corr_woofer['11'] = np.dot(R_30_y, corr_woofer['11'])
corr_woofer['8'] = np.dot(R_30_y.T, corr_woofer['8'])
corr_woofer['13'] = np.dot(R_30_x, corr_woofer['13'])
corr_woofer['14'] = np.dot(R_30_x.T, corr_woofer['14'])
# Now make two sets of markers for twitters and woofers
twitters = markers.copy()
woofers = markers.copy()
# Apply the correction vectors
twitters.correct(corr_twitter)
woofers.correct(corr_woofer)
if __name__ == "__main__":
from mpl_toolkits.mplot3d import Axes3D
import matplotlib.pyplot as plt
# Plot all the markers in the same figure to check all the locations are correct
fig = plt.figure()
axes = fig.add_subplot(111, projection='3d')
twitters.plot(axes=axes, c='b', marker='s')
woofers.plot(axes=axes, c='r', marker='<')
markers.plot(axes=axes, c='k', marker='.')
print 'DoA of Speaker 5 to FPGA:', twitters.doa('FPGA','5')/np.pi*180.,'degrees'
plt.show()
from point_cloud import PointCloud
from speakers_microphones_locations import *
from arrays import *
# FPGA array reference point offset
R = R_pyramic
ref_pt_offset = 0.01 # meters
# Adjust the z-offset of Pyramic
R[2, :] += ref_pt_offset - R[2, 0]
# Localize microphones in new reference frame
R += twitters[['FPGA']]
# correct FPGA reference point to be at the center of the array
twitters.X[:, twitters.key2ind('FPGA')] = R.mean(axis=1)
# Now we can try to visualize the geometry
pyramic = PointCloud(X=R)
# Plot all the markers in the same figure to check all the locations are correct
fig = plt.figure()
axes = fig.add_subplot(111, projection='3d')
twitters.plot(axes=axes, c='k', marker='s')
pyramic.plot(axes=axes, show_labels=False, c='r', marker='.')
plt.show()
