def calibration(calibration_data,
calibration_settings,
images,
interactive=True):
tot_deviation = 0.0
for laser in settings.get_laser_range():
selected_planes = []
ranges = []
for fn in images:
num = int(fn.rsplit('/')[-1].split('_')[1].split('.')[0])
if laser == 0:
if num > 80:
continue
else:
if num < 20:
continue
ranges.append(num)
selected_planes.append(fn)
im = [calibration_settings[x] for x in selected_planes]
assert len(ranges) == len(im)
slices = cloudify(calibration_data,
settings.CALIBDIR, [laser],
ranges,
method='straighttralala',
camera=im,
interactive=interactive,
undistort=True)
obj = meshify(calibration_data,
slices,
camera=im,
cylinder=(1000, 1000))
dist, normal, std = find_laser_plane(np.array(obj.vertices))
tot_deviation += std
print("\nLaser %d deviation: %.2f" % (laser + 1, std))
calibration_data.laser_planes[laser].normal = normal
calibration_data.laser_planes[laser].distance = dist
obj.save("laser%d.ply" % laser)
tot_deviation /= 2
if tot_deviation < 0.01:
txt = ("Perfect !!")
elif tot_deviation < 0.05:
txt = ("Excellent !")
elif tot_deviation < 0.1:
txt = ("Good :)")
elif tot_deviation < 0.3:
txt = ("Expect shift between lasers :(")
else:
txt = ("Consider recalibrating, result is very bad")
print("\nDeviation is %.2f. %s" % (tot_deviation, txt))
def recognize():
" Compute mesh from images (pure mode aware)"
view_stop()
calibration_data = settings.load_data(CalibrationData())
r = settings.get_laser_range()
slices, colors = cloudify(calibration_data, settings.WORKDIR, r, range(360), method=settings.SEGMENTATION_METHOD)
meshify(calibration_data, slices, colors=colors, cylinder=settings.ROI).save("model.ply")
gui.clear()
def scan_object():
""" Scan object """
calibration_data = settings.load_data(CalibrationData())
r = settings.get_laser_range()
cloudifier = iter_cloudify(calibration_data, settings.WORKDIR, r, range(360), method=settings.SEGMENTATION_METHOD)
iterator = partial(next, cloudifier)
capture(on_step=iterator, display=False, ftw=settings.SYNC_FRAME_FAST)
slices, colors = iterator()
meshify(calibration_data, slices, colors=colors).save("model.ply")
gui.clear()
def __init__(self):
self.width = 0
self.height = 0
self._camera_matrix = None
self._distortion_vector = None
self._roi = None
self._dist_camera_matrix = None
self._weight_matrix = None
self._md5_hash = None
self.laser_planes = [
settings.Attribute() for _ in settings.get_laser_range()
]
self.platform_rotation = None
self.platform_translation = None
def lasers_on(self):
for i in settings.get_laser_range():
self.laser_on(i)