Spaces:
Runtime error
Runtime error
File size: 1,201 Bytes
9f3fa29 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 |
import cv2
#import pickle
import time
import numpy as np
import copy
from matplotlib import pyplot as plt
from tqdm import tqdm
class LowPassFilter:
def __init__(self):
self.prev_raw_value = None
self.prev_filtered_value = None
def process(self, value, alpha):
if self.prev_raw_value is None:
s = value
else:
s = alpha * value + (1.0 - alpha) * self.prev_filtered_value
self.prev_raw_value = value
self.prev_filtered_value = s
return s
class OneEuroFilter:
def __init__(self, mincutoff=1.0, beta=0.0, dcutoff=1.0, freq=30):
self.freq = freq
self.mincutoff = mincutoff
self.beta = beta
self.dcutoff = dcutoff
self.x_filter = LowPassFilter()
self.dx_filter = LowPassFilter()
def compute_alpha(self, cutoff):
te = 1.0 / self.freq
tau = 1.0 / (2 * np.pi * cutoff)
return 1.0 / (1.0 + tau / te)
def process(self, x):
prev_x = self.x_filter.prev_raw_value
dx = 0.0 if prev_x is None else (x - prev_x) * self.freq
edx = self.dx_filter.process(dx, self.compute_alpha(self.dcutoff))
cutoff = self.mincutoff + self.beta * np.abs(edx)
return self.x_filter.process(x, self.compute_alpha(cutoff))
|