def updateRegister(self, bidi_parameter:BIDI_PARAMETER, value_array:numpy.ndarray) -> bool:
# 0. Ensure bitrange is valid
assert bidi_parameter.bitrange_array.shape == value_array.shape
# 1. Overwrite mentioned registers
self.allBits()[bidi_parameter.bitrange_array] = value_array
# 2. Prepare addresses and bit list
AlteredAdresses = bidi_parameter.bitrange_array / self.WORD_LENGTH
UpdatedRegisters = numpy.unique(AlteredAdresses.astype(numpy.int))
# 3. Iterate over updated registers and write to Bidi
success = True
for address in numpy.nditer(UpdatedRegisters):
content = self.registers_Bits[address]
bitstring = numpy.array2string(content, separator='')[1:-1]
print("Write to " + num2strg(address) + " : " + bitstring)
# TODO: Write the stuff
success = success and self.HAMMERHEAD.write( address,int(bitstring,2) )
return success
def fill_people_marker(self, marker_id):
"""Fill a marker of a woman
marker_id the number of the human
"""
marker = Marker()
frame = "/robot_" + num2strg(marker_id)
marker.id = marker_id
marker.header.frame_id = frame + '/base_link'
# marker.header.frame_id = '/robot_0/base_link'
marker.header.stamp = rospy.Time.now()
marker.type = Marker.MESH_RESOURCE
if marker_id % 2 == 0:
marker.mesh_resource = "package://social_filter/meshes/man2/models/man1.dae"
marker.scale.x = 40
marker.scale.y = 35
marker.scale.z = 50
marker.pose.position.y += 0.04
quaternion = tf.transformations.quaternion_from_euler(0, 0, 1.82)
else:
marker.mesh_resource = "package://social_filter/meshes/female1/models/female1.dae"
marker.scale.x = 0.45
marker.scale.y = 0.35
marker.scale.z = 0.5
quaternion = tf.transformations.quaternion_from_euler(0, 0, 1.57)
marker.pose.orientation.x = quaternion[0]
marker.pose.orientation.y = quaternion[1]
marker.pose.orientation.z = quaternion[2]
marker.pose.orientation.w = quaternion[3]
marker.mesh_use_embedded_materials = True
marker.lifetime = rospy.Duration.from_sec(1.0)
return marker
def onChangeCheckBox(self):
CheckBox = self.parent.sender()
regName = str(CheckBox.accessibleName())
self.parent.statusBar().showMessage(regName + ' was changed to ' + num2strg(CheckBox.isChecked()))
BIDI_REG = self.getRegOrNone(regName)
newContent = int(CheckBox.isChecked())
if BIDI_REG:
# print BIDI_REG
self.async_updateBIDIReg( BIDI_REG, newContent)
return CheckBox,regName,newContent
ax2.set_title("Radon transform\n(Sinogram)")
ax2.set_xlabel("Projection angle (deg)")
ax2.set_ylabel("Projection position (pixels)")
ax2.imshow(sinogram,
cmap='gray',
extent=(0, 180, 0, sinogram.shape[0]),
aspect='auto')
fig.tight_layout()
"""
Reconstruction with Filtered Back Projection
"""
t0 = time.time()
reconstruction_fbp = iradon(sinogram, theta, circle=True)
print("Time for execution of FBP: " + num2strg(round(time.time() - t0, 6)) +
" s")
error = reconstruction_fbp - image
print(f"FBP rms reconstruction error: {np.sqrt(np.mean(error**2)):.3g}")
fig, (ax1, ax2) = plt.subplots(1,
2,
figsize=(8, 4.5),
sharex=True,
sharey=True)
ax1.set_title("Original")
ax1.imshow(image, cmap='gray')
ax2.set_title(
"Reconstruction with Filtered Back Projection. \n Sampling angle = " +
num2strg(SAMPLING_ANGLE) + "\xb0 \n Maximum angle =" +
num2strg(MAX_ANGLE) + "\xb0")
Microscope_Type = 'widefield'
# choose between: 'widefield', 'gaussian', 'bessel', 'SIM', 'STED', 'aberrated'
SaveData = False
############################
############################
# Generate the Amplitude Transfer Function (or Coherent Transfer Function)
t0 = time.time() # this is to calculate the execution time
H = amplitude_transfer_function(N, Kextent, n)
pixel_size = H.dr
extent = H.xyz_extent
print('Real space sampling = ' + num2strg(pixel_size / n) + ' * wavelength')
H.create_ewald_sphere(K)
H.set_numerical_aperture(NA, Detection_Mode)
pupil, psf_xy0 = H.set_microscope_type(NA, Microscope_Type)
ATF = H.values # 3D Amplitude Transfer Function
ASF = ifftshift(ifftn(fftshift(ATF))) * N**3 #
# 3D Amplitude Spread Function (normalized for the total volume)
PSF = np.abs(ASF)**2 # 3D Point Spread Function
OTF = fftshift(fftn(ifftshift(PSF))) # 3D Optical Transfer Function
print('Elapsed time for calculation: ' + num2strg(time.time() - t0) + 's')
def __init__(self, parent):
'''
Constructor
'''
super(DPWMControl_Class, self).__init__(parent)
BIDI = parent.BIDI
CheckBox_ENDPWM = QtWidgets.QCheckBox(CONST.EN_DPWM, parent) # Enable DPWM
CheckBox_ENDPWM.setAccessibleName(BIDI.DPWM_EN.name)
CheckBox_RSTDPWM = QtWidgets.QCheckBox(CONST.RST_DPWM, parent) # Reset DPWM
CheckBox_RSTDPWM.setAccessibleName(BIDI.DPWM_RST.name)
Label_DUTY = QtWidgets.QLabel(CONST.DUTY, parent)
BitWidth = CONST.DUTY_BITS # Duty Cycle
Scale_Dec = 2
DoubleSpinBox_DUTY = QtWidgets.QDoubleSpinBox(parent)
DoubleSpinBox_DUTY.setMaximumWidth(80)
DoubleSpinBox_DUTY.setDecimals(BitWidth - Scale_Dec)
DoubleSpinBox_DUTY.setSingleStep(10.0 ** Scale_Dec * 2.0 ** (-1 * BitWidth))
DoubleSpinBox_DUTY.setRange(0, 10 ** Scale_Dec * (1 - 2 ** (-1 * BitWidth)))
DoubleSpinBox_DUTY.setSuffix(' %')
DoubleSpinBox_DUTY.setAccessibleName(BIDI.DPWM_DUTY.name)
DoubleSpinBox_DUTY.lineEdit().setReadOnly(True)
# Deadtime N and P
DT_SUFFIX = ' ps'
DT_MAXWIDTH = 80
def getDTSpinBox(SingleStep, Bits, name, attr):
SpinBox_DT = QtWidgets.QSpinBox(parent)
SpinBox_DT.setMaximumWidth(DT_MAXWIDTH)
SpinBox_DT.setSingleStep(SingleStep)
SpinBox_DT.setRange(SingleStep, 2 ** Bits * SingleStep)
SpinBox_DT.setSuffix(DT_SUFFIX)
SpinBox_DT.setAccessibleName(attr)
SpinBox_DT.lineEdit().setReadOnly(True)
return SpinBox_DT
SpinBox_DTN = getDTSpinBox(CONST.DT_STEP_N, CONST.DT_BITS_N, CONST.DT_N, 'DPWM_DT_N')
SpinBox_DTP = getDTSpinBox(CONST.DT_STEP_P, CONST.DT_BITS_P, CONST.DT_P, 'DPWM_DT_P')
Label_DTN = QtWidgets.QLabel(CONST.DT_N + ":", parent)
Label_DTP = QtWidgets.QLabel(CONST.DT_P + ":", parent)
CheckBox_ENPHASES = QtWidgets.QCheckBox(CONST.EN_ALLPHASES, parent) # Enable all phases
CheckBox_ENPHASES.setAccessibleName(CONST.EN_ALLPHASES)
# EN_PHASE
def getEN_PHASE(name, attrSHIFT, attrEN, phase):
CheckBox_ENPHx = QtWidgets.QCheckBox(name, parent)
CheckBox_ENPHx.setAccessibleName(attrEN)
ComboBox_ENPHx = QtWidgets.QComboBox(parent)
values = []
for string in CONST.DEG_STR:
values += [string]
ComboBox_ENPHx.setAccessibleName(attrSHIFT)
ComboBox_ENPHx.addItems(values)
CheckBox_ENPHx.toggled.connect(self.onChangeCheckBox)
ComboBox_ENPHx.currentIndexChanged.connect(self.onChangeComboBox)
return CheckBox_ENPHx, ComboBox_ENPHx
start_EN = 1
colPadd = 3
# Grid Layout Positioning
GridLayout = QtWidgets.QGridLayout();
GridLayout.addWidget(CheckBox_ENDPWM , 0, 0, 1, 2)
GridLayout.addWidget(CheckBox_RSTDPWM, 1, 0, 1, 2)
GridLayout.addWidget(Label_DUTY, 2, 0)
GridLayout.addWidget(DoubleSpinBox_DUTY, 2, 1)
GridLayout.addWidget(Label_DTN, 3, 0)
GridLayout.addWidget(Label_DTP, 4, 0)
GridLayout.addWidget(SpinBox_DTN, 3, 1)
GridLayout.addWidget(SpinBox_DTP, 4, 1)
GridLayout.addWidget(CheckBox_ENPHASES, start_EN - 1, 0 + colPadd, 1, 2)
self.CheckBox_ENPH = [None] * 4
self.ComboBox_ENPH = [None] * 4
for phase in range(0, 4):
name = CONST.PHASE + ' ' + num2strg(phase + 1)
attr_SEL = getattr(BIDI, "SEL_" + num2strg(phase)).name
attr_EN = getattr(BIDI, "EN_PH_" + num2strg(phase)).name
CheckBox_ENPHx, ComboBox_ENPHx = getEN_PHASE(name, attr_SEL, attr_EN,phase)
GridLayout.addWidget(CheckBox_ENPHx, start_EN + phase , 0 + colPadd)
GridLayout.addWidget(ComboBox_ENPHx, start_EN + phase , 1 + colPadd)
self.CheckBox_ENPH[ phase ] = CheckBox_ENPHx
self.ComboBox_ENPH[ phase ] = ComboBox_ENPHx
# Set bindings for buttons
AllButtons = [CheckBox_ENDPWM, CheckBox_RSTDPWM, CheckBox_ENPHASES, DoubleSpinBox_DUTY, SpinBox_DTN, SpinBox_DTP ]
for button in AllButtons:
if isinstance(button, QtWidgets.QCheckBox):
button.clicked.connect(self.onChangeCheckBox)
if hasattr(button, 'valueChanged'):
button.valueChanged.connect(self.onChangeSpinBox)
gb_DPWM = QtWidgets.QGroupBox(CONST.DPWM)
gb_DPWM.setLayout(GridLayout)
gb_DPWM.setFixedWidth(self.WIDTH)
# gb_DPWM.setFixedHeight( self.HEIGHT )
gb_DPWM.setAlignment(QtCore.Qt.AlignHCenter)
self.CheckBox_ENPHASES = CheckBox_ENPHASES
self.GroupBox = gb_DPWM
self.mainLayout = GridLayout
def onChangeSpinBox(self):
SpinBox = self.parent.sender()
regName = str(SpinBox.accessibleName())
newContent = SpinBox.value()
self.parent.statusBar().showMessage(SpinBox.accessibleName() + ' swas changed to ' + num2strg(newContent))
BIDI_REG = self.getRegOrNone(regName)
if BIDI_REG:
if SpinBox.__class__ == QtWidgets.QDoubleSpinBox:
newContent=float(newContent)
else:
newContent=int(newContent)
self.async_updateBIDIReg( BIDI_REG, newContent)
print('The voxel size is', voxel_size,'um')
H.create_ewald_sphere(K)
H.set_numerical_aperture(NA, Detection_Mode)
pupil, psf_xy0 = H.set_microscope_type(NA, Microscope_Type)
ATF = H.values # 3D Amplitude Transfer Function
ASF = ifftshift(ifftn(fftshift(ATF))) * N**3 #
# 3D Amplitude Spread Function (normalized for the total volume)
PSF = np.abs(ASF)**2 # 3D Point Spread Function
OTF = fftshift(fftn(ifftshift(PSF))) # 3D Optical Transfer Function
print('Elapsed time for calculation: ' + num2strg( time.time()-t0) + 's' )
############################
##### Show figures
plane=round(N/2)
epsilon = 1e-9 # to avoid calculating log 0 later
ATF_show = np.rot90( ( np.abs(ATF[plane,:,:]) ) )
ASF_show = np.rot90( ( np.abs(ASF[plane,:,:]) ) )
PSF_show = np.rot90( ( np.abs(PSF[plane,:,:]) ) )
OTF_show = np.rot90( 10*np.log10 ( np.abs(OTF[plane,:,:]) + epsilon ) )
# set font size
def roundandconvert(num):
return num2strg(round(num, 4))
def onChangeCheckBox(self):
sender = self.sender()
self.statusBar().showMessage(sender.accessibleName() +
' was changed to ' +
num2strg(sender.isChecked()))
def onChangeSpinBox(self):
sender = self.sender()
self.statusBar().showMessage(sender.accessibleName() +
' was changed to ' +
num2strg(sender.value()))