Minor bug fixes and fix insta360 acc orientation

Author: ElvinC

gyroflow.py

@@ -1856,7 +1856,7 @@ def open_video_func(self):
         path = dialog.selectedFiles()
         if (len(path) == 0 or len(path[0]) == 0):
             print("No file selected")
-            return
+            return False
         self.infile_path = path[0]
         self.open_vid_button.setText("Video file: {}".format(self.infile_path.split("/")[-1]))
         self.open_vid_button.setStyleSheet("font-weight:bold;")
@@ -1900,8 +1900,8 @@ def open_video_func(self):
         #        print("Automatically detected gyro log file: {}".format(self.gyro_log_path.split("/")[-1]))
         #        break
 
-
         self.update_gyro_input_settings()
+        return True
 
     def video_as_log_func(self):
         self.gyro_log_path = self.infile_path
@@ -2504,9 +2504,9 @@ def open_video_with_player_func(self):
         """Open file using Qt filedialog
         """
         self.video_viewer.reset_map_function()
-        self.open_video_func()
-        self.video_viewer.set_video_path(self.infile_path)
-        self.video_viewer.next_frame()
+        if self.open_video_func():
+            self.video_viewer.set_video_path(self.infile_path)
+            self.video_viewer.next_frame()
 
     def set_player_video(self):
         self.video_viewer.set_video_path(self.infile_path)
@@ -2606,7 +2606,7 @@ def main():
 if __name__ == "__main__":
     main()
     # Pack to exe using:
-    # pyinstaller gyroflow.py --add-binary <path-to-python>\Python38\Lib\site-packages\cv2\opencv_videoio_ffmpeg430_64.dll
+    # pyinstaller gyroflow.py --add-binary <path-to-python>\Python38\Lib\site-packages\cv2\opencv_videoio_ffmpeg430_64.dll -F
     # in my case:
     # pyside2-rcc images.qrc -o bundled_images.py
     # poetry run pyinstaller -F --icon=media\icon.ico gyroflow.py --add-binary C:\Users\elvin\AppData\Local\Programs\Python\Python38\Lib\site-packages\cv2\opencv_videoio_ffmpeg440_64.dll;.

gyrolog.py

@@ -373,17 +373,17 @@ def apply_inverse_rotation(self, rotmat):
     def plot_gyro(self):
         xplot = plt.subplot(311)
 
-        plt.plot(self.gyro[:,0], self.gyro[:,1])
+        plt.plot(self.standard_gyro[:,0], self.standard_gyro[:,1])
         plt.ylabel("omega x [rad/s]")
 
         plt.subplot(312, sharex=xplot)
 
-        plt.plot(self.gyro[:,0], self.gyro[:,2])
+        plt.plot(self.standard_gyro[:,0], self.standard_gyro[:,2])
         plt.ylabel("omega y [rad/s]")
 
         plt.subplot(313, sharex=xplot)
 
-        plt.plot(self.gyro[:,0], self.gyro[:,3])
+        plt.plot(self.standard_gyro[:,0], self.standard_gyro[:,3])
         #plt.plot(self.integrator.get_raw_data("t") + d2, self.integrator.get_raw_data("z"))
         plt.xlabel("time [s]")
         plt.ylabel("omega z [rad/s]")
@@ -394,26 +394,26 @@ def plot_acc(self):
         if type(self.acc) != type(None):
             xplot = plt.subplot(411)
 
-            plt.plot(self.acc[:,0], self.acc[:,1])
+            plt.plot(self.standard_acc[:,0], self.standard_acc[:,1])
             plt.ylabel("acc x [g]")
 
             plt.subplot(412, sharex=xplot)
 
-            plt.plot(self.acc[:,0], self.acc[:,2])
+            plt.plot(self.standard_acc[:,0], self.standard_acc[:,2])
             plt.ylabel("acc y [g]")
 
             plt.subplot(413, sharex=xplot)
 
-            plt.plot(self.acc[:,0], self.acc[:,3])
+            plt.plot(self.standard_acc[:,0], self.standard_acc[:,3])
             #plt.plot(self.integrator.get_raw_data("t") + d2, self.integrator.get_raw_data("z"))
             plt.xlabel("time [s]")
             plt.ylabel("acc z [g]")
 
             plt.subplot(414, sharex=xplot)
 
-            plt.plot(self.acc[:,0], np.sqrt(np.sum(self.acc[:,1:]**2,1)))
-            plt.plot([0, self.acc[-1,0]], [1.1,1.1])
-            plt.plot([0, self.acc[-1,0]], [0.9,0.9])
+            plt.plot(self.standard_acc[:,0], np.sqrt(np.sum(self.standard_acc[:,1:]**2,1)))
+            plt.plot([0, self.standard_acc[-1,0]], [1.1,1.1])
+            plt.plot([0, self.standard_acc[-1,0]], [0.9,0.9])
             #plt.plot(self.integrator.get_raw_data("t") + d2, self.integrator.get_raw_data("z"))
             plt.xlabel("time [s]")
             plt.ylabel("mag [g]")
@@ -756,8 +756,8 @@ def __init__(self):
         self.filename_pattern = "(?i).*\.mp4"
 
         self.variants = {
-            "smo4k": [0],
-            "insta360 oner": [0]
+            "smo4k": [22],
+            "insta360 oner": [22]
         }
 
         self.variant = "smo4k"
@@ -783,19 +783,19 @@ def guess_log_from_videofile(self, videofile):
     def extract_log_internal(self, filename):
 
         if self.variant=="smo4k":
-            gyro_data_input, self.acc = insta360_util.get_insta360_gyro_data(filename, filterArray=[])
+            self.gyro, self.acc = insta360_util.get_insta360_gyro_data(filename, filterArray=[])
         elif self.variant=="insta360 oner":
-            gyro_data_input, self.acc = insta360_util.get_insta360_gyro_data(filename, filterArray=[], revertIMU=False)
+            self.gyro, self.acc = insta360_util.get_insta360_gyro_data(filename, filterArray=[], revertIMU=False)
         else:
             # Assume SMO4K - For no real reason....
-            gyro_data_input, self.acc = insta360_util.get_insta360_gyro_data(filename, filterArray=[])
+            self.gyro, self.acc = insta360_util.get_insta360_gyro_data(filename, filterArray=[])
 
         # Coverting gyro to XYZ to -Z,-X,Y
-        self.gyro = np.empty([len(gyro_data_input), 4])
-        self.gyro[:,0] = gyro_data_input[:,0][:]
-        self.gyro[:,1] = gyro_data_input[:,2][:] * -1
-        self.gyro[:,2] = gyro_data_input[:,3][:]
-        self.gyro[:,3] = gyro_data_input[:,1][:] * -1
+        #self.gyro = np.empty([len(gyro_data_input), 4])
+        #self.gyro[:,0] = gyro_data_input[:,0][:]
+        #self.gyro[:,1] = gyro_data_input[:,2][:] * -1
+        #self.gyro[:,2] = gyro_data_input[:,3][:]
+        #self.gyro[:,3] = gyro_data_input[:,1][:] * -1
 
         return True
 
@@ -999,20 +999,30 @@ def extract_log_internal(self, filename):
 
             #print(tscale, gscale, ascale)
 
+
+            header = line.split(",")
+            header_length = len(header)
+
+            has_gyro = "gx" in header
+            has_acc = "ax" in header
+            has_mag = "mx" in header
+
+
             # Get data
             lines = csvfile.readlines()
 
             data_list = []
 
             for line in lines:
                 splitdata = [float(x) for x in line.split(",")]
-                t = splitdata[0] * tscale
+                if len(splitdata) == header_length: # make sure no missing fields
+                    t = splitdata[0] * tscale
 
-                gx = splitdata[1] * gscale
-                gy = splitdata[2] * gscale
-                gz = splitdata[3] * gscale
+                    gx = splitdata[1] * gscale
+                    gy = splitdata[2] * gscale
+                    gz = splitdata[3] * gscale
 
-                data_list.append([t, gx, gy, gz])
+                    data_list.append([t, gx, gy, gz])
 
         self.gyro = np.array(data_list)
 
@@ -1155,6 +1165,7 @@ def guess_log_type_from_log(logfile, check_data = False):
         #"test_clips/DJIG0043wiebe.mp4",
         #"test_clips/GX016015.MP4",
         #"test_clips/nivim_insta360.mp4",
+        "test_clips/smo4k_calibration.mp4",
         "test_clips/Tiago_Ferreira_5_inch.mp4",
         "test_clips/MasterTim17_caddx.mp4",
         "test_clips/starling2.MOV",

insta360_utility.py

@@ -15,6 +15,7 @@ def get_insta360_gyro_data(path, filterArray=[[1, 0.35], [1,0.04]], revertIMU=Tr
     if revertIMU is not True:
         gyro_data[:,1] = gyro_data[:,1]*-1
         gyro_data[:,3] = gyro_data[:,3]*-1
+        acc_data[:,1] = acc_data[:,1]*-1
         acc_data[:,3] = acc_data[:,3]*-1
 
     fin.close()
@@ -99,7 +100,7 @@ def __parseAccRecord(fin, size):
         tm = float(timecode/1000)
         d_times.append(tm)
         d_gyros.append((tm, -gyroRoll, gyroPitch, -gyroYaw))
-        d_acc.append((tm, accRoll, accPitch, -accYaw))
+        d_acc.append((tm, -accRoll, accPitch, -accYaw))
     return np.array(d_times), np.array(d_gyros), np.array(d_acc)
 
 def __arrayLowPassFilter(array, orderOfFilter, criticalFrequency):