position_differences(
numpy.asarray(self.segment.get_positions()))
numpy.testing.assert_almost_equal(differences, expected)
