Lines Matching refs:gyro
49 MIN_GYRO_SMP_RATE = 100.0 # Minimum gyro sample rate
86 argument, the test will collect a new set of camera+gyro data from the
94 # Collect or load the camera+gyro data. All gyro events as well as camera
103 # This will catch bugs where camera and gyro timestamps go completely out
108 gyro_times = [e["time"] for e in events["gyro"]]
113 "are not enclosed by gyro timestamps [%f, %f]" % (
121 print "Gyro samples per second", gyro_smp_per_sec
132 # Find the best offset (time-shift) to align the gyro and camera motion
133 # traces; this function integrates the shifted gyro data between camera
136 offset = get_best_alignment_offset(cam_times, cam_rots, events["gyro"])
138 # Plot the camera and gyro traces after applying the best shift.
140 gyro_rots = get_gyro_rotations(events["gyro"], cam_times)
150 """Find the best offset to align the camera and gyro traces.
158 gyro_events: List of gyro event objects.
207 """Save a plot of the camera vs. gyro rotational measurements.
211 gyro_rots: Array of N-1 gyro rotation measurements (rad).
219 pylab.plot(range(len(gyro_rots)), gyro_rots, 'b', label="gyro")
227 """Get the rotation values of the gyro.
229 Integrates the gyro data between each camera frame to compute an angular
233 gyro_events: List of gyro event objects.
237 Array of N-1 gyro rotation measurements (rad).
242 # Integrate the gyro data between each pair of camera frame times.
244 # Get the window of gyro samples within the current pair of frames.
347 events: Dictionary containing all gyro events and cam timestamps.
367 events: Dictionary containing all gyro events and cam timestamps.
379 # Sleep a while for gyro events to stabilize.
397 # Get the gyro events.
399 gyro = cam.get_sensor_events()["gyro"]
400 print "Number of gyro samples", len(gyro)
408 events = {"gyro": gyro, "cam": zip(starts,exptimes,readouts),
