imucal.FerrarisCalibrationInfo#

Calibration object that represents all the required information to apply a Ferraris calibration to a dataset.

Parameters:

K_a: Scaling matrix for the acceleration
R_a: Rotation matrix for the acceleration
b_a: Acceleration bias
K_g: Scaling matrix for the gyroscope
R_g: Rotation matrix for the gyroscope
K_ga: Influence of acceleration on gyroscope
b_g: Gyroscope bias

Attributes:

K_a
K_g
K_ga
R_a
R_g
b_a
b_g
comment
from_acc_unit
from_gyr_unit

Methods

`calibrate`(acc, gyr, acc_unit, gyr_unit)	Calibrate the accelerometer and the gyroscope.
`calibrate_df`(df, acc_unit, gyr_unit[, ...])	Apply the calibration to data stored in a dataframe.
`find_subclass_from_cal_type`(cal_type)	Get a SensorCalibration subclass that handles the specified calibration type.
`from_hdf5`(path)	Read calibration data stored in hdf5 fileformat (created by `CalibrationInfo.save_to_hdf5`).
`from_json`(json_str)	Create a calibration object from a json string (created by `CalibrationInfo.to_json`).
`from_json_file`(path)	Create a calibration object from a valid json file (created by `CalibrationInfo.to_json_file`).
`to_hdf5`(path)	Save calibration matrices to hdf5 file format.
`to_json`()	Convert all calibration matrices into a json string.
`to_json_file`(path)	Dump acc calibration matrices into a file in json format.

__init__(acc_unit: str = 'm/s^2', gyr_unit: str = 'deg/s', from_acc_unit: str | None = None, from_gyr_unit: str | None = None, comment: str | None = None, K_a: ndarray | None = None, R_a: ndarray | None = None, b_a: ndarray | None = None, K_g: ndarray | None = None, R_g: ndarray | None = None, K_ga: ndarray | None = None, b_g: ndarray | None = None) → None#

calibrate(acc: ndarray, gyr: ndarray, acc_unit: str | None, gyr_unit: str | None) → Tuple[ndarray, ndarray][source]#

Calibrate the accelerometer and the gyroscope.

This corrects:: acc: scaling, rotation, non-orthogonalities, and bias gyro: scaling, rotation, non-orthogonalities, bias, and acc influence on gyro

Parameters:

acc: 3D acceleration
gyr: 3D gyroscope values
acc_unit: The unit of the acceleration data
gyr_unit: The unit of the gyroscope data

Returns:

Corrected acceleration and gyroscope values

calibrate_df(df: DataFrame, acc_unit: str | None, gyr_unit: str | None, acc_cols: Iterable[str] = ('acc_x', 'acc_y', 'acc_z'), gyr_cols: Iterable[str] = ('gyr_x', 'gyr_y', 'gyr_z')) → DataFrame[source]#

Apply the calibration to data stored in a dataframe.

This calls calibrate for the respective columns and returns a copy of the df with the respective columns replaced by their calibrated counter-part.

See the calibrate method for more information.

Parameters:

df: 6 column dataframe (3 acc, 3 gyro)
acc_cols: The name of the 3 acceleration columns in order x,y,z.
gyr_cols: The name of the 3 acceleration columns in order x,y,z.
acc_unit: The unit of the acceleration data
gyr_unit: The unit of the gyroscope data

Returns:

cal_df: A copy of df with the calibrated data.

classmethod find_subclass_from_cal_type(cal_type)[source]#: Get a SensorCalibration subclass that handles the specified calibration type.

classmethod from_hdf5(path: str | Path)[source]#

Read calibration data stored in hdf5 fileformat (created by CalibrationInfo.save_to_hdf5).

Parameters:

path: Path to the hdf5 file

Returns:

cal_info: A CalibrationInfo object. The exact child class is determined by the cal_type key in the json string.

classmethod from_json(json_str: str) → CalInfo[source]#

Create a calibration object from a json string (created by CalibrationInfo.to_json).

Parameters:

json_str: valid json string object

Returns:

cal_info: A CalibrationInfo object. The exact child class is determined by the cal_type key in the json string.

classmethod from_json_file(path: str | Path) → CalInfo[source]#

Create a calibration object from a valid json file (created by CalibrationInfo.to_json_file).

Parameters:

path: Path to the json file

Returns:

cal_info: A CalibrationInfo object. The exact child class is determined by the cal_type key in the json string.

to_hdf5(path: str | Path)[source]#

Save calibration matrices to hdf5 file format.

Parameters:

path: Path to the hdf5 file

to_json() → str[source]#: Convert all calibration matrices into a json string.

to_json_file(path: str | Path)[source]#

Dump acc calibration matrices into a file in json format.

Parameters:

path: path to the json file

Examples using `imucal.FerrarisCalibrationInfo`#

Custom Calibration Info Subclass

Annotate a session and perform a Ferraris Calibration

imucal.FerrarisCalibrationInfo#

Examples using imucal.FerrarisCalibrationInfo#

Examples using `imucal.FerrarisCalibrationInfo`#