Requirements remove numpy version

requirements.txt

@@ -12,6 +12,4 @@ python-dateutil==2.8.2
 pytz==2021.3
 scipy==1.7.1
 six==1.16.0
-
-numpy~=1.19.3
 screeninfo~=0.8.1

src/calibration.py

@@ -3,12 +3,10 @@ import time
 from datetime import datetime
 from threading import Thread
 import numpy as np
-from numpy.lib.scimath import sqrt as csqrt
 import matplotlib.pyplot as plt
 from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
 from tkinter import LabelFrame
 import scipy.optimize
-from scipy import linalg as linalg_scipy
 
 from src.utility import ui_print
 from src.exceptions import DeviceBusy, DeviceAccessError
@@ -436,8 +434,9 @@ class MagnetometerCalibrationComplete(Thread):
 
     def run(self):
         try:
-            self.calibration_procedure()
+            raw_data = self.calibration_procedure()
             self.put_message('finished', None)
+            return raw_data
         except Exception as e:
             self.put_message('failed', e)
         finally:
@@ -498,14 +497,7 @@ class MagnetometerCalibrationComplete(Thread):
 
         # Put device into an off and ready state
         self.cage_dev.idle()
-
-        # Use collected data to build and solve system of equations
-        # sensor_parameters = self.solve_system(raw_data) # FLAG: untested!
-        sensor_parameters, mag_x_set, mag_y_set, mag_z_set, mag_x_m, mag_y_m, mag_z_m, cal_x, cal_y, cal_z, mag_amp_avg_set = MagnetometerCalibrationComplete.solve_system(
-            raw_data, self.matrix_trans_mgm_to_hh)
-
-        # Pass results to UI
-        self.put_message('calibration_data', {'results': sensor_parameters, 'raw_data': raw_data})
+        return raw_data
 
     def set_progress(self, offset_complete, test_vec_index):
         progress = int(offset_complete) * 0.2 + (test_vec_index / self.calibration_points) * 0.8
@@ -582,7 +574,6 @@ class MagnetometerCalibrationComplete(Thread):
             # Retrieve calibration parameters
             q_mat_inv = np.linalg.inv(q_mat)
             b = -np.dot(q_mat_inv, n)
-            #a_mat_inv = np.real(1 / csqrt(np.dot(n.T, np.dot(q_mat_inv, n)) - d) * linalg_scipy.sqrtm(q_mat))
             a_mat_inv = np.real(mag_amp_avg_set / np.sqrt(np.dot(n.T, np.dot(q_mat_inv, n)) - d) * scipy.linalg.sqrtm(q_mat))
             a_mat = np.linalg.inv(a_mat_inv)
             # Calculate error
@@ -825,10 +816,78 @@ class MagnetometerCalibrationComplete(Thread):
 
         return m, n, d
 
+    def fit_ellipsoid(mag_x_m, mag_y_m, mag_z_m):
+        """ Estimate ellipsoid parameters from a set of points.
+            Parameters
+            ----------
+            mag_x_m, mag_y_m, mag_z_m : array_like, array_like, array_like
+              The samples (M,N) where M=3 (x,y,z) and N=number of samples.
+            Returns
+            -------
+            s : array_like
+              The samples (M,N) where M=3 (x,y,z) and N=number of samples.
+            Returns
+            -------
+            M, n, d : array_like, array_like, float
+              The ellipsoid parameters M, n, d.
+            References
+            ----------
+            .. [1] Qingde Li; Griffiths, J.G., "Least squares ellipsoid specific
+               fitting," in Geometric Modeling and Processing, 2004.
+               Proceedings, vol., no., pp.335-340, 2004
+            .. https://github.com/nliaudat/magnetometer_calibration/blob/main/calibrate.py
+        """
+
+        # Converts to samples (M,N) where M=3 (x,y,z) and N=number of samples.
+        s = np.array([mag_x_m, mag_y_m, mag_z_m])
+
+        # d (samples)
+        d = np.array([s[0] ** 2., s[1] ** 2., s[2] ** 2.,
+                      2. * s[1] * s[2], 2. * s[0] * s[2], 2. * s[0] * s[1],
+                      2. * s[0], 2. * s[1], 2. * s[2], np.ones_like(s[0])])
+
+        # s, s_11, s_12, s_21, s_22 (eq. 11)
+        s = np.dot(d, d.T)
+        s_11 = s[:6, :6]
+        s_12 = s[:6, 6:]
+        s_21 = s[6:, :6]
+        s_22 = s[6:, 6:]
+
+        # c (Eq. 8, k=4)
+        c = np.array([[-1, 1, 1, 0, 0, 0],
+                      [1, -1, 1, 0, 0, 0],
+                      [1, 1, -1, 0, 0, 0],
+                      [0, 0, 0, -4, 0, 0],
+                      [0, 0, 0, 0, -4, 0],
+                      [0, 0, 0, 0, 0, -4]])
+
+        # v_1 (eq. 15, solution)
+        e = np.dot(np.linalg.inv(c),
+                   s_11 - np.dot(s_12, np.dot(np.linalg.inv(s_22), s_21)))
+
+        e_w, e_v = np.linalg.eig(e)
+
+        v_1 = e_v[:, np.argmax(e_w)]
+        if v_1[0] < 0:
+            v_1 = -v_1
+
+        # v_2 (eq. 13, solution)
+        v_2 = np.dot(np.dot(-np.linalg.inv(s_22), s_21), v_1)
+
+        # Quadratic-form parameters
+        m = np.array([[v_1[0], v_1[3], v_1[4]],
+                      [v_1[3], v_1[1], v_1[5]],
+                      [v_1[4], v_1[5], v_1[2]]])
+        n = np.array([[v_2[0]],
+                      [v_2[1]],
+                      [v_2[2]]])
+        d = v_2[3]
+
+        return m, n, d
+
     @staticmethod
-    def plot_magnetometer_calibration(target_column, mag_x_set, mag_y_set, mag_z_set, mag_x_m, mag_y_m, mag_z_m, cal_x,
-                                      cal_y,
-                                      cal_z, mag_amp_avg_set):
+    def plot_magnetometer_calibration(target_column, mag_x_set, mag_y_set, mag_z_set, mag_x_m, mag_y_m, mag_z_m,
+                                      cal_x, cal_y, cal_z, mag_amp_avg_set):
         plot_fontsize = 5
         ax_width = 0.2
 

src/user_interface.py

@@ -1694,7 +1694,7 @@ class CalibrateMagnetometerComplete(Frame):
                                   state='readonly')
                 axis_data.grid(row=row_counter + row, column=1 + column, padx=5, pady=5, sticky="nw")
             results_label_unit = Label(calibration_results_frame, text="-")
-            results_label_unit.grid(row=row_counter + row, column=1 + column+1, padx=5, pady=5, sticky="nw")
+            results_label_unit.grid(row=row_counter + row, column=1 + 3, padx=5, pady=5, sticky="nw")
         row_counter += 3
         """
         # A_mat
@@ -1719,7 +1719,7 @@ class CalibrateMagnetometerComplete(Frame):
                               state='readonly')
             axis_data.grid(row=row_counter, column=1 + row, padx=5, pady=5, sticky="nw")
             results_label_unit = Label(calibration_results_frame, text="T")
-            results_label_unit.grid(row=row_counter, column=1 + row+1, padx=5, pady=5, sticky="nw")
+            results_label_unit.grid(row=row_counter, column=1 + row + 1, padx=5, pady=5, sticky="nw")
         row_counter += 1
 
         # Save calibration buttons
@@ -1890,6 +1890,14 @@ class CalibrateMagnetometerComplete(Frame):
                                                                       self.right_column)
             self.calibration_thread.start()
             self.deactivate_buttons()
+            # Use collected data to build and solve system of equations
+            sensor_parameters, mag_x_set, mag_y_set, mag_z_set, mag_x_m, mag_y_m, mag_z_m, cal_x, cal_y, cal_z, mag_amp_avg_set = MagnetometerCalibrationComplete.solve_system(raw_data, [[1, 0, 0], [0, 1, 0], [0, 0, 1]])
+            # Pass results to UI
+            self.put_message('calibration_data', {'results': sensor_parameters, 'raw_data': raw_data})
+            MagnetometerCalibrationComplete.plot_magnetometer_calibration(self.right_column,
+                                                                          mag_x_set, mag_y_set, mag_z_set,
+                                                                          mag_x_m, mag_y_m, mag_z_m,
+                                                                          cal_x, cal_y, cal_z, mag_amp_avg_set)
         except MagFieldOutOfBounds as e:
             messagebox.showwarning("Calibration failed", "\n{}".format(e))
         except (DeviceAccessError, TclError) as e:
@@ -1921,11 +1929,10 @@ class CalibrateMagnetometerComplete(Frame):
             # Execute calibration function and display results
             sensor_parameters, mag_x_set, mag_y_set, mag_z_set, mag_x_m, mag_y_m, mag_z_m, cal_x, cal_y, cal_z, mag_amp_avg_set = MagnetometerCalibrationComplete.solve_system(
                 raw_data, mgm_to_helmholtz_cos_trans)
-            MagnetometerCalibrationComplete.plot_magnetometer_calibration(self.right_column, mag_x_set, mag_y_set,
-                                                                          mag_z_set,
-                                                                          mag_x_m,
-                                                                          mag_y_m, mag_z_m, cal_x, cal_y,
-                                                                          cal_z, mag_amp_avg_set)
+            MagnetometerCalibrationComplete.plot_magnetometer_calibration(self.right_column,
+                                                                          mag_x_set, mag_y_set, mag_z_set,
+                                                                          mag_x_m, mag_y_m, mag_z_m,
+                                                                          cal_x, cal_y, cal_z, mag_amp_avg_set)
             # Pass results to UI
             self.put_message('calibration_data', {'results': sensor_parameters, 'raw_data': raw_data})
         except TypeError: