def get_interpolated_stab_transform(self, start=0, interval=1 / 29.97):
if self.smoothing_algo:
if self.smoothing_algo.bypass_external_processing:
print("Bypassing quaternion orientation integration")
return self.get_interpolated_stab_transform_old(
start=start, interval=interval)
#time_list, smoothed_orientation = self.smoothing_algo.get_stabilize_transform(self.gyro)
else:
self.smoothing_algo = smoothing_algos.PlainSlerp()
time_list, interp_orientations = self.get_interpolated_orientations(
start=start, interval=interval)
time_list = np.array(time_list)
interp_orientations = np.array(interp_orientations)
_, smoothed_orientations = self.smoothing_algo.get_smooth_orientations(
time_list, interp_orientations)
smoothed_orientations = np.array(smoothed_orientations)
stab_rotations = np.zeros(smoothed_orientations.shape)
for i in range(smoothed_orientations.shape[0]):
# rotation quaternion from smooth motion -> raw motion to counteract it
stab_rotations[i, :] = quat.rot_between(smoothed_orientations[i],
interp_orientations[i])
return time_list, stab_rotations
def get_stabilize_transform(self, smooth=0.94):
time_list, smoothed_orientation = self.get_smoothed_orientation(smooth)
# rotations that'll stabilize the camera
stab_rotations = np.zeros(self.orientation_list.shape)
for i in range(self.num_data_points):
# rotation quaternion from smooth motion -> raw motion to counteract it
stab_rotations[i, :] = quat.rot_between(smoothed_orientation[i],
self.orientation_list[i])
return (self.time_list, stab_rotations)
