from pyquaternion import Quaternion
parser = argparse.ArgumentParser()
parser.add_argument('--data_dir',
type=str,
default='/home/tidyboy/calibration/ext_data/')
parser.add_argument('--cam_type', type=str)
args = parser.parse_args()
utils.create_muldir(args.data_dir, args.data_dir + '/images',
args.data_dir + '/poses')
#data_dir = '/home/tidyboy/ARAICodes/catkin_ws/src/robot_cal_tools/rct_examples/data/target_6x7_0/'
if args.cam_type == 'sony' or args.cam_type == 'both':
static_cam = cam_tool('sony')
if args.cam_type == 'rs' or args.cam_type == 'both':
wrist_cam = cam_tool('rs')
robot = urx.Robot("192.168.1.109")
pic_id = 0
initialized = False
starttime = datetime.datetime.now()
nexttime = starttime + datetime.timedelta(seconds=5)
while True:
if args.cam_type == 'sony' or args.cam_type == 'both':
static_cam.capture('static_view.jpg')
if args.cam_type == 'rs' or args.cam_type == 'both':
wrist_cam.capture('wrist_view.jpg')
help="number of cols of the target")
parser.add_argument('--h',
type=int,
default=6,
help="number of rows of the target")
parser.add_argument('--size',
type=float,
default=0.0228,
help='size of each lattice of target')
parser.add_argument('--static_cam_model', type=str, default='sony')
parser.add_argument('--wrist_cam_model', type=str, default='rs')
parser.add_argument('--proj_to_image', type=int, default=1)
args = parser.parse_args()
if args.cam == 'static':
cam = cam_tool(args.static_cam_model)
elif args.cam == 'wrist':
cam = cam_tool(args.wrist_cam_model)
cam.capture('preview.jpg')
img = cv2.imread('preview.jpg')
_, imgpoints = utils.find_imagepoints_from_images([img],
args.w,
args.h,
show_imgs=1)
imgpoints = np.squeeze(imgpoints[0])
robot = urx.Robot('192.168.1.109')
W2B = np.array(robot.get_pose().array)
center = np.array([-0.45165, -0.1984, 0])
import pygame
import argparse
from cam_tool import cam_tool
parser = argparse.ArgumentParser()
parser.add_argument('--cam_type',
type=str,
help="Camera type. one of realsense and sony")
args = parser.parse_args()
def quit_pressed():
for event in pygame.event.get():
if event.type == pygame.QUIT:
return True
return False
cam = cam_tool(args.cam_type)
while not quit_pressed():
filename = 'preview.jpg'
cam.capture(filename)
cam.show(filename)
import argparse
import utils
from cam_tool import cam_tool
parser = argparse.ArgumentParser()
parser.add_argument('--cam_model',
type=str,
help="Camera model. one of rs(realsense) and sony")
parser.add_argument('--depth', type=int, default=0, help="to use depth map")
args = parser.parse_args()
cam = cam_tool(args.cam_model)
while not utils.quit_pressed():
filename = 'preview.jpg'
cam.capture(filename, args.depth)
utils.show(filename)
def wait():
while True:
if args.auto != 0:
t = datetime.datetime.now()
if t > nexttime:
return
else:
for event in pygame.event.get():
if event.type == pygame.KEYDOWN and event.key == pygame.K_SPACE:
return
robot = urx.Robot("192.168.1.109")
cam = cam_tool('sony')
cam.capture('preview.jpg')
cam.show('preview.jpg')
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
img = cv2.imread('preview.jpg')
img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
ret, corners = cv2.findChessboardCorners(img, (args.h, args.w), None)
if ret:
corners = cv2.cornerSubPix(img, corners, (11, 11), (-1, -1), criteria)
img = cv2.drawChessboardCorners(img, (args.h, args.w), corners, ret)
cv2.imshow('img', img)
cv2.waitKey(0)
with open('results/extrinsic/static/mtx.pkl', 'rb') as f:
def wait():
while True:
if args.auto != 0:
t = datetime.datetime.now()
if t > nexttime:
return
else:
for event in pygame.event.get():
if event.type == pygame.KEYDOWN and event.key == pygame.K_SPACE:
return
robot = urx.Robot("192.168.1.109")
cam = cam_tool('rs')
cam.capture('preview.jpg')
cam.show('preview.jpg')
_, imgpoints = utils.find_imagepoints_from_images([cv2.imread('preview.jpg')],
args.w,
args.h,
show_imgs=1)
imgpoints = np.squeeze(imgpoints[0])
img = cv2.imread('preview.jpg')
img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
with open('results/extrinsic/wrist/mtx.pkl', 'rb') as f:
C2W = pickle.load(f)[0]
print 'C2W :\n', C2W