Classes
LighthouseInitialEstimator
LighthouseInitialEstimator()
Make initial estimates of base station and CF poses using IPPE (analytical solution). The estimates are not good enough to use for flight but is a starting point for further calculations.
Class variables
OUTLIER_DETECTION_ERROR
Static methods
def estimate(matched_samples: list[LhCfPoseSample], sensor_positions: npt.ArrayLike) ‑> tuple(LhBsCfPoses, list[LhCfPoseSample])
Make a rough estimate of the poses of all base stations and CF poses found in the samples.
The pose of the Crazyflie in the first sample is used as a reference and will define the global reference frame.
Parameters
| Name | Description |
|---|---|
| matched_samples | A list of samples with lighthouse angles. |
| sensor_positions | An array with the sensor positions on the lighthouse deck (3D, CF ref frame):return: an estimate of base station and Crazyflie poses, as well as a cleaned version of matched_samples where outliers are removed. |