lighthouse_system_scaler

Classes

LighthouseSystemScaler

LighthouseSystemScaler()

This class is used to re-scale a system based on various measurements.

Static methods

def calc_intersection_distance(vector1: LighthouseBsVector, vector2: LighthouseBsVector, bs_pose: Pose, cf_pose: Pose) ‑> float

Calculate distance between intersection points of rays on the plane defined by the lighthouse deck

def calc_intersection_point(vector: LighthouseBsVector, bs_pose: Pose, cf_pose: Pose) ‑> numpy.ndarray[typing.Any, numpy.dtype[+ScalarType]]

Calculate the intersetion point of a lines and a plane. The line is the intersection of the two light planes from a base station, while the plane is defined by the lighthouse deck of the Crazyflie.

def scale_diagonals(bs_poses: dict[int, Pose], cf_poses: list[Pose], matched_samples: list[LhCfPoseSample], expected_diagonal: float) ‑> tuple[dict[int, cflib.localization.lighthouse_types.Pose], list[cflib.localization.lighthouse_types.Pose], float]

Scale a system based on where base station “rays” intersects the lighthouse deck in relation to sensor positions. Calculates the intersection points for all samples and scales the system to match the expected distance between sensors on the deck.

Parameters

def scale_fixed_point(bs_poses: dict[int, Pose], cf_poses: list[Pose], expected: npt.ArrayLike, actual: Pose) ‑> tuple[dict[int, cflib.localization.lighthouse_types.Pose], list[cflib.localization.lighthouse_types.Pose], float]

Scale a system based on a position in the physical world in relation to where it is in the estimated system geometry. Assume the system is aligned and simply use the distance to the points for scaling.

Parameters