def do_show_new_camera_calibration_extrinsic_dialog2(new_name: str, camera_pose, display_image, core: "PyriWebUIBrowser"):
try:
camera_calib = core.device_manager.get_device_subscription("vision_camera_calibration").GetDefaultClient()
dialog2_html = importlib_resources.read_text(__package__,"new_calibrate_extrinsic_dialog2.html")
el = js.document.createElement('div')
el.id = "new_calibrate_extrinsic_dialog2_wrapper"
js.document.getElementById("wrapper").appendChild(el)
def handle_hidden(*args):
try:
el.parentElement.removeChild(el)
except:
traceback.print_exc()
geom_util = GeometryUtil(client_obj=camera_calib)
xyz, rpy1, _, _ = geom_util.named_pose_to_xyz_rpy(camera_pose.pose)
rpy = np.rad2deg(rpy1)
x = f"{xyz[0]:4e}"
y = f"{xyz[1]:4e}"
z = f"{xyz[2]:4e}"
r_r = f"{rpy[0]:4e}"
r_p = f"{rpy[1]:4e}"
r_y = f"{rpy[2]:4e}"
i=0
d_encoded = str(base64.b64encode(display_image.data))[2:-1]
disp_img_src = "data:image/jpeg;base64," + d_encoded
# TODO: check for png?
dialog = js.Vue.new(js.python_to_js({
"el": "#new_calibrate_extrinsic_dialog2_wrapper",
"template": dialog2_html,
"data":
{
"x": x,
"y": y,
"z": z,
"r_r": r_r,
"r_p": r_p,
"r_y": r_y,
"disp_img": disp_img_src
},
"methods":
{
"handle_hidden": handle_hidden
}
}))
dialog["$bvModal"].show("new_vision_camera_calibrate_extrinsic2")
except:
traceback.print_exc()
c = d.get_device_client("vision_template_matching", 1)
bounding_box2d_type = RRN.GetStructureType(
'com.robotraconteur.geometry.BoundingBox2D', c)
named_pose2d_type = RRN.GetStructureType(
'com.robotraconteur.geometry.NamedPose2D', c)
pose2d_dtype = RRN.GetNamedArrayDType('com.robotraconteur.geometry.Pose2D', c)
var_storage = d.get_device_client("variable_storage", 1)
roi = var_storage.getf_variable_value("globals", roi_name).data
#res = c.match_template_stored_image("extrinsic_image0", "test10", None)
res = c.match_template_world_pose_camera_capture(
"camera", template_name, "camera_calibration_intrinsic",
"camera_calibration_extrinsic", 0, None)
img_util = ImageUtil(client_obj=c)
res_img = img_util.compressed_image_to_array(res.display_image)
geom_util = GeometryUtil(client_obj=c)
xyz, rpy, _, _ = geom_util.named_pose_to_xyz_rpy(
res.template_matches[0].pose.pose)
cv2.imshow("", res_img)
cv2.waitKey()
cv2.destroyAllWindows()
print(res)
def do_show_new_robot_origin_calibration_dialog2(new_name: str, robot_pose,
display_images,
core: "PyriWebUIBrowser"):
try:
dialog2_html = importlib_resources.read_text(
__package__, "new_calibrate_robot_origin_dialog2.html")
robot_calib = core.device_manager.get_device_subscription(
"vision_robot_calibration").GetDefaultClient()
geom_util = GeometryUtil(client_obj=robot_calib)
marker_xyz, marker_rpy, _, _ = geom_util.named_pose_to_xyz_rpy(
robot_pose.pose)
el = js.document.createElement('div')
el.id = "new_calibrate_robot_origin_dialog2_wrapper"
js.document.getElementById("wrapper").appendChild(el)
def handle_hidden(*args):
try:
el.parentElement.removeChild(el)
except:
traceback.print_exc()
x = f"{marker_xyz[0]:4e}"
y = f"{marker_xyz[1]:4e}"
z = f"{marker_xyz[2]:4e}"
r_r = f"{marker_rpy[0]:4e}"
r_p = f"{marker_rpy[1]:4e}"
r_y = f"{marker_rpy[2]:4e}"
imgs = []
i = 0
for d in display_images:
d_encoded = str(base64.b64encode(d.data))[2:-1]
d2 = {
"id": i,
"caption": f"Calibration result {i+1}",
"img": "data:image/jpeg;base64," + d_encoded
}
del d_encoded
imgs.append(d2)
i += 1
#TODO: check for png?
dialog = js.Vue.new(
js.python_to_js({
"el": "#new_calibrate_robot_origin_dialog2_wrapper",
"template": dialog2_html,
"data": {
"x": x,
"y": y,
"z": z,
"r_r": r_r,
"r_p": r_p,
"r_y": r_y,
"display_images": imgs
},
"methods": {
"handle_hidden": handle_hidden
}
}))
dialog["$bvModal"].show("new_vision_camera_calibrate_robot_origin2")
except:
traceback.print_exc()