dotbot.lighthouse2 module#

Module containing the API to convert LH2 raw data to relative positions.

class dotbot.lighthouse2.CalibrationData(zeta, random_rodriguez, normal, m)[source]#

Bases: object

Class that stores calibration data.

Parameters:

zeta (float)
random_rodriguez (array)
normal (array)
m (array)

m: array#

normal: array#

random_rodriguez: array#

zeta: float#

class dotbot.lighthouse2.LighthouseManager[source]#

Bases: object

Class to manage the LightHouse positionning state and workflow.

add_calibration_point(index)[source]#: Register a new camera points for calibration.

compute_calibration()[source]#: Compute the calibration values and matrices.

compute_position(raw_data)[source]#

Compute the position coordinates from LH2 raw data and available calibration.

Parameters:: raw_data (Lh2RawData)
Return type:: DotBotLH2Position | None

property state_model: DotBotCalibrationStateModel#: Return the state as pydantic model.

class dotbot.lighthouse2.LighthouseManagerState(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source]#

Bases: Enum

Enum for lighthouse manager internal state.

Calibrated = 3#

CalibrationInProgress = 1#

NotCalibrated = 0#

Ready = 2#

dotbot.lighthouse2.calculate_camera_point(count1, count2, poly_in)[source]#: Calculate camera points from counts.

dotbot.lighthouse2.lh2_raw_data_to_counts(raw_data)[source]#

Convert bits sequence to an array of counts.

Parameters:: raw_data (Lh2RawData)
Return type:: List[int]