Calibration Manager

The calibration results are stored in yaml files with the following format:

parent1:
  child1: [transformation]
  child2: [transformation]
parent2:
  child3: [transformation]
child2:
  child4: [transformation]

All entries represent a transformation from a parent to a child frame. Each transformation consists of two keys: a data key, which contains a list of type-specific values generated by the motion3d export, and a type key that provides the corresponding transformation type. The available types are:

A	motion3d.AxisAngleTransform
D	motion3d.DualQuaternionTransform
E	motion3d.EulerTransform
M	motion3d.MatrixTransform
Q	motion3d.QuaternionTransform

The scripts in scripts/transforms can be used to merge or visualize calibration files.

The CalibrationManager is used to manage and store calibrations:

class excalibur.io.calibration.CalibrationManager

__init__()

add(topic_from: str, topic_to: str, transformation: TransformInterface, overwrite: bool = False) → bool

clear()

copy()

extend(other, overwrite: bool = False)

frames()

get(topic_from: str, topic_to: str) → TransformInterface | None

has(topic_from: str, topic_to: str) → bool

items()

classmethod load(filename: str | Path, unsafe: bool = False)

plot_frames(origin: str, length: float)

plot_graph()

remove(topic_from: str, topic_to: str) → bool

save(filename: str | Path)