def calibrate():
""" Calibrate radar. """
radar.StartCalibration()
app_status, calibration_process = radar.GetStatus()
while app_status == radar.STATUS_CALIBRATING:
radar.Trigger()
app_status, calibration_process = radar.GetStatus()
return
def startAndCalibrateWalabot():
""" Start the Walabot and calibrate it.
"""
wlbt.StartCalibration()
print('- Calibrating...')
while wlbt.GetStatus()[0] == wlbt.STATUS_CALIBRATING:
wlbt.Trigger()
wlbt.Start()
print('- Calibration ended.\n- Ready!')
def start(self): # begin calibration and prepare for scanning
bot.SetProfile(bot.PROF_SENSOR) # set Walabot properties
bot.SetArenaR(minDistance, maxDistance, 5)
bot.SetArenaTheta(-1, 1, 1)
bot.SetArenaPhi(minAngle, maxAngle, 5)
bot.SetThreshold(60)
bot.SetDynamicImageFilter(bot.FILTER_TYPE_NONE)
bot.Start() # start calibration
bot.StartCalibration()
print("Calibrating")
while bot.GetStatus(
)[0] == bot.STATUS_CALIBRATING: # wait for calibration to end
bot.Trigger() # calibration process Walabot
print(".", end="")
print(CLEARSCREEN + moveCursor(0, 1) + "Calibrated: " + Fore.CYAN +
Style.BRIGHT + "True") # done calibrating
print(Style.RESET_ALL + "Player: " + Fore.YELLOW + Style.BRIGHT +
str(player))
try:
wala.ConnectAny()
except WalabotError as err:
if err.message == wala.WALABOT_INSTRUMENT_NOT_FOUND:
print('Please connect your Walabot')
else:
print(err.message)
wala.SetProfile(wala.PROF_SENSOR)
wala.SetDynamicImageFilter(wala.FILTER_TYPE_MTI)
wala.Start()
while True:
wala.Trigger()
targets = wala.GetSensorTargets()
if targets:
appStatus, calibrationProcess = wala.GetStatus()
if debug: print(appStatus)
if debug: print(calibrationProcess)
TargetsToAzure(targets, sbs)
else:
print('No Target Detected')
wala.Stop()
wala.Disconnect()
bot.SetProfile(bot.PROF_TRACKER)
bot.SetArenaR(5, 20, 0.2)
bot.SetArenaTheta(-1, 1, 1)
bot.SetArenaPhi(-10, 10, 10)
bot.SetThreshold(30)
bot.SetDynamicImageFilter(bot.FILTER_TYPE_NONE)
bot.Start()
# calibrate the Walabot to the background noise
# after calibration, it will only sense the distance your foot is from it.
print("[calibrate]")
bot.StartCalibration()
try:
while bot.GetStatus()[0] == bot.STATUS_CALIBRATING:
bot.Trigger()
# start scanning the distance from your foot using the image data from the Walabot
print("[scan]")
while True:
bot.Trigger()
img, _, _, _, _ = bot.GetRawImageSlice() # use the raw image data of the scan
# each row corrosponds to distance from the sensor
# we just need to find which row is the first one that contains your foot
minRow = 0
resIndegrees = 2
## Walabot_SetArenaPhi - input parameters
minPhiInDegrees = -4
maxPhiInDegrees = 4
resPhiInDegrees = 2
##JC: here below modified from C++ breathing code, before use variables needs to be defined, parameters accoarding to http://api.walabot.com/_features.html and http://api.walabot.com/_sample.html C++ breathing code
## Setup arena - specify it by Cartesian coordinates(ranges and resolution on the x, y, z axes);
## In Sensor mode there is need to specify Spherical coordinates(ranges and resolution along radial distance and Theta and Phi angles).
wlbt.SetArenaR(minInCm, maxInCm, resICm)
## Sets polar range and resolution of arena (parameters in degrees).
wlbt.SetArenaTheta(minIndegrees, maxIndegrees, resIndegrees)
## Sets azimuth range and resolution of arena.(parameters in degrees).
wlbt.SetArenaPhi(minPhiInDegrees, maxPhiInDegrees, resPhiInDegrees)
wlbt.Start() # starts Walabot in preparation for scanning
print('hello')
while True:
##JC: add calibrates based from C++ code
##// calibrates scanning to ignore or reduce the signals
wlbt.StartCalibration()
while wlbt.GetStatus()[0] == wlbt.STATUS_CALIBRATING:
wlbt.Trigger()
Energy_current = wlbt.GetImageEnergy()
#JC: replace GetSensorTargets to GetImageEnergy
system('cls' if platform == 'win32' else 'clear') # clear the terminal
print('Energy_Current = ', Energy_current, '/n')
wlbt.Stop() # stops Walabot when finished scanning
wlbt.Disconnect() # stops communication with Walabot
## Sets polar range and resolution of arena (parameters in degrees).
wlbt.SetArenaTheta(minIndegrees, maxIndegrees, resIndegrees)
## Sets azimuth range and resolution of arena.(parameters in degrees).
wlbt.SetArenaPhi(minPhiInDegrees, maxPhiInDegrees, resPhiInDegrees)
wlbt.Start() # starts Walabot in preparation for scanning
print('hello')
while True:
##JC: add calibrates based from C++ code
##// calibrates scanning to ignore or reduce the signals
Energy = [] #array which save each energy get from wlbt
start = time.time() #timer control how long each circle
while (time.time() - start) < 10: #each 10s
wlbt.StartCalibration() #start calibration
while wlbt.GetStatus(
)[0] == wlbt.STATUS_CALIBRATING: #when calibraion done
wlbt.Trigger() #trigger walabot
Energy.append(wlbt.GetImageEnergy()) # get Energy
#Energy_current = wlbt.GetImageEnergy()
##JC: replace GetSensorTargets to GetImageEnergy
#system('cls' if platform == 'win32' else 'clear') # clear the terminal
#print('Energy_Current = ', Energy_current, '/n')
#after each 10s do following
print('Energy mean in 10s = ', sum(Energy) / len(Energy), '/n')
print('Energy max in 10s = ', max(Energy), '/n')
print('Energy min in 10s = ', min(Energy), '/n')
print('time elapsed', time.time() - start, '/n')
wlbt.Stop() # stops Walabot when finished scanning
wlbt.Disconnect() # stops communication with Walabot
min_R, max_R, res_R = 216, 457, 5
wala.SetArenaR(min_R, max_R, res_R)
min_Theta, max_Theta, res_Theta = -19, 19, 5
wala.SetArenaTheta(min_Theta, max_Theta, res_Theta)
min_Phi, max_Phi, res_Phi = -43, 43, 5
wala.SetArenaPhi(min_Phi, max_Phi, res_Phi)
# Start Walabot and perform calibration
wala.Start()
wala.StartCalibration()
calibration_status, calibration_progress = wala.GetStatus()
wala.Trigger()
while calibration_status == wala.STATUS_CALIBRATING and calibration_progress < 100:
wala.Trigger()
print("Calibrating " + str(calibration_progress) + '%')
calibration_status, calibration_progress = wala.GetStatus()
# Initialize video camera. Wait 1 second for 'warmup'
cap = cv.VideoCapture(1)
time.sleep(1)
# WebCam capture dimensions, a cv2 method
cap.set(3, 640)
wb.SetProfile(wb.PROF_TRACKER)
# Set scan arena
wb.SetArenaR(*ARENA[0])
wb.SetArenaPhi(*ARENA[1])
wb.SetArenaTheta(*ARENA[2])
print("Arena set")
# Set image filter
wb.SetDynamicImageFilter(wb.FILTER_TYPE_MTI)
# Start scan
wb.Start()
wb.StartCalibration()
stat, prog = wb.GetStatus()
while stat == wb.STATUS_CALIBRATING and prog < 100:
print("Calibrating " + str(prog) + "%")
stat, prog = wb.GetStatus()
posmap = GenPosMap()
print("Setting plot")
if os.name == 'nt':
prep_plot(None, posmap)
else:
curses.wrapper(prep_plot, posmap)
wb.Stop()
wb.Disconnect()
def run():
cap = VideoCapture(0)
# Select scan arena
# R Phi Theta
ARENA = [(40, 500, 4), (-60, 60, 5), (-15, 15, 5)]
# Init of Dataframe
dataset = pd.DataFrame()
# Star Walabot capture process
print("Initialize API")
wb.Init()
wb.Initialize()
# Check if a Walabot is connected
try:
wb.ConnectAny()
except wb.WalabotError as err:
print("Failed to connect to Walabot.\nerror code: " + str(err.code))
print(wb.GetExtendedError())
print(wb.GetErrorString())
sys.exit(1)
ver = wb.GetVersion()
print("Walabot API version: {}".format(ver))
print("Connected to Walabot")
wb.SetProfile(wb.PROF_SENSOR)
# Set scan arena
wb.SetArenaR(*ARENA[0])
wb.SetArenaPhi(*ARENA[1])
wb.SetArenaTheta(*ARENA[2])
print("Arena set")
# Set image filter
wb.SetDynamicImageFilter(wb.FILTER_TYPE_NONE)
# Start calibration
wb.Start()
wb.StartCalibration()
while wb.GetStatus()[0] == wb.STATUS_CALIBRATING:
wb.Trigger()
print("Calibration done!")
namevar = time.strftime("%Y_%m_%d_%H_%M_%S")
dim1, dim2 = wb.GetRawImageSlice()[1:3]
try:
pairs = wb.GetAntennaPairs()
j = 1
# print(len(wb.GetAntennaPairs()))
# fig = plt.figure()
# ax = fig.add_subplot(111, projection='3d')
while True:
# One iteration takes around 0.1 seconds
wb.Trigger()
ret, frame = cap.read()
try:
raw_image, size_X, size_Y, size_Z, power = wb.GetRawImage()
raw_imageSlice, size_phi, size_r, slice_depth, powerSlice = wb.GetRawImageSlice(
)
sample_dict = {
'timestamp': time.time_ns(),
# 'raw_signals': raw_signals,
'wlb/img': raw_image,
'wlb/slice': raw_imageSlice,
'wlb/X': size_X,
'wlb/Y': size_Y,
'wlb/Z': size_Z,
'wlb/power': power,
'wlb/Sphi': size_phi,
'wlb/Sr': size_r,
'wlb/Sdepth': slice_depth,
'wlb/Spower': powerSlice,
'cam/img': frame
}
# plotpointcloud(raw_image, ax)
# if j%10 == 0:
# plt.show()
cv2.imshow('frame', frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
dataset = dataset.append(sample_dict, ignore_index=True)
# print(sample_dict["timestamp"])
except:
print(sys.exc_info())
j = j + 1
if j % 1000 == 0:
print("Saving at j=" + str(j))
dataset.to_pickle("walabot_{}_{}.pkl.zip".format(
namevar, int(j / 1000)),
compression='zip')
print("Saved!")
dataset = pd.DataFrame()
except KeyboardInterrupt:
print('interrupted!')
finally:
dataset.iloc[-1000:].to_pickle("walabot_{}_{}.pkl.zip".format(
namevar,
int(j / 1000) + 1),
compression='zip')
cap.release()
destroyAllWindows()
wb.Stop()
wb.Disconnect()
print("Done!")
sys.exit(0)
wlbt.PROF_SHORT_RANGE_IMAGING) # set scan profile out of the possibilities
wlbt.SetDynamicImageFilter(wlbt.FILTER_TYPE_NONE) # specify filter to use
wlbt.SetThreshold(thresh)
wlbt.SetAdvancedParameter(wlbt.PARAM_DIELECTRIC_CONSTANT, 4)
wlbt.SetArenaX(xArenaMin, xArenaMax, xArenaRes) #Set Arena Size
wlbt.SetArenaY(yArenaMin, yArenaMax, yArenaRes)
wlbt.SetArenaZ(zArenaMin, zArenaMax, zArenaRes)
cali = 'N'
print("Please enter C to calibrate")
cali = input()
wlbt.Start() # starts Walabot in preparation for scanning
wlbt.StartCalibration() #Walabot Calibration
while wlbt.GetStatus()[0] == wlbt.STATUS_CALIBRATING:
wlbt.Trigger()
while sc == "N":
print("Please enter S to start a scan")
sc = input()
if sc == "S":
#print(wlbt.GetAdvancedParameter(wlbt.PARAM_DIELECTRIC_CONSTANT))
q = 1
while (q == 1):
appStatus, calibrationProcess = wlbt.GetStatus()
wlbt.Trigger() # initiates a scan and records signals
listpairs = wlbt.GetAntennaPairs()
q = len(listpairs)
f1 = open("AntennaPairs.txt", "w+")
for i in listpairs: