Calibraxis
==========
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An Python/NumPy implementation of the accelerometer calibration method
described in [#FRO2009]_. This is a Python reimplementation of the
Matlab routine found at [#MLCENTRAL]_.
Installation
------------
.. code:: bash
$ pip install git+git://github.com/hbldh/calibraxis.git
Usage
-----
.. code-block:: python
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:
.. code:: bash
$ python setup.py test
or with `Pytest <http://pytest.org/latest/>`_:
.. code:: bash
$ py.test tests.py
Documentation
-------------
TBW.
References
----------
.. [#FRO2009] `Frosio, I.; Pedersini, F.; Alberto Borghese, N.,
"Autocalibration of MEMS Accelerometers," Instrumentation and Measurement,
IEEE Transactions on, vol.58, no.6, pp.2034,2041, June 2009
<http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4655611&isnumber=4919430>`_
.. [#MLCENTRAL] `Matlab File Central <http://se.mathworks.com/matlabcentral/
fileexchange/33252-mems-accelerometer-calibration-using-gauss-newton-method>`_.
