def hist_filter(self, v, t):
t_rounded = np.around(t, 0).astype(np.int32)
t_bins = [tools.maprange(i, (-180,180), (0,360)) for i in t_rounded]
t_counts = np.bincount(t_bins)
t_mode = np.argmax(t_counts)
t_best = np.isclose(t_bins, t_mode, atol=self.DEG_TOLERANCE)
v = v[t_best]
t = t[t_best]
return v, t
def hist_filter(self, v, t):
t_rounded = np.around(t, 0).astype(np.int32)
v_rounded = np.around(v, 1).astype(np.int32)
t_bins = [tools.maprange(i, (-180,180), (0,360)) for i in t_rounded]
v_bins = [i for i in v_rounded]
t_counts = np.bincount(t_bins)
t_mode = np.argmax(t_counts)
best = np.isclose(t_bins, t_mode, atol=self.DEG_TOLERANCE)
## V_r = np.array(np.round(np.array(v[best])*10), np.uint8)
## T_r = np.array(np.round(t[best]), np.uint8)
## output = np.zeros((200, 360, 3), np.uint8)
## output[:, T_r, 2] = 255
## output[V_r[V_r < 200], :, 1] = 255
## cv2.imshow('',output)
## if cv2.waitKey(5) == 0:
## pass
v = v[best]
t = t[best]
return v, t
