FramePreProc Module Requirements
- Shrinjay Mukherjee
Owned by Shrinjay Mukherjee, created
Objective
Remove frames that are unlikely to give meaningful results. Currently, we remove frames that are unstable and the result of fast changes in aircraft attitude.
Assumptions
Aircraft IMU data (euler angles for yaw, roll and pitch) are provided
See Exchanged data under EulerAnglesOfCamera
Features
Feature | Requirement | |
|---|---|---|
| 1 | Worker Function | Takes in a frame and IMU data, applies filtering functions, only put frame into output pipeline if filter returns True. |
| 2 | Â Filtering: Angles | Maintain euler angles for last frame as state. Check if difference between euler angles for current frame and euler angles for last frame are above a certain threshold. Arbitrarily select threshold for now. |
References
A Framework for Multiple Ground Target Finding and Inspection Using a Multirotor UAS