Commit 65465054 authored by Lauros Pajunen's avatar Lauros Pajunen
Browse files

Create random quaternion trajectories for external orientations

parent 57605b90

ci/create_trajectories.py

+17 −0
Original line number Diff line number Diff line 
import numpy as np

from scipy.spatial.transform import Rotation





FRAMES_PER_SEC = 50
@@ -23,3 +24,19 @@ def constant_trajectory(duration_sec, yaw=0, pitch=0, roll=0): 
    trj[:, 3] = roll

    return trj





def random_trajectory_quat(duration_sec):

    n_frames = int(FRAMES_PER_SEC * duration_sec)

    trj = Rotation.random(n_frames).as_quat()

    return trj





def constant_trajectory_quat(duration_sec, w=1, x=0, y=0, z=0):

    n_frames = int(FRAMES_PER_SEC * duration_sec)

    trj = np.empty((n_frames, 4))

    trj[:, 0] = w

    trj[:, 1] = x

    trj[:, 2] = y

    trj[:, 3] = z

    return trj

ci/run_scheduled_sanitizer_test.py

+5 −5
Original line number Diff line number Diff line
@@ -43,7 +43,7 @@ from collect_artifacts import ( 
    find_failed_files_for_sanitizer_test,

)

from combine_genpatt_and_jbm_profile import combine_error_profiles

from create_trajectories import random_trajectory

from create_trajectories import random_trajectory, random_trajectory_quat





SCRIPT_DIR = pathlib.Path("./scripts").resolve()
@@ -156,10 +156,10 @@ def run_check(in_format: str, out_formats: list, tests: list, run_fec: bool = Tr 


    # create random trajectory files

    if "BINAURAL" in oc_str:

        trajectory_files = [HEAD_TRAJ_FILE, EXOF_TRAJ_FILE]

        for tf in trajectory_files:

        traj = random_trajectory(int(DURATION))

            np.savetxt(tf, traj, fmt="%.2f", delimiter=",")

        np.savetxt(HEAD_TRAJ_FILE, traj, fmt="%.2f", delimiter=",")

        traj_exof = random_trajectory_quat(int(DURATION))

        np.savetxt(EXOF_TRAJ_FILE, traj_exof, fmt="%.2f", delimiter=",")



    ### always run encoder and decoder with no frameloss

    cmd_no_fec = [