transform_to_global_frame#

mobgap.utils.conversions.transform_to_global_frame( data: DataFrame, orientations: Rotation, ) → DataFrame[source]#

Transform the data to the global frame using the given rotations.

Depending on if the data is in the sensor frame or the body frame, the output will be transformed to the normal global frame (gx, gy, gz) or the body frame aligned global frame (gis, gml, gpa).

Note

The rotations need to be defined based on the normal global frame in mobgap and not based on the local sensor/body frame. So the rotaitons should define the transformation from the sensor/body frame to the normal global frame.

Parameters:

data: The data to transform.
orientations: The global frame orientations estimated by the orientation estimation algorithm.

Returns:

transformed_data: The transformed data.