def calibrate(interactive):
" Compute calibration data from images "
from . import camera, platform, lasers, data
calibration_data = data.CalibrationData()
img_mask = settings.CALIBDIR + '/color_*.' + settings.FILEFORMAT
img_names = sorted(glob(img_mask))
calib_settings = camera.calibration(calibration_data, img_names)
print('F-10') ###
buggy_captures = platform.calibration(calibration_data, calib_settings)
print('F-11') ###
good_images = set(calib_settings)
print('F-12') ###
good_images.difference_update(buggy_captures)
print('F-13') ###
good_images = list(good_images)
print('F-14') ###
good_images.sort()
print('F-15') ###
lasers.calibration(calibration_data, calib_settings, good_images,
interactive)
print('F-16') ###
settings.save_data(calibration_data)
print('F-17') ###
gui.clear()
print('F-18') ###
def recognize():
" Compute mesh from images (pure mode aware)"
view_stop()
calibration_data = settings.load_data(CalibrationData())
r = settings.get_laser_range()
slices, colors = cloudify(calibration_data, settings.WORKDIR, r, range(360), method=settings.SEGMENTATION_METHOD)
meshify(calibration_data, slices, colors=colors, cylinder=settings.ROI).save("model.ply")
gui.clear()
def scan(kind=ALL, definition=1, angle=360, calibration=False, on_step=None, display=True, ftw=None):
""" Low level scan function, main loop, not called directly by shell """
s = get_scanner()
if display:
def disp(img, text):
if settings.ROTATE:
img = np.rot90(img, settings.ROTATE)
gui.display(img, text=text, resize=True)
else:
def disp(*a):
return
s.lasers_off()
s.current_rotation = 0
if ftw is None:
ftw = settings.SYNC_FRAME_STD
if calibration:
ftw += 1
sleep(0.2)
for n in range(angle):
if definition > 1 and n%definition != 0:
continue
gui.progress("scan", n, angle)
s.motor_move(1*definition)
slowdown = 1 if n == 0 else 0 # XXX: first frame needs more time (!)
if on_step:
on_step()
else:
sleep(0.13) # wait motor
if calibration:
sleep(0.05*definition)
if kind & COLOR:
s.wait_capture(ftw+slowdown)
disp( s.save('color_%03d.%s'%(n, settings.FILEFORMAT)) , '')
if kind & LASER1:
s.laser_on(0)
s.wait_capture(ftw+slowdown)
disp( s.save('laser0_%03d.%s'%(n, settings.FILEFORMAT)), 'laser 1')
s.laser_off(0)
if kind & LASER2:
s.laser_on(1)
s.wait_capture(ftw+slowdown)
disp( s.save('laser1_%03d.%s'%(n, settings.FILEFORMAT)) , 'laser 2')
s.laser_off(1)
gui.clear()
def calibrate_cam_from_shots():
" Compute camera calibration data from shots "
from . import camera, data
sk = settings.skip_calibration
settings.skip_calibration = False
calibration_data = data.CalibrationData()
img_mask = settings.SHOTSDIR + '/*.' + settings.FILEFORMAT
img_names = sorted(glob(img_mask))
camera.calibration(calibration_data, img_names)
settings.skip_calibration = sk
gui.clear()
def scan_object():
""" Scan object """
calibration_data = settings.load_data(CalibrationData())
r = settings.get_laser_range()
cloudifier = iter_cloudify(calibration_data, settings.WORKDIR, r, range(360), method=settings.SEGMENTATION_METHOD)
iterator = partial(next, cloudifier)
capture(on_step=iterator, display=False, ftw=settings.SYNC_FRAME_FAST)
slices, colors = iterator()
meshify(calibration_data, slices, colors=colors).save("model.ply")
gui.clear()
def calibrate():
" Compute calibration data from images "
from . import camera, platform, lasers, data
calibration_data = data.CalibrationData()
img_mask = settings.CALIBDIR + '/color_*.' + settings.FILEFORMAT
img_names = sorted(glob(img_mask))
calib_settings = camera.calibration(calibration_data, img_names)
buggy_captures = platform.calibration(calibration_data, calib_settings)
good_images = set(calib_settings)
good_images.difference_update(buggy_captures)
good_images = list(good_images)
good_images.sort()
lasers.calibration(calibration_data, calib_settings, good_images)
settings.save_data(calibration_data)
gui.clear()
def stop(self):
self.running = False
self.join()
self.__class__.instance = None
gui.clear()
params = text.split()
text = params[0]
params = [x.strip() for x in params[1:]]
else:
params = ()
text = text.strip()
if text == "exec":
script_commands[:] = [
x.strip() for x in ' '.join(params).split(',') if x.strip()
]
continue
try:
if commands[text](*params) != 3:
print("")
except KeyboardInterrupt:
gui.clear()
print("\nAborted!")
except KeyError:
print("Command not found: %s" % text)
except Exception as e:
gui.clear()
print("")
if DEBUG:
traceback.print_exc()
else:
print("Error occured")
timers['end_execution'] = time()
if leave_after and not script_commands:
leave_now = True
async def cli(self):
script_commands = []
if len(sys.argv) > 2 and sys.argv[1] == 'exec':
script_commands.extend(x.strip()
for x in ' '.join(sys.argv[2:]).split(','))
toggle_advanced_mode()
session = prompt_toolkit.PromptSession()
while self.running:
if script_commands:
text = script_commands.pop(0)
else:
try:
text = await session.prompt(u'Scan> ',
completer=WordCompleter(
commands,
ignore_case=True,
match_middle=False),
async_=True)
except CancelledError:
return
except EOFError:
self.stop()
return
start_execution_ts = time()
if self.running:
if text.strip():
orig_text = text
if ' ' in text:
params = text.split()
text = params[0]
params = [x.strip() for x in params[1:]]
else:
params = ()
text = text.strip()
if text == "exec":
script_commands[:] = [
x.strip() for x in ' '.join(params).split(',')
if x.strip()
]
continue
try:
if text == "exit":
self.stop()
return
t = commands[text](*params)
if isinstance(t, GuiFeedback):
t.run(self)
if t != 3:
print("")
except KeyboardInterrupt:
gui.clear()
print("\nAborted!")
except KeyError:
print("Command not found: %s" % text)
except Exception as e:
gui.clear()
print("")
if DEBUG:
traceback.print_exc()
else:
print("Error occured")
else:
duration = time() - start_execution_ts
if duration > 1:
print("Command %s executed in %ds" %
(text, s2h(duration)))