def generateReport(cself, filename="report.pdf", showOnScreen=True, graph=None, removedOutlierCorners=None):
#plotter
plotter = PlotCollection.PlotCollection("Calibration report")
figs = list()
#plot graph
if graph is not None:
f=pl.figure(1001)
title="Inter-camera observations graph (edge weight=#mutual obs.)";
graph.plotGraphPylab(fno=f.number, noShow=True, title=title)
plotter.add_figure("Obs. graph", f)
figs.append(f)
#rig geometry
if len(cself.cameras)>1:
f=pl.figure(1002)
title="camera system"
plotCameraRig(cself.baselines, fno=f.number, clearFigure=False, title=title)
plotter.add_figure(title, f)
figs.append(f)
#plot for each camera
for cidx, cam in enumerate(cself.cameras):
if cself.numCamsReplaced > 0 and cidx < len(cself.cameras)-cself.numCamsReplaced:
continue
f = pl.figure(cidx*10+1)
title="cam{0}: polar error".format(cidx)
plotPolarError(cself, cidx, fno=f.number, noShow=True, title=title)
plotter.add_figure(title, f)
figs.append(f)
f = pl.figure(cidx*10+2)
title="cam{0}: azimutal error".format(cidx)
plotAzumithalError(cself, cidx, fno=f.number, noShow=True, title=title)
plotter.add_figure(title, f)
figs.append(f)
f = pl.figure(cidx*10+3)
title="cam{0}: reprojection errors".format(cidx)
plotAllReprojectionErrors(cself, cidx, fno=f.number, noShow=True, title=title)
plotter.add_figure(title, f)
figs.append(f)
#plot all removed outlier corners
if removedOutlierCorners is not None:
if len(removedOutlierCorners) > 0:
f=pl.figure(1003)
title="Location of removed outlier corners"
plotOutlierCorners(cself, removedOutlierCorners, fno=f.number, title=title)
plotter.add_figure("Outlier corners", f)
figs.append(f)
#save to pdf
pdf=PdfPages(filename)
for fig in figs:
pdf.savefig(fig)
pdf.close()
print "Report written to: {0}".format(filename)
if showOnScreen:
plotter.show()
def generateReport(cself, filename="report.pdf", showOnScreen=True):
figs = list()
plotter = PlotCollection.PlotCollection("Calibration report")
#plot imu stuff (if we have imus)
for iidx, imu in enumerate(cself.ImuList):
f = pl.figure(3010 + iidx)
plots.plotAngularVelocities(cself, iidx, fno=f.number, noShow=True)
plotter.add_figure("imu{0}: angular velocities".format(iidx), f)
figs.append(f)
f = pl.figure(3020 + iidx)
plots.plotAccelerations(cself, iidx, fno=f.number, noShow=True)
plotter.add_figure("imu{0}: accelerations".format(iidx), f)
figs.append(f)
f = pl.figure(3030 + iidx)
plots.plotAccelBias(cself, iidx, fno=f.number, noShow=True)
plotter.add_figure("imu{0}: accelerometer bias".format(iidx), f)
figs.append(f)
f = pl.figure(3040 + iidx)
plots.plotAngularVelocityBias(cself, iidx, fno=f.number, noShow=True)
plotter.add_figure("imu{0}: gyro bias".format(iidx), f)
figs.append(f)
f = pl.figure(3050 + iidx)
plots.plotGyroError(cself, iidx, fno=f.number, noShow=True)
plotter.add_figure("imu{0}: angular velocity error".format(iidx), f)
figs.append(f)
f = pl.figure(3060 + iidx)
plots.plotAccelError(cself, iidx, fno=f.number, noShow=True)
plotter.add_figure("imu{0}: acceleration error".format(iidx), f)
figs.append(f)
#plot cam stuff
if cself.CameraChain:
for cidx, cam in enumerate(cself.CameraChain.camList):
f = pl.figure(4000 + cidx)
title = "cam{0}: reprojection errors".format(cidx)
plots.plotReprojectionScatter(cself,
cidx,
fno=f.number,
noShow=True,
title=title)
plotter.add_figure(title, f)
figs.append(f)
#write to pdf
pdf = PdfPages(filename)
for fig in figs:
pdf.savefig(fig)
pdf.close()
if showOnScreen:
plotter.show()
def generateReport(cself, filename="report.pdf", showOnScreen=True):
figs = list()
plotter = PlotCollection.PlotCollection("Calibration report")
offset = 3010
#Output calibration results in text form.
sstream = StringIO.StringIO()
printResultTxt(cself, sstream)
text = [line for line in StringIO.StringIO(sstream.getvalue())]
linesPerPage = 40
while True:
fig = pl.figure(offset)
offset += 1
left, width = .05, 1.
bottom, height = -.05, 1.
right = left + width
top = bottom + height
ax = fig.add_axes([.0, .0, 1., 1.])
# axes coordinates are 0,0 is bottom left and 1,1 is upper right
p = patches.Rectangle((left, bottom), width, height, fill=False, transform=ax.transAxes, \
clip_on=False, edgecolor="none")
ax.add_patch(p)
pl.axis('off')
printText = lambda t: ax.text(left, top, t, fontsize=8, \
horizontalalignment='left', verticalalignment='top',\
transform=ax.transAxes)
if len(text) > linesPerPage:
printText("".join(text[0:linesPerPage]))
figs.append(fig)
text = text[linesPerPage:]
else:
printText("".join(text[0:]))
figs.append(fig)
break
#plot imu stuff (if we have imus)
for iidx, imu in enumerate(cself.ImuList):
f = pl.figure(offset + iidx)
plots.plotAccelerations(cself, iidx, fno=f.number, noShow=True)
plotter.add_figure("imu{0}: accelerations".format(iidx), f)
figs.append(f)
offset += len(cself.ImuList)
f = pl.figure(offset + iidx)
plots.plotAccelErrorPerAxis(cself, iidx, fno=f.number, noShow=True)
plotter.add_figure("imu{0}: acceleration error".format(iidx), f)
figs.append(f)
offset += len(cself.ImuList)
f = pl.figure(offset + iidx)
plots.plotAccelBias(cself, iidx, fno=f.number, noShow=True)
plotter.add_figure("imu{0}: accelerometer bias".format(iidx), f)
figs.append(f)
offset += len(cself.ImuList)
f = pl.figure(offset + iidx)
plots.plotAngularVelocities(cself, iidx, fno=f.number, noShow=True)
plotter.add_figure("imu{0}: angular velocities".format(iidx), f)
figs.append(f)
offset += len(cself.ImuList)
f = pl.figure(offset + iidx)
plots.plotGyroErrorPerAxis(cself, iidx, fno=f.number, noShow=True)
plotter.add_figure("imu{0}: angular velocity error".format(iidx), f)
figs.append(f)
offset += len(cself.ImuList)
f = pl.figure(offset + iidx)
plots.plotAngularVelocityBias(cself, iidx, fno=f.number, noShow=True)
plotter.add_figure("imu{0}: gyroscope bias".format(iidx), f)
figs.append(f)
offset += len(cself.ImuList)
#plot cam stuff
if cself.CameraChain:
for cidx, cam in enumerate(cself.CameraChain.camList):
f = pl.figure(offset + cidx)
title = "cam{0}: reprojection errors".format(cidx)
plots.plotReprojectionScatter(cself,
cidx,
fno=f.number,
noShow=True,
title=title)
plotter.add_figure(title, f)
figs.append(f)
offset += len(cself.CameraChain.camList)
#write to pdf
pdf = PdfPages(filename)
for fig in figs:
pdf.savefig(fig)
pdf.close()
if showOnScreen:
plotter.show()