static_alignment_estimator

giant.calibration.estimators.alignment.static.static_alignment_estimator(frame1_unit_vecs, frame2_unit_vecs, weights=None)[source]

This function estimates a static attitude alignment between one frame and another.

The static alignment is estimated using Davenport’s Q-Method solution to Wahba’s problem, using the DavenportQMethod class. To use, simply provide the unit vectors from the base frame and the unit vectors from the target frame. The estimated alignment from frame 1 to frame 2 will be returned as a Rotation object from frame 1 to frame 2

In general this function should not be used by the user, and instead you should use the Calibration class and its estimate_static_alignment() method.

For more details about the algorithm used see the DavenportQMethod documentation.

Parameters:

  • frame1_unit_vecs (ndarray[tuple[Any, ...], dtype[float64]]) – Unit vectors in the base frame as a 3xn array where each column is a unit vector.

  • frame2_unit_vecs (ndarray[tuple[Any, ...], dtype[float64]]) – Unit vectors in the destination (camera) frame as a 3xn array where each column is a unit vector

  • weights (ndarray[tuple[Any, ...], dtype[float64]] | None) – Option length n array of weighting to use for each unit vector pair in the estimation process

Return type:

Rotation