def calibrate(rerun_mcsc, calib_config, display_server_numbers):
config = yaml.load(open(decode_url(calib_config)))
for n in [int(i) for i in display_server_numbers]:
src = DS_PKL + "/ds%d" % n
ds = '/display_server%d' % n
ids = [ds] + config['display_servers'][ds]
a = AllPointPickle()
a.initilize_from_directory(src)
print "*" * 20
print src
print "*" * 20
if rerun_mcsc:
mcsc = MultiCalSelfCam(src)
mcsc.create_from_cams(cam_ids=ids,
cam_resolutions=a.resolutions.copy(),
cam_points=a.results.copy(),
cam_calibrations={},
num_cameras_fill=0)
dest = mcsc.execute(blocking=True, copy_files=True, silent=False)
else:
dest = src + "/result"
MultiCalSelfCam.publish_calibration_points(dest,
topic_base='/ds%d' % n)
import flydra.reconstruct
import flydra.align
rospy.init_node('calibone', anonymous=True)
DS1_PKL = decode_url('package://flycave/calibration/triplets/ds1')
DS1_CALIB = decode_url('package://flycave/calibration/triplets/ds1/result')
LASER_PKL = decode_url('package://flycave/calibration/laser')
FLYDRA_CALIB = decode_url('package://flycave/calibration/flydra')
#test mcsc wrapper
if 0:
a = AllPointPickle()
a.initilize_from_directory(DS1_PKL)
mcsc = MultiCalSelfCam(DS1_CALIB)
mcsc.create_from_cams(cam_ids=[],
cam_resolutions=a.resolutions.copy(),
cam_points=a.results.copy(),
cam_calibrations={},
num_cameras_fill=0)
dest = mcsc.execute(blocking=True,
dest=tempfile.mkdtemp(prefix='mcsc'),
silent=False)
MultiCalSelfCam.publish_calibration_points(dest)
MultiCalSelfCam.save_to_pcd(dest, "/tmp/ds1.pcd")
#test roundtrip 2d -> 3d -> 2d
if 0:
r = flydra.reconstruct.Reconstructor(cal_source=DS1_CALIB)
def run_mcsc(path):
mcsc = MultiCalSelfCam(path)
dest = mcsc.execute(blocking=True, dest=tempfile.mkdtemp(), silent=False)
pcd = '/tmp/mcscpoints.pcd'
MultiCalSelfCam.save_to_pcd(dirname=dest, fname=pcd)
print 'saved to pcd file', pcd
