def test_slerp_single_rot():
with pytest.raises(ValueError, match="at least 2 rotations"):
r = Rotation.from_quat([1, 2, 3, 4])
Slerp([1], r)
def test_slerp_equal_times():
with pytest.raises(ValueError, match="strictly increasing order"):
np.random.seed(0)
r = Rotation.from_quat(np.random.uniform(size=(5, 4)))
t = [0, 1, 2, 2, 4]
Slerp(t, r)
total_time = time_array[-1]
t_new = np.arange(time_array[0], total_time, 1.0/FPS_VIDEO)
fx = interpolate.interp1d(time_array, data[:,1], fill_value="extrapolate")
fy = interpolate.interp1d(time_array, data[:,2], fill_value="extrapolate")
fz = interpolate.interp1d(time_array, data[:,3], fill_value="extrapolate")
pos_new = np.zeros((t_new.shape[0], 3))
pos_new[:,0] = fx(t_new)
pos_new[:,1] = fy(t_new)
pos_new[:,2] = fz(t_new)
att_array = np.empty((0,4))
for i in range(data.shape[0]):
att_array = np.append(att_array, quat_wx2xw(Euler2quat(data[i,7:10]))[np.newaxis,:], axis=0)
key_rots = R.from_quat(att_array)
slerp = Slerp(time_array, key_rots)
interp_rots = slerp(t_new)
att_new_array = R.as_quat(interp_rots)
att_new = np.zeros_like(att_new_array)
for i in range(t_new.shape[0]):
att_new[i,:] = quat_xw2wx(att_new_array[i,:])
# Progress Bar
data_len = t_new.shape[0]
print("data length: {}".format(data_len))
bar_iter = 0
bar_max = data_len
bar = Bar('Processing Video', max=bar_max, suffix='%(percent)d%%')
bar_step = np.around(data_len/bar_max)
# Request Image and Save
