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ElvinC / gyroflow

[INACTIVE LEGACY VERSION, FIND THE PROJECT HERE: https://github.com/gyroflow/gyroflow] Video stabilization using IMU motion data from internal or external logs
http://gyroflow.xyz
GNU General Public License v3.0
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Use phone's gyroscope for video stabilization #89

Open mppcasc opened 3 years ago

mppcasc commented 3 years ago

Thank you for sharing. I now strap my camera to the back of my phone and use the information from the phone's gyroscope to stabilize the images taken by the camera.I got a bad result on your project. I noticed in your project that the GyroIntegrator class has the following line of code "self.data[:, 2] *= -1". Why is this? Also,When you call the get_maps function to output the video, there is a code "R = Rotation([-quat[1], -quat[2], quat[3], -quat[0]]).as_matrix()". Does this relate to the previous step?

Hope to get your reply, thank you.

ElvinC commented 3 years ago

That is no longer part of the codebase, since it was modified to make better mathematical sense

mppcasc commented 3 years ago

Thank you. I saw the modifications in Gyroflow 0.3.0-beta. I also have one question: Gyroscope data [x, y, z], the image rotation given by optical flow method is [-x, y, z], is this because the camera coordinate system is different from the image coordinate system? For example: The camera coordinate system is right-handed and the image coordinate system is left-handed? Can I understand it this way?

mppcasc commented 3 years ago

Also, is the gyroscope sampling rate of 50Hz not enough? If not, what is the minimum sampling rate for 30fps video?

ElvinC commented 3 years ago

is this because the camera coordinate system is different from the image coordinate system

That's exactly it

is the gyroscope sampling rate of 50Hz not enough

From what I've seen, the camera movements are usually around 0 to 40 Hz. Using nyquist with some margin gives 100 Hz as the minimum reasonable logging rate, if no aliasing is present.