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Autocalibration method for accelerometers, implemented in Python.

Project description

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An Python/NumPy implementation of the accelerometer calibration method described in [1]. This is a Python reimplementation of the Matlab routine found at [2].

Installation

$ pip install git+git://github.com/hbldh/calibraxis.git

Usage

import numpy as np
from calibraxis import Calibraxis

c = Calibraxis()
points = np.array([[-4772.38754098, 154.04459016, -204.39081967],
                   [3525.0346179, -68.64924886, -34.54604833],
                   [-658.17681729, -4137.60248854, -140.49377865],
                   [-564.18562092, 4200.29150327, -130.51895425],
                   [-543.18289474, 18.14736842, -4184.43026316],
                   [-696.62532808, 15.70209974, 3910.20734908],
                   [406.65271419, 18.46827992, -4064.61085677],
                   [559.45926413, -3989.69513798, -174.71879106],
                   [597.22629169, -3655.54153041, -1662.83257031],
                   [1519.02616089, -603.82472204, 3290.58469588]])
# Add points to calibration object's storage.
c.add_points(points)
# Run the calibration parameter optimization.
c.calibrate_accelerometer()

# Applying the calibration parameters to the calibration data.
c.apply(points[0 :])
>>> (-0.9998374717802275, 0.018413117166568103, -0.015581921828828033)
c.batch_apply(points)
>>> [(-0.9998374717802275, 0.018413117166568103, -0.015581921828828033),
     (0.9992961622260429, -0.013214366898928225, 0.02485664909901566),
     (-0.019529368790511807, -0.9999036558762957, -0.0016168646941819831),
     (0.02495705262007455, 0.9997148237911497, 0.002962712686085044),
     (0.01976766176204912, -0.004116860997835083, -0.9989226575863294),
     (-0.01861952448274546, -0.0030340053509653056, 0.9994716286085392),
     (0.2486658848595297, -0.0015217968569550546, -0.9695063568748282),
     (0.2743240898265507, -0.9612564659612206, -0.01023892300189375),
     (0.2845586995260631, -0.8814105592109305, -0.37753891563574526),
     (0.5138552246439876, -0.14594841230046982, 0.8459602354269684)]

Testing

Run tests with:

$ python setup.py test

or with Pytest:

$ py.test tests.py

Documentation

TBW.

Project details


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