bszek213/odopy

T265 transformation from a sensor coordiante frame to a head-centered, gravity coordinate frame

VEDB Odometry README

Overview

This repository, is for transforming the t265 data within the Visual Experience Database with the headCalibrate.py script. This script is designed to perform the calibration of VEDB T265 odometry data from sensor coordinates to head coordinates. It uses the Pupil Recording Interface (pupil_recording_interface) and Rigid Body Motion (rigid_body_motion) custom libraries, along with other Python modules, to process and calibrate the T265 data.

Dependencies

Ensure you have the following dependencies installed:

• numpy
• pandas
• xarray
• matplotlib
• pupil_recording_interface
• rigid_body_motion
• os
• yaml
• scipy
• datetime
• plotly

You can install them using:

pip install numpy pandas xarray matplotlib pupil_recording_interface rigid_body_motion scipy plotly

This can be done in a conda environment note: use pip 21.3.1, not version 22

Usage

1. Clone the repository:

   git clone https://github.com/bszek213/odopy.git

2. Import the headCalibrate class into your Python script:

   from odopy import headCalibrate

3. Create an instance of the headCalibrate class:

   odo = headCalibrate.headCalibrate()

4. Set the path to the folder containing T265 data:

   curr_dir = getcwd()
   folder = path.join(curr_dir, 'your_data_folder')
   odo.set_odometry_local(folder)

5. Plot and select start and end timestamps for calibration:

   """
   This is only necessary if there is no yaml of start and end segments of head shakes and nods.
   the code expects the yaml file (odo_times.yaml) to be formated as follows:
   - calibration:
        pitch_end: 2022-05-31 17:12:49
        pitch_start: 2022-05-31 17:12:35
        yaw_end: 2022-05-31 17:12:49
        yaw_start: 2022-05-31 17:12:50
   """
   odo.start_end_plot()

6. Perform T265 to head transformation:

   odo.t265_to_head_trans()

7. Calculate head orientation:

   odo.calc_head_orientation()
   head_roll, head_pitch, head_yaw = odo.get_head_orientation()

8. Visualize calibrated data:

   odo.plot()

Additional Functionality

The script also provides additional functionality, such as calculating gait variability and instantaneous force. You can explore and use these features based on your specific needs.

Example

An example usage script is provided in the test_odo.py file. You can modify this script to suit your dataset and requirements.

Contributors

• brianszekely
• christiansinnott

Feel free to contribute or report issues by creating pull requests or raising issues.