def test_set_datasheet_values(self):
sc = StandardCalibration(verbose=True)
client, smbus, mockbus = create_device()
client.open()
client.bus._read = mockbus._written
sc.set_datasheet_values_for_accelerometer(client.get_settings())
assert np.linalg.norm(sc.acc_scale_factor_matrix - np.eye(3)) > 0.0
def test_calibration_points_1_degrees(self):
sc = StandardCalibration(verbose=True)
sc.calibrate_gyroscope_with_stored_points(
self.points_1_zero, self.test_points_1, sc.RECORD_PLAYER_45_RPM_IN_DPS)
np.testing.assert_allclose(sc.gyro_bias_vector,
np.array([-0.01581438, 0.01164529, 0.02771216]) * 57.2957795,
rtol=1e-6, atol=1e-6)
np.testing.assert_allclose(sc.gyro_scale_factor_vector,
np.array([0.00030169, 0.00029362, 0.00029876]) * 57.2957795,
rtol=1e-6, atol=1e-6)
def test_calibration_points_2_degrees(self):
sc = StandardCalibration(verbose=True)
sc.calibrate_gyroscope_with_stored_points(
self.points_2_zero, self.test_points_2, sc.RECORD_PLAYER_33_3_RPM_IN_DPS)
np.testing.assert_allclose(sc.gyro_bias_vector,
np.array([-0.67834283, 0.79632176, 1.56510056]),
rtol=1e-6, atol=1e-6)
np.testing.assert_allclose(sc.gyro_scale_factor_vector,
np.array([0.01698324, 0.01662334, 0.01690871]),
rtol=1e-6, atol=1e-6)
def function_to_call(savefile_path, settings_dict):
try:
from pyberryimu.client import BerryIMUClient
from pyberryimu.calibration.standard import StandardCalibration
from pyberryimu.recorder import BerryIMURecorder
with BerryIMUClient(settings=settings_dict) as c:
c.calibration_object = StandardCalibration.load()
r = BerryIMURecorder(c, settings_dict.get('data_rate'),
settings_dict.get('duration'))
out = r.record()
out.save(savefile_path)
except Exception as e:
with open(savefile_path, 'wt') as f:
json.dump({'error': str(e)}, f, indent=2)
def plot_data():
c = py.get_credentials()
trace1 = pygraph.Scatter(
x=[], y=[],
mode='lines',
line=pygraph.Line(color='rgba(31,119,180,0.15)'),
stream=dict(token=c.get('stream_ids')[0], maxpoints=100))
trace2 = pygraph.Scatter(
x=[], y=[],
mode='lines',
line=pygraph.Line(color='rgba(180,119,31,0.15)'),
stream=dict(token=c.get('stream_ids')[1], maxpoints=100))
trace3 = pygraph.Scatter(
x=[], y=[],
mode='lines',
line=pygraph.Line(color='rgba(119,180,31,0.15)'),
stream=dict(token=c.get('stream_ids')[2], maxpoints=100))
data = pygraph.Data([trace1, trace2, trace3])
layout = pygraph.Layout(
title='Streaming PyBerryIMU Data'
)
fig = pygraph.Figure(data=data, layout=layout)
print(py.plot(fig, filename='PyBerryIMU'))
s_x = py.Stream(c.get('stream_ids')[0])
s_y = py.Stream(c.get('stream_ids')[1])
s_z = py.Stream(c.get('stream_ids')[2])
s_x.open()
s_y.open()
s_z.open()
with BerryIMUClient() as c:
c.calibration_object = StandardCalibration.load()
t_start = c.timestamp
while (c.timestamp - t_start) < 60:
t = c.timestamp - t_start
acc = c.read_accelerometer()
s_x.write(dict(x=t, y=acc[0]))
s_y.write(dict(x=t, y=acc[1]))
s_z.write(dict(x=t, y=acc[2]))
s_x.close()
s_y.close()
s_z.close()
def test_calibration_points_correspondence_with_datasheet_values(self):
sc = StandardCalibration(verbose=True)
sc2 = StandardCalibration(verbose=True)
client, smbus, mockbus = create_device()
client.open()
client.bus._read = mockbus._written
sc.calibrate_gyroscope_with_stored_points(
self.points_2_zero, self.test_points_2, sc.RECORD_PLAYER_33_3_RPM_IN_DPS)
sc2.set_datasheet_values_for_gyroscope(client.get_settings())
def _internal_test_function(untransformed_g, tolerance):
np.testing.assert_allclose(sc.transform_gyroscope_values(untransformed_g),
sc2.transform_gyroscope_values(untransformed_g - self.points_2_zero),
atol=tolerance)
for index in range(3):
for side in [-1, 1]:
k = index * 2 if side == -1 else (index * 2) + 1
ref = np.zeros((3,), 'float')
ref[index] = sc.RECORD_PLAYER_33_3_RPM_IN_DPS * side
yield _internal_test_function, self.test_points_2[k, :], 15.0
def test_calibration_points_2(self):
sc = StandardCalibration(verbose=True)
sc.calibrate_accelerometer_with_stored_points(self.test_points_2)
np.testing.assert_almost_equal(sc._acc_calibration_errors[-1], 0.0, 2)
#!/usr/bin/env python from pyberryimu.client import BerryIMUClient from pyberryimu.calibration.standard import StandardCalibration sc = StandardCalibration(verbose=True) c = BerryIMUClient(bus=1) sc.calibrate_accelerometer(c) c.calibration_object = sc sc.save(save_path='/home/pi/.pyberryimu')
def main():
with BerryIMUClient() as client:
client.calibration_object = StandardCalibration.load()
brec = BerryIMURecorder(client, frequency=100, duration=3)
dc = brec.record(acc=True, gyro=True, mag=True, pres=False, temp=False)
dc.save(os.path.expanduser('~/pyberryimu_test_data'))
from __future__ import division
from __future__ import print_function
from __future__ import unicode_literals
from __future__ import absolute_import
import numpy as np
import scipy.integrate as scint
import matplotlib.pyplot as plt
from pyberryimu.calibration.standard import StandardCalibration
from pyberryimu.container import BerryIMUDataContainer
data = BerryIMUDataContainer.load('rec_gyro.json')
sc1 = StandardCalibration.load('/home/hbldh/Dropbox/Encrypted/PyBerryIMU/.pyberryimu-BACKUP_g1')
sc1.gyro_bias_vector *= 57.2957795
sc1.gyro_scale_factor_vector *= 57.2957795
sc2 = StandardCalibration.load('/home/hbldh/Dropbox/Encrypted/PyBerryIMU/.pyberryimu-BACKUP_g2')
sc_sh = StandardCalibration.load('/home/hbldh/Dropbox/Encrypted/PyBerryIMU/.pyberryimu')
sc_sh.set_datasheet_values_for_gyroscope(data.client_settings)
g_sc1 = []
g_sc2 = []
g_sh = []
for row in data.gyroscope:
g_sc1.append(sc1.transform_gyroscope_values(row.tolist()))
g_sc2.append(sc2.transform_gyroscope_values(row.tolist()))
g_sh.append(sc_sh.transform_gyroscope_values(row.tolist()))
d = 0
# link to callback functions
client.on_connect = on_connect
client.on_message = on_message
client.loop_start()
#---------------------------------------------------------------------------------------
# Modules and methods to support MQTT
#
#---------------------------------------------------------------------------------------
from pyberryimu.client import BerryIMUClient
from pyberryimu.calibration.standard import StandardCalibration
sc = StandardCalibration.load()
with BerryIMUClient(bus=1) as c :
c.calibration_object = sc
while True :
acc = c.read_accelerometer()
gyro = c.read_gyroscope()
mag = c.read_magnetometer()
pr = c.read_pressure()
temp = c.read_temperature()
client.publish("pibot/imu/acc", str({'value':acc, 'time':measurement_time}))
client.publish("pibot/imu/gyro", str({'value':gyro, 'time':measurement_time}))
client.publish("pibot/imu/mag", str({'value':mag, 'time':measurement_time}))
