def standardizeGyro(self, isTrain):
print('standardizing gyro')
normPath = '../Norms/' + branchName() + '_' + self.dsName + '_' + self.subType
if isTrain:
gyroMean = np.mean(self.dw_gyro, axis=0)
gyroStd = np.std(self.dw_gyro, axis=0)
np.savetxt(normPath + 'gyroMean.txt', gyroMean)
np.savetxt(normPath + 'gyroStd.txt', gyroStd)
else:
gyroMean = np.loadtxt(normPath + 'gyroMean.txt')
gyroStd = np.loadtxt(normPath + 'gyroStd.txt')
self.gyro_standard = self.dw_gyro - gyroMean
self.gyro_standard = np.divide(self.gyro_standard, gyroStd).astype(np.float32)
def standardize(self, isTrain):
print('standardizing acc')
normPath = 'Norms/' + branchName() + '_' + self.dsName + '_' + self.subType
if isTrain:
accMean = np.mean(self.accdt_gnd, axis=0)
accStd = np.std(self.accdt_gnd, axis=0)
np.savetxt(normPath + '_img_accMean.txt', accMean)
np.savetxt(normPath + '_img_accStd.txt', accStd)
else:
accMean = np.loadtxt(normPath + '_img_accMean.txt')
accStd = np.loadtxt(normPath + '_img_accStd.txt')
self.acc_gnd_standard = self.accdt_gnd - accMean
self.acc_gnd_standard = np.divide(self.acc_gnd_standard, accStd).astype(np.float32)
def standardizeImgs(self, isTrain):
print('preparing to standardize imgs')
mean = np.mean(self.imgs, axis=(0, 2, 3))
std = np.std(self.imgs, axis=(0, 2, 3))
normPath = '../Norms/' + branchName() + '_' + self.dsName + '_' + self.subType
if isTrain:
np.savetxt(normPath + '_img_mean.txt', mean)
np.savetxt(normPath + '_img_std.txt', std)
else:
mean = np.loadtxt(normPath + '_img_mean.txt')
std = np.loadtxt(normPath + '_img_std.txt')
if self.dsName == 'euroc':
mean = np.reshape(mean, (1,1))
std = np.reshape(std, (1,1))
# standardize imgs
print('standardizing imgs')
mean = mean.astype(np.float32)
std = std.astype(np.float32)
for i in range(0, self.imgs.shape[1]):
self.imgs[:, i, :, :] = (self.imgs[:, i, :, :] - mean[i])/std[i]
print('done standardizing imgs')