Skip to content

v2.0.0 Major rewrite and breaking changes (READ CHANGELOG)

Choose a tag to compare

View all tags
@AKuederle AKuederle released this 09 Jan 16:14
· 101 commits to master since this release
v2.0.0
b859a3c

[2.0] - 09.01.2021

2.0 is a rewrite of a lot of the API and requires multiple changes to legacy code using this library.
Please refer to the migration guide for more information.
During this refactoring multiple bugs were fixed as well.
Therefore, it is highly suggested upgrading to the new version, even if it takes some work!

Added

  • A new calibrate_df method for the CalibrationInfo that can calibrate df directly.
  • It is now possible to define which CalibrationInfo subclass should be used by the FerrarisCalibration
  • A set of "management" functions to save, find, and load IMU calibrations of multiple sensors
  • The ability to add a custom comment to a CalibrationInfo
  • The user is now forced to provide the units of the input data to avoid applying calibrations that were meant for unit
    conversion.
  • Applying a calibration now checks if the units of your data match with the input unit of the calibration.
  • The export format of calibration-info objects is now versioned.
    This helps to make changes to the format in the future while still supporting old exports.
    See the migration guide for more information.
  • Helper functions to load "legacy" calibration info objects. (imucal.legacy)

Changed

  • FerrarisCalibration has a new interface.
    Instead of providing all calibration and data related parameters in the __init__, the __init__ is now only used
    to configure the calibration.
    The data and all data related parameter are now passed to the compute method (replaces compute_calibration_matrix)
  • Using from_... constructors on a subclass of CalibrationInfo does not search all subclasses of CalibrationInfo
    anymore, but only the subclasses (and the class itself), it is called on.
    For example, FerrarisCalibrationInfo.from_json will only consider subclasses of FerrarisCalibrationInfo, but not
    other subclasses of CalibrationInfo.
  • The short hand "gyro" is not replaced with "gyr" in all parameter and variable names.
    This might cause an issue when loading old calibration files.

Deprecated

Removed

  • FerrarisCalibration does not have any from_... constructors anymore.
    The functionality of these constructors can now be accessed via the ferraris_regions_from_... helper functions.
  • It is not possible anymore to calibrate the acc and gyro separately.
    No one was using this feature, and hence, was removed to simplify the API.

Fixed

Migration Guide

  • The main change is how FerrarisCalibration and TurntableCalibration are used.
    Before you would do:

    from imucal import FerrarisCalibration

cal, section_list = FerrarisCalibration.from_interactive_plot(data, sampling_rate=sampling_rate)
cal_info = cal.compute_calibration_matrix()

    Now you need to first create your Ferraris sections and then provide them as arguments for the compute method:

    from imucal import FerrarisCalibration, ferraris_regions_from_interactive_plot

sections, section_list = ferraris_regions_from_interactive_plot(data)
cal = FerrarisCalibration()
cal_info = cal.compute(sections, sampling_rate_hz=sampling_rate, from_acc_unit="m/s^2", from_gyr_unit="deg/s")

    Note, that you are also forced to provide the units of the input data.
    We always recommend to first turn your data into the same units you would expect after the calibration and then using
    the calibrations as refinement.

  • CalibrationInfot.calibrate now requires you to specify the units of your data and validates that they match the
    units expected by the calibration.
    You need to add the parameters acc_unit and gyr_unit to all calls to calibrate.
    Note, that older calibrations will not have from units and hence, can not perform this check.
    In this case you can set the units to None to avoid an error.
    However, it is recommended to recreate the calibrations with proper from units.

  • If you were using from_json_file before, double check, if this still works for you, as the way the correct baseclass
    is selected have been chosen.
    In any case, you should consider to use imucal.management.load_calibration_info instead, as it is more flexible.

  • If you were using any parameters or package variables, that contained the short hand gyro, replace it with gyr.
    Note that this also effects the exported calibration files.
    You will not be able to load them unless you replace gyro_unit with gyr_unit in all files.

  • The CalibrationInfo objects now have more fields by default.
    To avoid issues with missing values, we highly recommend recreating all calibration files you have using the original
    session data and the most current version of imucal.
    Alternatively you can use the functions provided in imucal.legacy to load the old
    calibration.
    Then you can modify the loaded calibration info object and save it again to replace the old calibration.

Assets 2
Loading