Rev Author Line No. Line
3596 kaklik 1 {
2 "metadata": {
3 "name": ""
4 },
5 "nbformat": 3,
6 "nbformat_minor": 0,
7 "worksheets": [
8 {
9 "cells": [
10 {
11 "cell_type": "markdown",
12 "metadata": {},
13 "source": [
14 "Uk\u00e1zka pou\u017eit\u00ed n\u00e1stroje IPython na manipulaci se senzorov\u00fdmi daty\n",
15 "=======\n",
16 "\n",
3662 kaklik 17 "P\u0159\u00edklad vyu\u017e\u00edv\u00e1 modulovou stavebnici MLAB a jej\u00ed knihovnu [pymlab](https://github.com/MLAB-project/MLAB-I2c-modules). Sn\u00edma\u010d je k po\u010d\u00edta\u010di p\u0159ipojen\u00fd p\u0159es rozhradn\u00ed USB a data jsou vy\u010d\u00edt\u00e1na p\u0159es [I\u00b2C](http://wiki.mlab.cz/doku.php?id=cs:i2c)\n",
3596 kaklik 18 "\n",
3662 kaklik 19 "Pou\u017eit\u00fd sn\u00edma\u010d [HMC5883L](http://www.magneticsensors.com/three-axis-digital-compass.php) m\u00e1 n\u00e1sleduj\u00edc\u00ed katalogov\u00e9 parametry: \n",
20 "\n",
21 "* M\u011b\u0159\u00edc\u00ed rozsah +/- 800 uT\n",
22 "* Rozli\u0161en\u00ed typicky 5 uT\n",
23 "* \u010cetnost m\u011b\u0159en\u00ed 75 Hz\n",
24 "\n",
3596 kaklik 25 "Zprovozn\u011bn\u00ed demo k\u00f3du\n",
26 "---------------------\n",
27 "\n",
28 "Nejd\u0159\u00edve zjist\u00edme zda m\u00e1me p\u0159\u00edstup pro z\u00e1pis a \u010dten\u00ed do syst\u00e9mov\u00e9ho za\u0159\u00edzen\u00ed. A jak\u00e9 \u010d\u00edslo m\u00e1 I\u00b2C sb\u011brnice na kterou m\u00e1me p\u0159ipojen\u00e1 \u010didla. \n"
29 ]
30 },
31 {
32 "cell_type": "code",
33 "collapsed": false,
34 "input": [
35 "!i2cdetect -l"
36 ],
37 "language": "python",
38 "metadata": {},
39 "outputs": [
40 {
41 "output_type": "stream",
42 "stream": "stdout",
43 "text": [
3662 kaklik 44 "i2c-0\ti2c \ti915 gmbus ssc \tI2C adapter\r\n",
45 "i2c-1\ti2c \ti915 gmbus vga \tI2C adapter\r\n",
46 "i2c-2\ti2c \ti915 gmbus panel \tI2C adapter\r\n",
47 "i2c-3\ti2c \ti915 gmbus dpc \tI2C adapter\r\n",
48 "i2c-4\ti2c \ti915 gmbus dpb \tI2C adapter\r\n",
49 "i2c-5\ti2c \ti915 gmbus dpd \tI2C adapter\r\n",
50 "i2c-6\ti2c \tDPDDC-B \tI2C adapter\r\n",
3667 kaklik 51 "i2c-7\ti2c \ti2c-tiny-usb at bus 001 device 070\tI2C adapter\r\n"
3596 kaklik 52 ]
53 }
54 ],
55 "prompt_number": 1
56 },
57 {
58 "cell_type": "markdown",
59 "metadata": {},
60 "source": [
61 "Proto\u017ee pro p\u0159ipojen\u00ed \u010didel k po\u010d\u00edta\u010di pou\u017e\u00edv\u00e1me adapt\u00e9r i2c-tiny-usb. Vid\u00edme, \u017ee sb\u011brnice m\u00e1 aktu\u00e1ln\u011b ozna\u010den\u00ed nap\u0159\u00edklad i2c-8. \n",
62 "\n",
63 "V p\u0159\u00edpad\u011b, \u017ee v\u00fd\u0161e uveden\u00fd p\u0159\u00edklad vr\u00e1t\u00ed chybu, nebo pojmenov\u00e1n\u00ed \"unknown\" tak nem\u00e1me p\u0159\u00edstup k syst\u00e9mov\u00fdm rozhran\u00edm. Ten z\u00edsk\u00e1me vytvo\u0159en\u00edm souboru s n\u00e1sleduj\u00edc\u00edm obsahem ve slo\u017ece: /etc/udev/rules.d/i2c-devices.rules"
64 ]
65 },
66 {
67 "cell_type": "raw",
68 "metadata": {},
69 "source": [
70 "KERNEL==\"i2c-[0-9]*\", GROUP=\"i2c\""
71 ]
72 },
73 {
74 "cell_type": "markdown",
75 "metadata": {},
76 "source": [
77 "Toto ozna\u010den\u00ed budeme je\u0161t\u011b d\u00e1le pot\u0159ebovat, proto si jej ulo\u017e\u00edme da prom\u011bnn\u00e9. "
78 ]
79 },
80 {
81 "cell_type": "code",
82 "collapsed": false,
83 "input": [
3662 kaklik 84 "port = 7"
3596 kaklik 85 ],
86 "language": "python",
87 "metadata": {},
88 "outputs": [],
3662 kaklik 89 "prompt_number": 2
3596 kaklik 90 },
91 {
92 "cell_type": "markdown",
93 "metadata": {},
94 "source": [
95 "Budeme pokra\u010dovat na\u010dten\u00edm pot\u0159ebn\u00fdch modul\u016f pro zach\u00e1zen\u00ed s I\u00b2C sn\u00edma\u010di."
96 ]
97 },
98 {
99 "cell_type": "code",
100 "collapsed": false,
101 "input": [
102 "import time\n",
103 "import datetime\n",
104 "import sys\n",
105 "\n",
106 "from pymlab import config\n",
107 "import matplotlib.pyplot as plt\n",
108 "import numpy as np"
109 ],
110 "language": "python",
111 "metadata": {},
112 "outputs": [],
3667 kaklik 113 "prompt_number": 3
3596 kaklik 114 },
115 {
116 "cell_type": "markdown",
117 "metadata": {},
118 "source": [
119 "Nyn\u00ed si nadefinujeme strukturu p\u0159ipojen\u00ed jednotliv\u00fdch \u010didel na I\u00b2C sb\u011brnici."
120 ]
121 },
122 {
123 "cell_type": "code",
124 "collapsed": false,
125 "input": [
126 "cfg = config.Config(\n",
3642 kaklik 127 " i2c = {\n",
128 " \"port\": port,\n",
129 " },\n",
3596 kaklik 130 " bus = [\n",
131 " {\n",
132 " \"type\": \"i2chub\",\n",
3667 kaklik 133 " \"address\": 0x71,\n",
3596 kaklik 134 " \n",
135 " \"children\": [\n",
3667 kaklik 136 " {\"name\": \"mag\", \"type\": \"mag01\", \"gauss\": 0.88, \"channel\": 0, }, \n",
3596 kaklik 137 " ],\n",
138 " },\n",
139 " ],\n",
140 ")"
141 ],
142 "language": "python",
143 "metadata": {},
144 "outputs": [],
3667 kaklik 145 "prompt_number": 26
3596 kaklik 146 },
147 {
148 "cell_type": "markdown",
149 "metadata": {},
150 "source": [
151 "Tuto strukturu inicializujeme, aby jsme dos\u00e1hli definovan\u00e9 konfigurace \u010didel."
152 ]
153 },
154 {
155 "cell_type": "code",
156 "collapsed": false,
157 "input": [
158 "cfg.initialize()\n",
159 "mag_sensor = cfg.get_device(\"mag\")\n",
160 "time.sleep(0.5)"
161 ],
162 "language": "python",
163 "metadata": {},
3667 kaklik 164 "outputs": [],
165 "prompt_number": 27
3596 kaklik 166 },
167 {
168 "cell_type": "markdown",
169 "metadata": {},
170 "source": [
3662 kaklik 171 "Nyn\u00ed u\u017e m\u016f\u017eeme p\u0159\u00edmo komunikovat se za\u0159\u00edzen\u00edm pojmenovan\u00fdm jako mag_sensor. A vy\u010d\u00edst z n\u011bj sadu dat."
3596 kaklik 172 ]
173 },
174 {
175 "cell_type": "code",
176 "collapsed": false,
177 "input": [
3662 kaklik 178 "import sys\n",
179 "import time\n",
180 "from IPython.display import clear_output\n",
3596 kaklik 181 "\n",
3662 kaklik 182 "MEASUREMENTS = 500\n",
183 "list_meas = []\n",
3596 kaklik 184 "\n",
185 "for n in range(MEASUREMENTS):\n",
3662 kaklik 186 "# mag_sensor.route() #V p\u0159\u00edpad\u011b v\u00edce \u010didel je pot\u0159eba ke ka\u017ed\u00e9mu p\u0159ed jeho pou\u017eit\u00edm nechat vyroutovat cesutu na sb\u011brnici.\n",
187 " clear_output()\n",
188 " (x, y, z) = mag_sensor.axes()\n",
189 " list_meas.append([x, y, z])\n",
190 " print (n, list_meas[n])\n",
3667 kaklik 191 " time.sleep(0.2)\n",
3662 kaklik 192 " sys.stdout.flush()"
3596 kaklik 193 ],
194 "language": "python",
195 "metadata": {},
3642 kaklik 196 "outputs": [
197 {
198 "output_type": "stream",
199 "stream": "stdout",
200 "text": [
3667 kaklik 201 "(499, [5.109999999999999, 163.51999999999998, -689.85])\n"
3642 kaklik 202 ]
3662 kaklik 203 }
204 ],
3667 kaklik 205 "prompt_number": 31
3662 kaklik 206 },
207 {
208 "cell_type": "markdown",
209 "metadata": {},
210 "source": [
211 "V\u00fdstupn\u00ed jsou v jednotk\u00e1ch miliGauss a m\u011b\u0159\u00edc\u00ed rozsah je nastaven\u00fd na 0.88 Gauss. Viz konfigurace \u010didel naho\u0159e.\n",
212 "Nam\u011b\u0159en\u00e9 hodnoty n\u00e1sledn\u011b ulo\u017e\u00edme do souboru. "
213 ]
214 },
215 {
216 "cell_type": "code",
217 "collapsed": false,
218 "input": [
3667 kaklik 219 "np.savez(\"calibration_data_2Dset\", data=list_meas)"
3662 kaklik 220 ],
221 "language": "python",
222 "metadata": {},
223 "outputs": [],
3667 kaklik 224 "prompt_number": 32
3662 kaklik 225 },
226 {
227 "cell_type": "markdown",
228 "metadata": {},
229 "source": [
3663 kaklik 230 "Zpracov\u00e1n\u00ed dat 2D\n",
3662 kaklik 231 "-----------\n",
232 "\n",
233 "V dal\u0161\u00ed \u010d\u00e1sti budeme pracovat s daty v ulo\u017een\u00e9m souboru, kter\u00fd na\u010dteme do pol\u00ed x, y, z. "
234 ]
235 },
236 {
237 "cell_type": "code",
238 "collapsed": false,
239 "input": [
3663 kaklik 240 "data = np.load('./calibration_data_2Dset.npz')\n",
3667 kaklik 241 "list_meas = data['data']\n",
242 "x = list_meas[:, 0]\n",
243 "y = list_meas[:, 1]\n",
244 "z = list_meas[:, 2]"
3662 kaklik 245 ],
246 "language": "python",
247 "metadata": {},
248 "outputs": [],
3667 kaklik 249 "prompt_number": 33
3662 kaklik 250 },
251 {
252 "cell_type": "markdown",
253 "metadata": {},
254 "source": [
255 "Nam\u011b\u0159en\u00e9 hodnoty vykresl\u00edme do 3D grafu."
256 ]
257 },
258 {
259 "cell_type": "code",
260 "collapsed": false,
261 "input": [
262 "from mpl_toolkits.mplot3d.axes3d import Axes3D\n",
263 "#%pylab qt\n",
264 "%pylab inline\n",
265 "fig = plt.figure()\n",
266 "ax = Axes3D(fig)\n",
3663 kaklik 267 "p = ax.scatter(x,y,z)"
3662 kaklik 268 ],
269 "language": "python",
270 "metadata": {},
271 "outputs": [
3642 kaklik 272 {
273 "output_type": "stream",
274 "stream": "stdout",
275 "text": [
3662 kaklik 276 "Populating the interactive namespace from numpy and matplotlib\n"
3642 kaklik 277 ]
278 },
279 {
3662 kaklik 280 "metadata": {},
281 "output_type": "display_data",
3667 kaklik 282 "png": 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P88ILL/D6669jtVqprq7G6/Um/t3r9ZYkmEb/lvQjoqKJOIsAEi9WNBo94QwtU9fxYi3y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G63hCQloden0r37Cu69dx633/7LoAfnp+Ii13oMQg8G4X770LQaley0cUA4XU2qkpzWggwlQ/V7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\nRK5CYII=\n",
3642 kaklik 283 "text": [
3667 kaklik 284 "<matplotlib.figure.Figure at 0x7f5bf89a3590>"
3642 kaklik 285 ]
3662 kaklik 286 }
287 ],
3667 kaklik 288 "prompt_number": 34
3662 kaklik 289 },
290 {
291 "cell_type": "markdown",
292 "metadata": {},
293 "source": [
294 "Pro lep\u0161\u00ed zobrazen\u00ed jednotliv\u00fdch zkreslen\u00ed vykresl\u00edme i 2D pr\u016fm\u011bt dat."
295 ]
296 },
297 {
298 "cell_type": "code",
299 "collapsed": false,
300 "input": [
3667 kaklik 301 "plt.plot(x, y,'.')"
3662 kaklik 302 ],
303 "language": "python",
304 "metadata": {},
305 "outputs": [
3642 kaklik 306 {
3662 kaklik 307 "metadata": {},
308 "output_type": "pyout",
3667 kaklik 309 "prompt_number": 36,
3642 kaklik 310 "text": [
3667 kaklik 311 "[<matplotlib.lines.Line2D at 0x7f5bf8806910>]"
3642 kaklik 312 ]
313 },
314 {
3662 kaklik 315 "metadata": {},
316 "output_type": "display_data",
3667 kaklik 317 "png": 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H/+UvcnBXn62LEJI86PJwU5N87W/Q1+okjePXdTuFmlVHce2aHPxdsiS2thFC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\noOMnhJAk4/8DBn8m5sEsux0AAAAASUVORK5CYII=\n",
3642 kaklik 318 "text": [
3667 kaklik 319 "<matplotlib.figure.Figure at 0x7f5bf88a9ad0>"
3642 kaklik 320 ]
3662 kaklik 321 }
322 ],
3667 kaklik 323 "prompt_number": 36
3662 kaklik 324 },
325 {
326 "cell_type": "markdown",
327 "metadata": {},
328 "source": [
329 "Z grafu je vid\u011bt, \u017ee se uplat\u0148uj\u00ed oba zn\u00e1m\u00e9 deforma\u010dn\u00ed jevy - soft-iron a hard-iron. Pokus\u00edme se je proto kompenzovat. Nejd\u0159\u00edve zkus\u00edme odstranit Hard-iron efekty zp\u016fsobuj\u00edc\u00ed offsety."
330 ]
331 },
332 {
333 "cell_type": "code",
334 "collapsed": false,
335 "input": [
336 "xoffset = (min(x) + max(x))/2\n",
337 "print xoffset"
338 ],
339 "language": "python",
340 "metadata": {},
341 "outputs": [
3642 kaklik 342 {
3663 kaklik 343 "output_type": "stream",
344 "stream": "stdout",
345 "text": [
3667 kaklik 346 "34.675\n"
3642 kaklik 347 ]
348 }
349 ],
3667 kaklik 350 "prompt_number": 37
3596 kaklik 351 },
352 {
353 "cell_type": "code",
354 "collapsed": false,
355 "input": [
3667 kaklik 356 "yoffset = (min(y) + max(y))/2\n",
357 "print yoffset"
3596 kaklik 358 ],
359 "language": "python",
360 "metadata": {},
3663 kaklik 361 "outputs": [
362 {
363 "output_type": "stream",
364 "stream": "stdout",
365 "text": [
3667 kaklik 366 "-53.29\n"
3663 kaklik 367 ]
368 }
369 ],
3667 kaklik 370 "prompt_number": 39
3596 kaklik 371 },
372 {
373 "cell_type": "code",
374 "collapsed": false,
375 "input": [
3667 kaklik 376 "plt.plot(x-xoffset, y-yoffset,'.')"
3596 kaklik 377 ],
378 "language": "python",
379 "metadata": {},
3663 kaklik 380 "outputs": [
381 {
382 "metadata": {},
383 "output_type": "pyout",
3667 kaklik 384 "prompt_number": 41,
3663 kaklik 385 "text": [
3667 kaklik 386 "[<matplotlib.lines.Line2D at 0x7f5bf860a410>]"
3663 kaklik 387 ]
388 },
389 {
390 "metadata": {},
391 "output_type": "display_data",
3667 kaklik 392 "png": 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mqiQi8pXZIJOjMZZ2hkLAgX/Xrl1YvXr18P22tjaUlJSgvLwczz777PDyZ555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\nDL4AAAAASUVORK5CYII=\n",
3663 kaklik 393 "text": [
3667 kaklik 394 "<matplotlib.figure.Figure at 0x7f5bf86a8fd0>"
3663 kaklik 395 ]
396 }
397 ],
3667 kaklik 398 "prompt_number": 41
3662 kaklik 399 },
400 {
401 "cell_type": "markdown",
402 "metadata": {},
403 "source": [
3663 kaklik 404 "Interaktivn\u00ed test, kter\u00fd vypisuje aktua\u00e1ln\u00ed azimut. Lze si na n\u011bm vyzkou\u0161et funkci kompasu. Je vid\u011bt, \u017ee p\u0159i vzniku v\u011bt\u0161\u00edho n\u00e1klonu, dvouos\u00fd kompas za\u010dne ukazovat p\u0159esn\u011b opa\u010dn\u00fd sm\u011br."
3662 kaklik 405 ]
406 },
407 {
408 "cell_type": "code",
409 "collapsed": false,
410 "input": [
3663 kaklik 411 "try:\n",
412 "\n",
413 " for n in range(MEASUREMENTS):\n",
414 " (x, y, z) = mag_sensor.axes()\n",
3667 kaklik 415 " phi = np.arctan2(x-xoffset, y-yoffset)\n",
3663 kaklik 416 " clear_output()\n",
417 " print ((phi*180)/pi+180)\n",
3667 kaklik 418 " time.sleep(0.2)\n",
3663 kaklik 419 " sys.stdout.flush()\n",
420 "except KeyboardInterrupt:\n",
421 " sys.exit(0)"
422 ],
423 "language": "python",
424 "metadata": {},
425 "outputs": [
426 {
427 "output_type": "stream",
428 "stream": "stdout",
429 "text": [
3667 kaklik 430 "83.1246570299\n"
3663 kaklik 431 ]
432 }
433 ],
3667 kaklik 434 "prompt_number": 44
3663 kaklik 435 },
436 {
437 "cell_type": "markdown",
438 "metadata": {},
439 "source": [
440 "Vid\u00edme, \u017ee po tomto zp\u016fsobu korekce m\u00e1 vykreslen\u00fd \u00fatvar od kru\u017enice je\u0161t\u011b v\u00fdznamn\u00e9 odchylky. Nyn\u00ed pot\u0159ebujeme kompenzovat soft-iron efekty. K tomu mus\u00edme pracovat s nam\u011b\u0159en\u00fdmi daty, jako s elipsou a naj\u00edt jej\u00ed hlavn\u00ed a vedlej\u0161\u00ed poloosu. Postup je trochu komplikovan\u011bj\u0161\u00ed, proto adoptujeme k\u00f3d z [PaparazziUAV](http://wiki.paparazziuav.org/wiki/ImuCalibration). Ten pomoc\u00ed fitov\u00e1n\u00ed elipsoindu najde korek\u010dn\u00ed parametry citlivosti pro jednotliv\u00e9 osy. Zanedb\u00e1v\u00e1 ale p\u0159\u00edpadnou rotaci elipsoidu popsanou v \u010dl\u00e1nku [Compensating for Tilt, Hard-Iron, and Soft-Iron Effects](http://www.sensorsmag.com/sensors/motion-velocity-displacement/compensating-tilt-hard-iron-and-soft-iron-effects-6475)\n",
441 "Tento p\u0159\u00edstup je tak\u00e9 v\u00fdhodn\u00fd v tom, \u017ee vyu\u017e\u00edv\u00e1 v\u0161echny 3 osy magnetometru. Proto nen\u00ed pot\u0159eba pro kompenzaci n\u00e1klonu pou\u017e\u00edvat akcelerometr. Kompenzace akcererometrem by ale pozd\u011bji m\u011bla b\u00fdt vyu\u017eita ke korekci rotace os magnetometru v\u016f\u010di vn\u011bj\u0161\u00edmu pouzdru.\n",
442 "\n",
443 "Zpracov\u00e1n\u00ed dat 3D\n",
444 "-----------\n",
445 "\n",
446 "K tomu pou\u017eijeme datov\u00fd set, kde jsou body rozprost\u0159en\u00e9 po cel\u00e9m povrchu koule. "
447 ]
448 },
449 {
450 "cell_type": "code",
451 "collapsed": false,
452 "input": [
453 "data = np.load('./calibration_data_3Dset.npz')\n",
454 "list_meas = data['data']\n",
455 "x = list_meas[:, 0]\n",
456 "y = list_meas[:, 1]\n",
457 "z = list_meas[:, 2]"
458 ],
459 "language": "python",
460 "metadata": {},
461 "outputs": [],
462 "prompt_number": 1
463 },
464 {
465 "cell_type": "code",
466 "collapsed": false,
467 "input": [
468 "from mpl_toolkits.mplot3d.axes3d import Axes3D\n",
469 "#%pylab qt ## po odkomentovani a zakomentovani nasledujiciho radku udela vystup do QT okna. \n",
470 "%pylab inline\n",
471 "fig = plt.figure()\n",
472 "ax = Axes3D(fig)\n",
473 "p = ax.scatter(x,y,z)"
474 ],
475 "language": "python",
476 "metadata": {},
477 "outputs": [
478 {
479 "output_type": "stream",
480 "stream": "stdout",
481 "text": [
482 "Populating the interactive namespace from numpy and matplotlib\n"
483 ]
484 },
485 {
486 "metadata": {},
487 "output_type": "display_data",
3667 kaklik 488 "png": 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Px1Eulw2TntF7ymEHYQ5GxUYBXAEg8Pm/L0M2u9mU9mbUD2lWS1Q6x0tChsMa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\ndK1KAERdWwAAAABJRU5ErkJggg==\n",
3663 kaklik 489 "text": [
3667 kaklik 490 "<matplotlib.figure.Figure at 0x7f5bf86dd450>"
3663 kaklik 491 ]
492 }
493 ],
3667 kaklik 494 "prompt_number": 23
3663 kaklik 495 },
496 {
497 "cell_type": "code",
498 "collapsed": false,
499 "input": [
3662 kaklik 500 "import scipy\n",
501 "from scipy import optimize\n",
502 "import calibration_utils\n",
503 "\n",
504 "sensor_ref = 1.\n",
505 "sensor_res = 0.73\n",
506 "noise_window = 10\n",
507 "noise_threshold = 1000"
3642 kaklik 508 ],
3662 kaklik 509 "language": "python",
510 "metadata": {},
511 "outputs": [],
3663 kaklik 512 "prompt_number": 3
3596 kaklik 513 },
514 {
3662 kaklik 515 "cell_type": "markdown",
516 "metadata": {},
517 "source": [
518 "Uprav\u00edme strukuturu pole m\u011b\u0159en\u00fdch hodnot do sn\u00e1ze indexovateln\u00e9ho form\u00e1tu."
519 ]
520 },
521 {
3596 kaklik 522 "cell_type": "code",
523 "collapsed": false,
524 "input": [
3662 kaklik 525 "measurements = np.array(list_meas)"
3596 kaklik 526 ],
527 "language": "python",
528 "metadata": {},
529 "outputs": [],
3663 kaklik 530 "prompt_number": 4
3596 kaklik 531 },
532 {
3662 kaklik 533 "cell_type": "markdown",
534 "metadata": {},
535 "source": [
536 "Spo\u010d\u00edt\u00e1me medi\u00e1n magnitudy zm\u011b\u0159en\u00fdch vektor\u016f. A nastav\u00edme podle n\u011bj rozhodovac\u00ed \u00farove\u0148 pro filtraci a ofiltrujeme nam\u011b\u0159en\u00e1 kalibra\u010dn\u00ed data. "
537 ]
538 },
539 {
3596 kaklik 540 "cell_type": "code",
541 "collapsed": false,
542 "input": [
3662 kaklik 543 "meas_median=scipy.median(scipy.array([scipy.linalg.norm(v) for v in measurements]))\n",
544 "noise_threshold = meas_median * 0.8\n",
545 "print noise_threshold\n",
546 "flt_meas, flt_idx = calibration_utils.filter_meas(measurements, noise_window, noise_threshold)\n",
547 "print(\"remaining \"+str(len(flt_meas))+\" after filtering\")"
3596 kaklik 548 ],
549 "language": "python",
550 "metadata": {},
3663 kaklik 551 "outputs": [
552 {
553 "output_type": "stream",
554 "stream": "stdout",
555 "text": [
556 "460.895326306\n",
557 "remaining 346 after filtering\n"
558 ]
559 }
3596 kaklik 560 ],
3663 kaklik 561 "prompt_number": 5
3596 kaklik 562 },
563 {
3662 kaklik 564 "cell_type": "markdown",
565 "metadata": {},
566 "source": [
567 "Spo\u010d\u00edt\u00e1me odhad elipsoidu z nam\u011b\u0159en\u00fdch minim\u00e1ln\u00edch a maxim\u00e1ln\u00edch hodnot."
568 ]
569 },
570 {
3596 kaklik 571 "cell_type": "code",
572 "collapsed": false,
573 "input": [
3662 kaklik 574 " p0 = calibration_utils.get_min_max_guess(flt_meas, sensor_ref)\n",
575 " cp0, np0 = calibration_utils.scale_measurements(flt_meas, p0)\n",
576 " print(\"initial guess : avg \"+str(np0.mean())+\" std \"+str(np0.std()))\n",
577 "\n",
578 " def err_func(p, meas, y):\n",
579 " cp, np = calibration_utils.scale_measurements(meas, p)\n",
580 " err = y*scipy.ones(len(meas)) - np\n",
581 " return err"
3596 kaklik 582 ],
583 "language": "python",
584 "metadata": {},
3662 kaklik 585 "outputs": [
586 {
587 "output_type": "stream",
588 "stream": "stdout",
589 "text": [
590 "initial guess : avg 0.999920050427 std 0.0671243703038\n"
591 ]
592 }
593 ],
3663 kaklik 594 "prompt_number": 6
3662 kaklik 595 },
596 {
597 "cell_type": "markdown",
598 "metadata": {},
599 "source": [
600 "Optimalizujeme odhad fitov\u00e1n\u00edm elipsoidu."
601 ]
602 },
603 {
604 "cell_type": "code",
605 "collapsed": false,
606 "input": [
607 " p1, cov, info, msg, success = optimize.leastsq(err_func, p0[:], args=(flt_meas, sensor_ref), full_output=1)\n",
608 " if not success in [1, 2, 3, 4]:\n",
609 " print(\"Optimization error: \", msg)\n",
610 " print(\"Please try to provide a clean logfile.\")\n",
611 " sys.exit(1)\n",
612 "\n",
613 " cp1, np1 = calibration_utils.scale_measurements(flt_meas, p1)\n",
614 " print(\"optimized guess : avg \"+str(np1.mean())+\" std \"+str(np1.std()))"
615 ],
616 "language": "python",
617 "metadata": {},
618 "outputs": [
619 {
620 "output_type": "stream",
621 "stream": "stdout",
622 "text": [
623 "optimized guess : avg 0.999137645687 std 0.0293532050592\n"
624 ]
625 }
626 ],
3663 kaklik 627 "prompt_number": 7
3662 kaklik 628 },
629 {
630 "cell_type": "markdown",
631 "metadata": {},
632 "source": [
633 "Vykresl\u00edme v\u00fdsledek filtrace a fitov\u00e1n\u00ed. "
634 ]
635 },
636 {
637 "cell_type": "code",
638 "collapsed": false,
639 "input": [
640 "%pylab qt\n",
3663 kaklik 641 "#%pylab inline\n",
3662 kaklik 642 "calibration_utils.plot_results(False, measurements, flt_idx, flt_meas, cp0, np0, cp1, np1, sensor_ref)\n",
643 "calibration_utils.plot_mag_3d(flt_meas, cp1, p1)"
644 ],
645 "language": "python",
646 "metadata": {},
647 "outputs": [
648 {
649 "output_type": "stream",
650 "stream": "stdout",
651 "text": [
652 "Populating the interactive namespace from numpy and matplotlib\n"
653 ]
654 },
655 {
656 "output_type": "stream",
657 "stream": "stderr",
658 "text": [
659 "WARNING: pylab import has clobbered these variables: ['cov', 'info']\n",
660 "`%pylab --no-import-all` prevents importing * from pylab and numpy\n"
661 ]
662 }
663 ],
3663 kaklik 664 "prompt_number": 8
3662 kaklik 665 },
666 {
667 "cell_type": "markdown",
668 "metadata": {},
669 "source": [
670 "Nyn\u00ed m\u016f\u017eeme z\u00edskan\u00e9 scale faktory a offsety pou\u017e\u00edt na kompenzaci libovoln\u00e9ho m\u011b\u0159en\u00ed a n\u00e1sledn\u011b vypo\u010d\u00edtat polohov\u00e9 \u00fahly platformy ve sf\u00e9rick\u00fdch sou\u0159adnic\u00edch."
671 ]
672 },
673 {
674 "cell_type": "code",
675 "collapsed": false,
676 "input": [
677 "for n in range(MEASUREMENTS):\n",
678 " m = mag_sensor.axes()\n",
679 " sm = (m - p1[0:3])*p1[3:6]\n",
680 " r = norm(sm)\n",
681 " theta = np.arccos(sm[2]/r)\n",
682 " phi = np.arctan2(sm[1],sm[0])\n",
683 " clear_output()\n",
684 " print (r,(theta*180)/pi,(phi*180)/pi)\n",
685 " sys.stdout.flush()"
686 ],
687 "language": "python",
688 "metadata": {},
689 "outputs": [
690 {
3663 kaklik 691 "output_type": "stream",
692 "stream": "stdout",
3662 kaklik 693 "text": [
3663 kaklik 694 "(1.0033330291141624, 159.16410600293204, 61.66914855382452)\n"
3662 kaklik 695 ]
696 }
697 ],
3663 kaklik 698 "prompt_number": 35
3596 kaklik 699 }
700 ],
701 "metadata": {}
702 }
703 ]
704 }