.. DO NOT EDIT. .. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY. .. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE: .. "auto_examples/creating_calibrations.py" .. LINE NUMBERS ARE GIVEN BELOW. .. only:: html .. note:: :class: sphx-glr-download-link-note :ref:`Go to the end ` to download the full example code. .. rst-class:: sphx-glr-example-title .. _sphx_glr_auto_examples_creating_calibrations.py: .. _create_calibration: Performing a Ferraris Calibration with a Nilspod ================================================ This examplke is adapted based on the generic example that can be found in the `imucal` library. We assume that you recorded a Ferraris session with you IMU unit following our `tutorial `__ and performed the entire calibration in a single recording. .. GENERATED FROM PYTHON SOURCE LINES 15-19 Loading the session ------------------- First we need to load the recorded session using the nilspodlib. We will directly export the data as dataframe that can be used in imucal. .. GENERATED FROM PYTHON SOURCE LINES 19-29 .. code-block:: Python from pathlib import Path from example_data import EXAMPLE_PATH from nilspodlib import Dataset cal_dataset = Dataset.from_bin_file( EXAMPLE_PATH / "example_calibration_recording/example_calibration.bin", legacy_support="resolve" ) data = cal_dataset.imu_data_as_df() .. GENERATED FROM PYTHON SOURCE LINES 30-46 Annotating the data ------------------- Now we need to annotate the different sections of the ferraris calibration in the interactive GUI. Note, that this will only work, if your Python process runs on your machine and not some kind of sever. Otherwise, the GUI will not open. To start the annotation, run: >>> from imucal import ferraris_regions_from_interactive_plot >>> regions, section_list = ferraris_regions_from_interactive_plot(data) Check the example in `imucal` for full instructions on how to use the GUI. Instead of performing the annotation in this example, we will load the section list from a previous annotation of the data. In general it is advisable to save the annotated sections, so that you can rerun the calibration in the future. .. GENERATED FROM PYTHON SOURCE LINES 46-54 .. code-block:: Python import pandas as pd from imucal import ferraris_regions_from_section_list section_list = pd.read_json(EXAMPLE_PATH / "example_calibration_recording/example_ferraris_session_list.json").T section_list .. raw:: html
start end
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y_p 2814 3298
y_a 3740 4152
z_p 4522 4975
z_a 5376 5983
x_rot 6770 7093
y_rot 8081 8405
z_rot 9205 9512


.. GENERATED FROM PYTHON SOURCE LINES 55-56 This section list can then be used to recreate the regions .. GENERATED FROM PYTHON SOURCE LINES 56-59 .. code-block:: Python regions = ferraris_regions_from_section_list(data, section_list) regions .. rst-class:: sphx-glr-script-out .. code-block:: none FerrarisSignalRegions(acc_x_p=array([[10.31774414, -0.55564453, 0.49816406], [10.30337402, -0.57001465, 0.5269043 ], [10.28900391, -0.56522461, 0.5269043 ], ..., [10.32732422, -0.54606445, 0.51253418], [10.31774414, -0.54606445, 0.49816406], [10.30816406, -0.54606445, 0.48379395]], shape=(731, 3)), acc_x_a=array([[-9.23998535, -0.73287598, 0.23950195], [-9.23998535, -0.71850586, 0.27303223], [-9.25435547, -0.71371582, 0.23471191], ..., [-9.25914551, -0.71850586, 0.24908203], [-9.24477539, -0.70892578, 0.24908203], [-9.24477539, -0.68976563, 0.26824219]], shape=(741, 3)), acc_y_p=array([[0.37841309, 9.22561523, 0.38799316], [0.38799316, 9.20166504, 0.37841309], [0.38320313, 9.20645508, 0.38320313], ..., [0.38320313, 9.21124512, 0.36883301], [0.4167334 , 9.23519531, 0.3927832 ], [0.40715332, 9.21124512, 0.41194336]], shape=(484, 3)), acc_y_a=array([[ 0.68497559, -10.4470752 , 0.32572266], [ 0.69455566, -10.45665527, 0.34009277], [ 0.67060547, -10.44228516, 0.38320313], ..., [ 0.69455566, -10.45665527, 0.34967285], [ 0.68976563, -10.44228516, 0.36883301], [ 0.66102539, -10.43270508, 0.38799316]], shape=(412, 3)), acc_z_p=array([[ 0.50774414, -0.57959473, 10.43270508], [ 0.50774414, -0.60354492, 10.42791504], [ 0.51253418, -0.60833496, 10.4470752 ], ..., [ 0.50774414, -0.58438477, 10.42791504], [ 0.49816406, -0.5891748 , 10.423125 ], [ 0.5029541 , -0.5891748 , 10.42791504]], shape=(453, 3)), acc_z_a=array([[ 0.65623535, -0.64186523, -9.64234863], [ 0.68018555, -0.63228516, -9.65671875], [ 0.65623535, -0.613125 , -9.63276855], ..., [ 0.65623535, -0.61791504, -9.64713867], [ 0.67060547, -0.62749512, -9.65192871], [ 0.64665527, -0.64665527, -9.63755859]], shape=(607, 3)), gyr_x_p=array([[-0.61035156, -0.36621094, 0.06103516], [-0.54931641, -0.36621094, 0.12207031], [-0.61035156, -0.36621094, 0.06103516], ..., [-0.61035156, -0.36621094, 0.06103516], [-0.54931641, -0.30517578, 0.12207031], [-0.67138672, -0.42724609, 0.06103516]], shape=(731, 3)), gyr_x_a=array([[-0.54931641, -0.42724609, 0.06103516], [-0.61035156, -0.42724609, 0.06103516], [-0.67138672, -0.36621094, 0.06103516], ..., [-0.61035156, -0.36621094, 0. ], [-0.54931641, -0.42724609, 0. ], [-0.48828125, -0.36621094, 0.06103516]], shape=(741, 3)), gyr_y_p=array([[-0.54931641, -0.36621094, 0.12207031], [-0.67138672, -0.42724609, 0.06103516], [-0.67138672, -0.42724609, 0.06103516], ..., [-0.61035156, -0.30517578, 0.06103516], [-0.67138672, -0.36621094, 0.06103516], [-0.67138672, -0.42724609, 0.12207031]], shape=(484, 3)), gyr_y_a=array([[-0.67138672, -0.36621094, 0.06103516], [-0.67138672, -0.30517578, 0. ], [-0.67138672, -0.36621094, 0. ], ..., [-0.61035156, -0.42724609, 0.06103516], [-0.61035156, -0.36621094, 0.06103516], [-0.61035156, -0.36621094, 0.06103516]], shape=(412, 3)), gyr_z_p=array([[-0.61035156, -0.48828125, 0. ], [-0.54931641, -0.30517578, -0.06103516], [-0.67138672, -0.24414062, 0. ], ..., [-0.61035156, -0.36621094, 0.06103516], [-0.61035156, -0.42724609, 0. ], [-0.54931641, -0.36621094, 0. ]], shape=(453, 3)), gyr_z_a=array([[-0.67138672, -0.42724609, 0.12207031], [-0.61035156, -0.36621094, -0.06103516], [-0.61035156, -0.36621094, 0.06103516], ..., [-0.67138672, -0.42724609, 0. ], [-0.61035156, -0.48828125, 0.06103516], [-0.54931641, -0.30517578, 0.12207031]], shape=(607, 3)), acc_x_rot=array([[10.3129541 , -0.55085449, 0.52211426], [10.29858398, -0.56043457, 0.52211426], [10.27942383, -0.57480469, 0.57480469], [10.24589355, -0.55564453, 0.68018555], [10.28900391, -0.47900391, 0.70413574], [10.34169434, -0.63228516, 0.61791504], [10.34648438, -0.57480469, 0.8095166 ], [10.29858398, -0.49337402, 0.47421387], [10.29858398, -0.53169434, 0.5891748 ], [10.30816406, -0.33530273, 1.27894043], [10.29858398, -0.34488281, 1.21187988], [10.26984375, 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0.00000000e+00, -1.22070312e-01, -1.21276855e+02], [-4.27246094e-01, -3.05175781e-01, -7.03125000e+01], [-1.22070312e+00, 6.71386719e-01, -3.47900391e+01], [-1.89208984e+00, 1.15966797e+00, -5.06591797e+01], [ 3.05175781e-01, -6.10351562e-02, -1.23718262e+02], [ 9.76562500e-01, -1.22070312e-01, -1.65893555e+02], [ 6.71386719e-01, 3.05175781e-01, -1.68640137e+02], [ 7.93457031e-01, 6.10351562e-02, -1.62292480e+02], [ 3.05175781e-01, 2.44140625e-01, -1.59851074e+02], [ 1.22070312e-01, 6.10351562e-01, -1.65710449e+02], [ 3.66210938e-01, 4.88281250e-01, -1.82006836e+02], [ 5.49316406e-01, 2.44140625e-01, -2.02270508e+02], [ 7.93457031e-01, 3.05175781e-01, -2.18200684e+02], [ 1.03759766e+00, 3.05175781e-01, -2.41516113e+02], [ 1.22070312e+00, 4.27246094e-01, -2.56042480e+02], [ 1.34277344e+00, 4.88281250e-01, -2.57324219e+02], [ 1.09863281e+00, 8.54492188e-01, -2.71179199e+02], [ 1.89208984e+00, 3.05175781e-01, -3.04748535e+02], [ 2.25830078e+00, 4.27246094e-01, -3.53149414e+02], [ 2.19726562e+00, 1.09863281e+00, -3.93615723e+02], [ 2.38037109e+00, 1.15966797e+00, -4.19372559e+02], [ 2.38037109e+00, 9.76562500e-01, -4.20532227e+02], [ 2.01416016e+00, 1.34277344e+00, -3.96240234e+02], [ 1.46484375e+00, 1.28173828e+00, -3.46130371e+02], [ 1.28173828e+00, 4.27246094e-01, -2.80944824e+02], [ 1.22070312e+00, 3.05175781e-01, -2.49816895e+02], [ 1.64794922e+00, 1.22070312e-01, -2.65441895e+02], [ 1.34277344e+00, 6.10351562e-01, -3.38195801e+02], [ 2.74658203e+00, 4.88281250e-01, -4.55505371e+02], [ 3.47900391e+00, 7.32421875e-01, -5.32043457e+02], [ 3.47900391e+00, 9.15527344e-01, -5.57922363e+02], [ 2.38037109e+00, 1.77001953e+00, -5.08483887e+02], [ 2.44140625e+00, 1.09863281e+00, -4.23400879e+02], [ 2.01416016e+00, 7.93457031e-01, -3.51806641e+02], [ 1.28173828e+00, 8.54492188e-01, -3.32946777e+02], [ 1.77001953e+00, 5.49316406e-01, -3.39782715e+02], [ 1.22070312e+00, 2.44140625e-01, -2.53662109e+02], [ 8.54492188e-01, -2.44140625e-01, -1.30737305e+02], [-3.05175781e-01, -3.66210938e-01, -3.63769531e+01], [-4.88281250e-01, -1.83105469e-01, -1.59301758e+01], [-3.05175781e-01, -6.10351562e-01, -1.34277344e+00], [-6.10351562e-01, -3.66210938e-01, 1.40380859e+00], [-6.71386719e-01, -3.05175781e-01, -1.22070312e-01], [-5.49316406e-01, -3.05175781e-01, 6.10351562e-02], [-6.10351562e-01, -4.27246094e-01, 1.83105469e-01], [-6.10351562e-01, -4.27246094e-01, 6.10351562e-02], [-4.27246094e-01, -3.05175781e-01, 6.10351562e-02], [-6.10351562e-01, -3.05175781e-01, 0.00000000e+00], [-6.10351562e-01, -3.66210938e-01, 0.00000000e+00], [-6.10351562e-01, -3.66210938e-01, 0.00000000e+00], [-6.10351562e-01, -3.66210938e-01, 6.10351562e-02], [-6.10351562e-01, -3.66210938e-01, 6.10351562e-02], [-7.32421875e-01, -3.05175781e-01, 6.10351562e-02], [-7.32421875e-01, -3.66210938e-01, 0.00000000e+00], [-5.49316406e-01, -3.66210938e-01, 0.00000000e+00], [-5.49316406e-01, -3.05175781e-01, 6.10351562e-02], [-5.49316406e-01, -3.66210938e-01, 6.10351562e-02], [-6.10351562e-01, -3.66210938e-01, 6.10351562e-02], [-6.10351562e-01, -3.66210938e-01, 6.10351562e-02], [-6.10351562e-01, -3.66210938e-01, 6.10351562e-02], [-6.10351562e-01, -3.66210938e-01, 6.10351562e-02], [-6.10351562e-01, -4.27246094e-01, 6.10351562e-02], [-6.10351562e-01, -3.05175781e-01, 1.22070312e-01], [-6.10351562e-01, -3.05175781e-01, 6.10351562e-02], [-5.49316406e-01, -2.44140625e-01, 0.00000000e+00], [-6.10351562e-01, -3.66210938e-01, 6.10351562e-02], [-6.71386719e-01, -4.27246094e-01, 6.10351562e-02], [-4.27246094e-01, -4.88281250e-01, 6.10351562e-02], [ 2.74658203e+00, -3.47900391e+00, 2.44140625e-01], [ 2.68554688e+00, -3.35693359e+00, 1.22070312e-01], [ 3.66210938e-01, -1.28173828e+00, -6.10351562e-02], [ 0.00000000e+00, -9.76562500e-01, -3.05175781e-01], [-1.83105469e-01, -9.76562500e-01, -1.46484375e+00], [-9.15527344e-01, -2.44140625e-01, -2.51464844e+01], [-1.40380859e+00, 9.15527344e-01, -8.78906250e+01], [-6.10351562e-02, 3.05175781e-01, -1.48315430e+02], [-4.27246094e-01, 3.66210938e-01, -1.62475586e+02], [ 3.66210938e-01, 4.88281250e-01, -2.21374512e+02], [ 5.49316406e-01, 9.76562500e-01, -2.91809082e+02], [ 8.54492188e-01, 7.32421875e-01, -2.96386719e+02], [ 3.05175781e-01, 1.28173828e+00, -2.65930176e+02], [-1.22070312e-01, 1.28173828e+00, -2.46032715e+02], [-3.05175781e-01, 1.52587891e+00, -2.59155273e+02], [ 6.10351562e-01, 1.22070312e+00, -2.85339355e+02], [ 5.49316406e-01, 1.09863281e+00, -2.86254883e+02], [ 1.22070312e+00, 1.83105469e-01, -2.67639160e+02], [ 1.95312500e+00, -1.22070312e-01, -2.81372070e+02], [ 2.13623047e+00, 2.44140625e-01, -3.38256836e+02], [ 1.09863281e+00, 1.64794922e+00, -3.96667480e+02], [ 1.64794922e+00, 1.52587891e+00, -4.32434082e+02], [ 2.44140625e+00, 1.09863281e+00, -4.44641113e+02], [ 2.25830078e+00, 1.22070312e+00, -4.14062500e+02], [ 1.58691406e+00, 6.10351562e-01, -3.44360352e+02], [ 1.22070312e+00, 6.71386719e-01, -3.09265137e+02], [ 1.34277344e+00, 7.93457031e-01, -3.27880859e+02], [ 2.19726562e+00, 1.03759766e+00, -3.99414062e+02], [ 3.17382812e+00, 1.22070312e+00, -4.86206055e+02], [ 3.54003906e+00, 1.22070312e+00, -5.49560547e+02], [ 3.29589844e+00, 9.15527344e-01, -5.43029785e+02], [ 2.68554688e+00, 1.03759766e+00, -4.79370117e+02], [ 2.07519531e+00, 6.10351562e-01, -3.76464844e+02], [ 1.70898438e+00, -1.22070312e-01, -2.73498535e+02], [ 4.27246094e-01, 6.71386719e-01, -2.12890625e+02], [ 0.00000000e+00, 6.71386719e-01, -1.61254883e+02], [ 6.10351562e-02, 6.10351562e-02, -1.14685059e+02], [-6.71386719e-01, 0.00000000e+00, -4.76074219e+01], [-6.10351562e-01, -3.66210938e-01, 4.08935547e+00], [-5.49316406e-01, -3.66210938e-01, 2.50244141e+00], [-6.71386719e-01, -3.05175781e-01, -8.54492188e-01], [-4.88281250e-01, -3.05175781e-01, 1.22070312e-01], [-6.71386719e-01, -4.27246094e-01, 1.22070312e-01], [-6.71386719e-01, -4.27246094e-01, 6.10351562e-02], [-6.10351562e-01, -3.66210938e-01, 6.10351562e-02], [-6.71386719e-01, -4.27246094e-01, 0.00000000e+00], [-6.71386719e-01, -4.27246094e-01, 0.00000000e+00], [-6.10351562e-01, -3.66210938e-01, 6.10351562e-02], [-5.49316406e-01, -3.05175781e-01, 6.10351562e-02], [-5.49316406e-01, -3.05175781e-01, 6.10351562e-02], [-5.49316406e-01, -3.05175781e-01, 1.22070312e-01], [-5.49316406e-01, -3.05175781e-01, 6.10351562e-02], [-6.10351562e-01, -3.66210938e-01, 6.10351562e-02], [-6.10351562e-01, -3.66210938e-01, 6.10351562e-02], [-7.32421875e-01, -3.66210938e-01, 6.10351562e-02], [-6.71386719e-01, -3.66210938e-01, 0.00000000e+00], [-7.32421875e-01, -3.66210938e-01, 6.10351562e-02], [-6.10351562e-01, -3.66210938e-01, 6.10351562e-02], [-5.49316406e-01, -4.27246094e-01, 6.10351562e-02], [-6.10351562e-01, -3.66210938e-01, 0.00000000e+00], [-5.49316406e-01, -3.05175781e-01, 6.10351562e-02], [-6.10351562e-01, -4.27246094e-01, 1.22070312e-01], [-6.10351562e-01, -3.05175781e-01, 0.00000000e+00], [-5.49316406e-01, -3.66210938e-01, 6.10351562e-02], [-4.88281250e-01, -3.05175781e-01, 1.83105469e-01], [-6.10351562e-01, -2.44140625e-01, 1.22070312e-01], [-9.76562500e-01, 1.22070312e-01, 1.28173828e+00], [-7.32421875e-01, -1.22070312e-01, 2.03857422e+01], [-3.66210938e-01, -6.10351562e-01, 6.46362305e+01], [-1.77001953e+00, -6.10351562e-01, 1.14501953e+02], [-1.28173828e+00, -1.22070312e+00, 1.42272949e+02], [-1.34277344e+00, -9.76562500e-01, 1.27563477e+02], [-9.15527344e-01, -1.03759766e+00, 1.04309082e+02], [-9.76562500e-01, -6.71386719e-01, 6.65283203e+01], [-6.71386719e-01, -4.27246094e-01, 1.11694336e+01], [-3.66210938e-01, -4.27246094e-01, -2.58789062e+01], [ 9.15527344e-01, -1.95312500e+00, 2.33764648e+01], [ 1.22070312e-01, -5.49316406e-01, -5.78002930e+01], [ 7.93457031e-01, 1.83105469e-01, -2.20764160e+02], [ 7.93457031e-01, 4.27246094e-01, -2.47436523e+02], [ 3.05175781e-01, 4.88281250e-01, -1.83593750e+02], [ 3.66210938e-01, -3.66210938e-01, -1.21215820e+02], [ 3.05175781e-01, -6.10351562e-02, -1.24633789e+02], [ 6.71386719e-01, 1.83105469e-01, -1.84997559e+02], [ 1.28173828e+00, 2.44140625e-01, -2.47924805e+02], [ 1.34277344e+00, 4.27246094e-01, -2.81250000e+02], [ 1.58691406e+00, 3.05175781e-01, -3.07434082e+02], [ 2.01416016e+00, 0.00000000e+00, -3.15917969e+02], [ 1.83105469e+00, -6.10351562e-02, -3.18420410e+02], [ 1.64794922e+00, 1.22070312e-01, -3.31481934e+02], [ 1.70898438e+00, 3.05175781e-01, -3.50952148e+02], [ 1.34277344e+00, 8.54492188e-01, -3.57849121e+02], [ 2.13623047e+00, -6.10351562e-02, -3.22021484e+02], [ 1.64794922e+00, -6.10351562e-01, -2.58117676e+02], [ 9.15527344e-01, 0.00000000e+00, -2.21313477e+02], [ 9.76562500e-01, 1.83105469e-01, -2.41516113e+02], [ 1.15966797e+00, 3.66210938e-01, -2.96508789e+02], [ 1.09863281e+00, 7.93457031e-01, -3.54248047e+02], [ 1.70898438e+00, 7.32421875e-01, -4.02954102e+02], [ 1.40380859e+00, 9.76562500e-01, -4.20898438e+02], [ 9.76562500e-01, 1.09863281e+00, -3.83789062e+02], [ 1.40380859e+00, 2.44140625e-01, -3.14331055e+02], [ 1.15966797e+00, -6.10351562e-02, -2.45422363e+02], [ 7.32421875e-01, -1.22070312e-01, -1.81579590e+02], [ 4.27246094e-01, -2.44140625e-01, -1.41113281e+02], [ 1.83105469e-01, -6.10351562e-02, -1.30554199e+02], [ 0.00000000e+00, 2.44140625e-01, -1.44165039e+02], [ 4.27246094e-01, 2.44140625e-01, -1.87316895e+02], [ 9.76562500e-01, 3.66210938e-01, -2.23144531e+02], [ 1.83105469e+00, -2.44140625e-01, -2.29309082e+02], [ 8.54492188e-01, -6.10351562e-02, -2.21984863e+02], [ 4.27246094e-01, -6.10351562e-02, -1.89392090e+02], [ 4.88281250e-01, -2.44140625e-01, -1.30004883e+02], [-1.83105469e-01, 0.00000000e+00, -7.79418945e+01], [-5.49316406e-01, 3.05175781e-01, -5.72509766e+01], [-1.22070312e-01, -5.49316406e-01, -6.95190430e+01], [ 0.00000000e+00, 0.00000000e+00, -1.02722168e+02], [ 3.05175781e-01, 1.22070312e-01, -1.41540527e+02], [ 6.10351562e-01, -6.71386719e-01, -1.38244629e+02], [-4.88281250e-01, 3.05175781e-01, -9.88769531e+01], [-1.22070312e-01, -6.10351562e-02, -5.27954102e+01], [-2.44140625e-01, -3.66210938e-01, -3.43017578e+01], [-1.83105469e-01, -3.05175781e-01, -3.88183594e+01], [-1.83105469e-01, -1.22070312e-01, -6.89086914e+01], [ 2.44140625e-01, -2.44140625e-01, -9.13085938e+01], [ 0.00000000e+00, -1.22070312e-01, -8.86230469e+01], [-2.44140625e-01, -1.22070312e-01, -7.24487305e+01], [-5.49316406e-01, -1.22070312e-01, -5.38330078e+01], [-4.27246094e-01, -4.27246094e-01, -3.07006836e+01], [-3.05175781e-01, -3.66210938e-01, -2.40478516e+01], [-3.05175781e-01, -1.83105469e-01, -3.69262695e+01], [-6.71386719e-01, 1.83105469e-01, -4.57153320e+01], [-6.71386719e-01, 6.10351562e-02, -4.93774414e+01], [-2.44140625e-01, -3.05175781e-01, -4.98657227e+01], [-3.05175781e-01, -3.66210938e-01, -4.01000977e+01], [-2.44140625e-01, -1.22070312e-01, -4.85229492e+01], [-4.88281250e-01, -1.83105469e-01, -5.98754883e+01], [-6.10351562e-01, -2.44140625e-01, -4.44946289e+01], [ 6.10351562e-02, -4.27246094e-01, -4.15649414e+01], [-4.27246094e-01, -2.44140625e-01, -4.62036133e+01], [-2.44140625e-01, -3.05175781e-01, -4.39453125e+01], [ 0.00000000e+00, -6.10351562e-01, -3.90014648e+01], [-4.27246094e-01, -4.27246094e-01, -3.24096680e+01], [ 6.10351562e-02, -5.49316406e-01, -2.82592773e+01], [-1.83105469e-01, -4.88281250e-01, -2.78320312e+01], [-7.32421875e-01, 6.10351562e-02, -2.47802734e+01], [-9.15527344e-01, 1.22070312e-01, -2.70385742e+01], [ 0.00000000e+00, -4.88281250e-01, -3.93066406e+01], [-3.05175781e-01, -3.05175781e-01, -4.27856445e+01], [-5.49316406e-01, -4.27246094e-01, -7.93457031e-01], [-7.32421875e-01, -3.05175781e-01, 3.17382812e+00], [-6.10351562e-01, -3.66210938e-01, -9.15527344e-01], [-6.10351562e-01, -3.66210938e-01, -1.83105469e-01]])) .. GENERATED FROM PYTHON SOURCE LINES 60-66 Now we can calculate the actual calibration parameters. For this we will create a instance of `FerrarisCalibration` with the desired settings and then call `compute` with the regions we have extracted. Note that we need to specify the units of the input data. We can do that using the information provided in our loaded dataset. .. GENERATED FROM PYTHON SOURCE LINES 66-82 .. code-block:: Python from imucal import FerrarisCalibration cal = FerrarisCalibration() cal_info = cal.compute( regions, sampling_rate_hz=cal_dataset.info.sampling_rate_hz, from_acc_unit=cal_dataset.acc.unit, from_gyr_unit=cal_dataset.gyro.unit, comment="This is a calibration of a Nilspod.", ) print(cal_info.to_json()) import tempfile .. rst-class:: sphx-glr-script-out .. code-block:: none { "acc_unit": "m/s^2", "gyr_unit": "deg/s", "from_acc_unit": "m/s^2", "from_gyr_unit": "deg/s", "comment": "This is a calibration of a Nilspod.", "K_a": [ [ 0.9967458650887003, 0.0, 0.0 ], [ 0.0, 1.0024376185894108, 0.0 ], [ 0.0, 0.0, 1.0233953475452096 ] ], "R_a": [ [ 0.9998620291746435, -0.014830571004926794, -0.007481763056406514 ], [ 0.008576740442555632, 0.9999615197419687, 0.0018435180263559792 ], [ 0.01333118773067902, 0.002003617949970859, 0.9999091283455711 ] ], "b_a": [ 0.5371174244458201, -0.6162029930860973, 0.39886734239026733 ], "K_g": [ [ 1.0279243264288036, 0.0, 0.0 ], [ 0.0, 0.9824277738468916, 0.0 ], [ 0.0, 0.0, 0.9983104874451514 ] ], "R_g": [ [ 0.999979342528037, -0.00045421361799804057, -0.006411568231274507 ], [ -0.00022220540636464124, 0.9999961009525417, -0.002783649487862618 ], [ 0.009714004498496572, 0.0076410932929403316, 0.9999236229882218 ] ], "K_ga": [ [ 0.00038961109153281214, -0.00045815544407725904, -2.9844819440802578e-05 ], [ 0.0004320123104123373, 0.0004871099695542217, 0.0006178601683550832 ], [ 9.966554956457076e-05, -9.110691206112818e-05, 0.0002356473632041452 ] ], "b_g": [ -0.5996686296674446, -0.36984313466306884, 0.0587739354671091 ], "cal_type": "Ferraris", "_format_version": "2.0.0" } .. GENERATED FROM PYTHON SOURCE LINES 83-90 The final `cal_info` now contains all information to calibrate future data recordings from the same sensor. For now we will save it to disk and then see how to load it again. We can use the `calibration_utils` to save the file in a folder structure of our liking (by default just a simple folder with special filenames). Note, that we will use a temporary folder here. In reality you would chose some folder where you can keep the calibration files save until eternity. .. GENERATED FROM PYTHON SOURCE LINES 90-99 .. code-block:: Python from nilspodlib.calibration_utils import save_calibration d = tempfile.TemporaryDirectory() file_path = save_calibration( cal_info, sensor_id=cal_dataset.info.sensor_id, cal_time=cal_dataset.info.utc_datetime_start, folder=Path(d.name) ) file_path .. rst-class:: sphx-glr-script-out .. code-block:: none PosixPath('/tmp/tmpp6ft46q2/03f5_2019-09-23_13-03.json') .. GENERATED FROM PYTHON SOURCE LINES 100-102 At a later date, we can use the helper functions :func:`~nilspodlib.calibration_utils.find_calibrations_for_sensor` and :func:`~nilspodlib.calibration_utils.find_closest_calibration_to_date` to find the calibration again. .. GENERATED FROM PYTHON SOURCE LINES 102-107 .. code-block:: Python from imucal.management import find_calibration_info_for_sensor cals = find_calibration_info_for_sensor(cal_dataset.info.sensor_id, Path(d.name)) cals .. rst-class:: sphx-glr-script-out .. code-block:: none [PosixPath('/tmp/tmpp6ft46q2/03f5_2019-09-23_13-03.json')] .. GENERATED FROM PYTHON SOURCE LINES 108-110 Alternatively, we can use the object oriented interface on the loaded dataset, we want to apply the calibration to. in this case we will just use the calibration session we have already loaded. .. GENERATED FROM PYTHON SOURCE LINES 110-114 .. code-block:: Python cals = cal_dataset.find_calibrations(Path(d.name)) cals .. rst-class:: sphx-glr-script-out .. code-block:: none [PosixPath('/tmp/tmpp6ft46q2/03f5_2019-09-23_13-03.json')] .. GENERATED FROM PYTHON SOURCE LINES 115-117 After finding the calibration file, we will apply it to a "new" recording (again, we will just use the calibration session as example here). .. GENERATED FROM PYTHON SOURCE LINES 117-120 .. code-block:: Python calibrated_dataset = cal_dataset.calibrate_imu(cals[0]) .. GENERATED FROM PYTHON SOURCE LINES 121-123 We can see the effect of the calibration, when we plot the acc norm in the beginning of the recording. The calibrated values are now much closer to 9.81 m/s^2 compared to before the calibration. .. GENERATED FROM PYTHON SOURCE LINES 123-135 .. code-block:: Python import matplotlib.pyplot as plt from numpy.linalg import norm calibrated_data = calibrated_dataset.imu_data_as_df() plt.figure() plt.plot(norm(data.filter(like="acc"), axis=1)[500:1000], label="before cal") plt.plot(norm(calibrated_data.filter(like="acc")[500:1000], axis=1), label="after cal") plt.legend() plt.ylabel("acc norm [m/s^2]") plt.show() .. image-sg:: /auto_examples/images/sphx_glr_creating_calibrations_001.png :alt: creating calibrations :srcset: /auto_examples/images/sphx_glr_creating_calibrations_001.png :class: sphx-glr-single-img .. GENERATED FROM PYTHON SOURCE LINES 136-137 Finally, remove temp directory. .. GENERATED FROM PYTHON SOURCE LINES 137-138 .. code-block:: Python d.cleanup() .. rst-class:: sphx-glr-timing **Total running time of the script:** (0 minutes 1.102 seconds) **Estimated memory usage:** 117 MB .. _sphx_glr_download_auto_examples_creating_calibrations.py: .. only:: html .. container:: sphx-glr-footer sphx-glr-footer-example .. container:: sphx-glr-download sphx-glr-download-jupyter :download:`Download Jupyter notebook: creating_calibrations.ipynb ` .. container:: sphx-glr-download sphx-glr-download-python :download:`Download Python source code: creating_calibrations.py ` .. container:: sphx-glr-download sphx-glr-download-zip :download:`Download zipped: creating_calibrations.zip ` .. only:: html .. rst-class:: sphx-glr-signature `Gallery generated by Sphinx-Gallery `_