def test_inplace(simple_header, simple_calibration):
sensors = ("acc", "gyro")
simple_header.enabled_sensors = sensors
dataset = Dataset({k: np.ones((100, 3))
for k in sensors}, np.arange(100), simple_header)
# default: inplace = False
cal_ds = dataset.calibrate_imu(simple_calibration)
assert id(cal_ds) != id(dataset)
for sensor in sensors:
assert id(getattr(cal_ds, sensor)) != id(getattr(dataset, sensor))
dataset = Dataset({k: np.ones((100, 3))
for k in sensors}, np.arange(100), simple_header)
cal_ds = dataset.calibrate_imu(simple_calibration, inplace=True)
assert id(cal_ds) == id(dataset)
for sensor in sensors:
assert id(getattr(cal_ds, sensor)) == id(getattr(dataset, sensor))
dataset = Dataset({k: np.ones((100, 3))
for k in sensors}, np.arange(100), simple_header)
cal_ds = dataset.calibrate_imu(simple_calibration, inplace=False)
assert id(cal_ds) != id(dataset)
for sensor in sensors:
assert id(getattr(cal_ds, sensor)) != id(getattr(dataset, sensor))
def test_non_existent_warning(simple_header, simple_calibration):
sensors = ("acc", "gyro")
simple_header.enabled_sensors = sensors
dataset = Dataset({}, np.arange(100), simple_header)
with pytest.warns(UserWarning) as warn:
dataset.calibrate_imu(simple_calibration)
assert len(warn) == 2
for m in warn:
assert any(s in str(m) for s in sensors)
assert "calibration" in str(m)
def test_repeated_cal_error(simple_header, simple_calibration):
sensors = ("acc", "gyro")
simple_header.enabled_sensors = sensors
dataset = Dataset({k: np.ones((100, 3))
for k in sensors}, np.arange(100), simple_header)
cal_ds = dataset.calibrate_imu(simple_calibration)
with pytest.raises(RepeatedCalibrationError) as e:
cal_ds.calibrate_imu(simple_calibration)
assert sensors[0] in str(e.value)
def test_imu_cal(simple_header, simple_calibration):
simple_header.enabled_sensors = ("acc", "gyro")
dataset = Dataset({
"acc": np.ones((100, 3)),
"gyro": np.ones((100, 3))
}, np.arange(100), simple_header)
cal_ds = dataset.calibrate_imu(simple_calibration)
assert np.all(cal_ds.gyro.data == factory_calibrate_sensors_dict["gyro"] /
3)
assert np.all(cal_ds.acc.data == factory_calibrate_sensors_dict["acc"] / 2)
assert cal_ds.gyro.is_factory_calibrated is True
assert cal_ds.acc.is_factory_calibrated is True
assert cal_ds.gyro.is_calibrated is True
assert cal_ds.acc.is_calibrated is True