def correctData(fileToCorrect, OS, rot):
offset = np.array([-4,-1, 0])
rawdat, header = BiteplateUtils.loadTsv(fileToCorrect)
numSensors = int(np.floor(rawdat.shape[1]/9))
swapDat= rawdat.copy()
for j in range(1,numSensors-1):
#Position values swapped
swapDat[:,5+9*j] = rawdat[:,6+9*j]
swapDat[:,6+9*j] = rawdat[:,5+9*j]
swapDat[:,7+9*j] = -rawdat[:,7+9*j]
#Quaternion values swapped
swapDat[:,9+9*j] = rawdat[:,10+9*j]
swapDat[:,10+9*j] = rawdat[:,9+9*j]
swapDat[:,12+9*j] = -rawdat[:,11+9*j]
BPCorrect = swapDat
for j in range(1,numSensors-1):
BPCorrect[:,5+9*j:8+9*j] = q.qvqc(rot,(swapDat[:,5+9*j:8+9*j]-OS))-offset
BPCorrect[:,8+9*j:12+9*j] = q.correctQuat(swapDat[:,8+9*j:12*9+j], rot)
BPCorrect[:,3+9*j] = j
return BPCorrect, header
def correctData(fileToCorrect, OS, rot, resamp, freq):
offset = np.array([-4,-1, 0])
rawdat, header = BiteplateUtils.loadTsv(fileToCorrect)
numSensors = int(np.floor((rawdat.shape[1]-3)/9))
swapDat = rawdat.copy()
BPCorrect = swapDat
for j in range(1,numSensors):
BPCorrect[:,5+9*j:8+9*j] = q.qvqc(rot,(swapDat[:,5+9*j:8+9*j]-OS))-offset
BPCorrect[:,8+9*j:12+9*j] = q.correctQuat(swapDat[:,8+9*j:12+9*j], rot)
BPCorrect[:,3+9*j] = j
if resamp:
BPCorrect = BiteplateUtils.resample(BPCorrect, freq)
return BPCorrect, header
