class CalibrationDataCapturePage(CalibrationPage):
"""This code is used for live capture
This code captures data and calibrates, saving files into the profile path. Profile path = /path/to/.Voxel/profiles. """
STATE_START = 0
STATE_NEAR_CAPTURED = 1
STATE_FAR_CAPTURED = 2
STATE_COMMON_PHASE_CAPTURED = 3
STATE_PER_PIXEL_CAPTURED = 4
STRATEGY = 'FlatWall'
BUTTON_TEXTS = {
'lens': [
"Capture Far View", "Capture Near View",
"Capture Common Phase OFfset Data", "Capture Per Pixel Data",
"Calibrate"
],
'commonPhase': [
"Capture Phase Data",
"Capture Phase Data for Second Modulation Frequency",
"Capture Per Pixel Offset Data", "Calibrate"
],
'perPixel': ["Capture Pixel Data", "Calibrate"]
}
MESSAGE_TEXTS = {
'lens': [
"Point the depth camera flat to a wall. Make sure you only see the flat wall in the camera view below and nothing else. This will be for far view capture. Later you'll need to capture near view. Now, for far view click on the capture button.",
"Maintain the depth camera orientation to the flat wall but move it closer. Make sure you only see the flat wall in the camera view below and nothing else. Now, click on the capture button to the right.",
"Capture Data for Common Phase and Per Pixel Offset Calculation. ",
"Capture Data for Per Pixel Offset Calculation",
"Great! You've got all views captured. Now, click on the calibrate button to compute the calibration coefficents."
],
'commonPhase': [
"Point the depth camera flat to a wall. Make sure you only see the flat wall in the camera view below and nothing else.",
"dealias_en is turned on. Please click on capture to record data with the second modulation frequency.",
"Capture Data for Per Pixel Offset Calculation",
"All views captured. Click on calibrate to calibrate"
],
'perPixel': [
'Point the camera to a flat wall and capture data for calculating per pixel offsets.',
"Great! you have all the data captured. CLick on calibrate. "
]
}
def __init__(self, calibrationWizard):
super(CalibrationDataCapturePage, self).__init__()
self.calibrationWizard = calibrationWizard
self.setTitle("Capture Data and Calibrate Using Depth Camera")
self.setSubTitle(
"Please Follow the instructions to calibrate the camera")
self.layout = QtGui.QVBoxLayout(self)
self.captureGroupBox = QtGui.QGroupBox("Data Capture")
self.layout.addWidget(self.captureGroupBox)
self.dataView = None
self.progressBar = None
self.progressText = None
self.hlayout = None
self.dataEngine = None
self.depthCameraController = None
self.lensCaptured = False
self.farCaptured = False
self.nearCaptured = False
self.commonPhaseCaptured = False
self.perPixelCaptured = False
self.nearFileName = None
self.farFileName = None
self.commonPhaseFileName = None
self.perPixelFileName = None
self.complete = False
self.state = CalibrationDataCapturePage.STATE_START
#layouts for groupboxes
captureLayout = QtGui.QVBoxLayout()
self.captureGroupBox.setLayout(captureLayout)
hlayout = QtGui.QHBoxLayout()
hlayout.setAlignment(QtCore.Qt.AlignTop)
self.message = QtGui.QLabel()
self.message.setSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Preferred)
self.message.setWordWrap(True)
self.message.setAlignment(QtCore.Qt.AlignTop)
hlayout.addWidget(self.message)
captureLayout.addLayout(hlayout)
self.captureButton = QtGui.QPushButton()
captureLayout.addWidget(self.captureButton)
self.captureButton.clicked.connect(self.captureDataAndCalibrate)
self.paramsGroupBox = None
self.paramsText = ''
def initializePage(self, *args, **kwargs):
self.depthCamera = self.calibrationWizard.depthCamera
self.calibrations = []
for calibration in self.calibrationWizard.calibs:
if self.calibrationWizard.calibs[
calibration] == CalibrationDataCapturePage.STRATEGY:
self.calibrations.append(calibration)
if 'lens' in self.calibrations:
self.calibrationToDo = 'lens'
self.buttonTexts = CalibrationDataCapturePage.BUTTON_TEXTS['lens']
self.messageTexts = CalibrationDataCapturePage.MESSAGE_TEXTS[
'lens']
elif 'commonPhase' in self.calibrations:
self.calibrationToDo = 'commonPhase'
self.buttonTexts = CalibrationDataCapturePage.BUTTON_TEXTS[
'commonPhase']
self.messageTexts = CalibrationDataCapturePage.MESSAGE_TEXTS[
'commonPhase']
elif 'perPixel' in self.calibrations:
self.calibrationToDo = 'perPixel'
self.buttonTexts = CalibrationDataCapturePage.BUTTON_TEXTS[
'perPixel']
self.messageTexts = CalibrationDataCapturePage.MESSAGE_TEXTS[
'perPixel']
self.captureButton.setText(self.buttonTexts[0])
self.message.setText(self.messageTexts[0])
if not self.hlayout:
self.hlayout = QtGui.QHBoxLayout()
self.numberOfFrames = 100
self.hlayout.addWidget(
QtGui.QLabel('Number of frames to capture: '))
self.frameCount = QtGui.QSpinBox()
self.frameCount.setRange(50, 1000)
self.frameCount.setValue(self.numberOfFrames)
self.frameCount.valueChanged.connect(self.setNumberOfFrames)
self.hlayout.addWidget(self.frameCount)
self.hlayout.addStretch()
self.hlayout.addWidget(QtGui.QLabel(' Distance from flat wall: '))
self.distance = QtGui.QDoubleSpinBox()
self.distance.setRange(0.1, 5000)
self.distance.setSingleStep(0.1)
self.distance.setValue(25.0)
self.distanceValue = self.distance.value()
self.distance.setDecimals(1)
self.distance.valueChanged.connect(self.setDistance)
self.hlayout.addWidget(self.distance)
self.hlayout.addWidget(QtGui.QLabel('cm'))
self.layout.addLayout(self.hlayout)
if not self.dataEngine:
self.depthCameraController = DepthCameraStreamController(
self.calibrationWizard.cameraSystem,
self.calibrationWizard.depthCamera)
self.dataEngine = DataEngine(self.depthCameraController)
self.dataEngine.disableStatistics()
self.captureRunning = False
self.dataEngine.connectData("phase", self.captureData,
QtCore.Qt.QueuedConnection)
if not self.dataView:
self.dataView = DataViewContainer(self.dataEngine,
'phase',
shouldLinkViewBox=False,
showFormatMenu=True)
self.layout.addWidget(self.dataView)
if not self.progressBar:
self.progressBar = QtGui.QProgressBar()
self.currentProgressValue = 0
self.progressBar.setValue(0)
self.layout.addWidget(self.progressBar)
if not self.progressText:
self.progressText = QtGui.QLabel()
self.layout.addWidget(self.progressText)
if not self.paramsGroupBox:
self.paramsGroupBox = QtGui.QGroupBox("Calibration Parameters")
vlayout = QtGui.QVBoxLayout()
self.paramsGroupBox.setLayout(vlayout)
self.paramsLabel = QtGui.QLabel()
vlayout.addWidget(self.paramsLabel)
self.paramsGroupBox.hide()
self.layout.addWidget(self.paramsGroupBox)
self.depthCameraController.start()
def captureData(self, value):
if not self.captureRunning:
return
self.profilePath = self.calibrationWizard.profilePath\
+ os.sep + self.calibrationWizard.depthCamera.name() + os.sep + self.calibrationWizard.depthCamera.id().split(":")[-1].split(')')[0]
if not os.path.exists(self.profilePath):
os.makedirs(self.profilePath)
fileNames = {
'lens': ["far.vxl", "near.vxl", "commonPhase.vxl", "perPixel.vxl"],
'commonPhase': ["commonPhase.vxl", "commonPhase2.vxl"],
'perPixel': ["perPixel.vxl"]
}
files = fileNames[self.calibrationToDo]
self.files = [self.profilePath + os.sep + f for f in files]
if self.currentFrameCount > self.numberOfFrames:
self.depthCamera.closeFrameStream()
self.stopCapture()
else:
if self.depthCamera.isSavingFrameStream():
self.currentFrameCount += 1
self.progressBar.setValue(self.currentFrameCount * 100 /
self.numberOfFrames)
else:
ret, self.modFreq1 = self.depthCamera.getf("mod_freq1")
ret, self.modFreq2 = self.depthCamera.getf("mod_freq2")
self.fileName = self.files[value]
if not self.depthCamera.saveFrameStream(self.files[value]):
QtGui.QMessageBox.critical(
self, "Can't save stream",
"Cannot save the current stream")
def startCapture(self):
self.captureButton.setDisabled(True)
self.frameCount.setDisabled(True)
self.average = None
self.captureRunning = True
self.currentFrameCount = 0
def captureDataAndCalibrate(self):
r, dealiasEnabled = self.depthCamera.getb("dealias_en")
if not r:
QtGui.QMessageBox.critical(self, "Can't get parameter",
"Cannot get the dealias_en parameter")
if dealiasEnabled:
r = self.depthCamera.setb('ind_freq_data_en', True)
r1 = self.depthCamera.setb('ind_freq_data_sel', False)
if self.calibrationToDo == 'lens':
if self.farCaptured == False:
self.startCapture()
self.captureData(0)
self.farFileName = self.fileName
self.farDistance = self.distanceValue
self.farCaptured = True
self.message.setText(self.messageTexts[1])
self.captureButton.setText(self.buttonTexts[1])
elif self.nearCaptured == False:
self.startCapture()
self.captureData(1)
self.nearFileName = self.fileName
self.nearDistance = self.distanceValue
if 'commonPhase' in self.calibrations:
self.commonPhaseDistance = self.distanceValue
self.commonPhaseFileName = self.fileName
self.commonPhaseFileName1 = None
if not dealiasEnabled:
self.commonPhaseCaptured = True
self.nearCaptured = True
if 'perPixel' in self.calibrations:
self.perPixelFileName = self.nearFileName
self.perPixelCaptured = True
self.message.setText(self.messageTexts[4])
self.captureButton.setText(self.buttonTexts[4])
if 'commonPhase' in self.calibrations and dealiasEnabled is True and self.commonPhaseCaptured == False:
self.message.setText(self.messageTexts[2])
self.captureButton.setText(self.buttonTexts[2])
self.nearCaptured = True
else:
self.message.setText(self.messageTexts[4])
self.captureButton.setText(self.buttonTexts[4])
elif self.commonPhaseCaptured is False and 'commonPhase' in self.calibrations:
r1 = self.depthCamera.setb('ind_freq_data_sel', True)
self.startCapture()
self.captureData(2)
self.commonPhaseFileName1 = self.fileName
self.commonPhaseCaptured = True
self.message.setText(self.messageTexts[4])
self.captureButton.setText(self.buttonTexts[4])
elif self.perPixelCaptured is False and 'perPixel' in self.calibrations:
self.startCapture()
self.captureData(3)
self.perPixelFileName = self.fileName
self.message.setText(self.messageTexts[4])
self.captureButton.setText(self.buttonTexts[4])
else:
self.calibrate()
elif self.calibrationToDo == "commonPhase":
if self.commonPhaseCaptured == False:
self.startCapture()
if not self.commonPhaseFileName:
self.captureData(0)
self.commonPhaseFileName = self.fileName
self.commonPhaseFileName1 = None
if not dealiasEnabled:
self.commonPhaseCaptured = True
self.message.setText(self.messageTexts[3])
self.captureButton.setText(self.buttonTexts[3])
else:
self.message.setText(self.messageTexts[1])
self.captureButton.setText(self.buttonTexts[1])
r1 = self.depthCamera.setb('ind_freq_data_sel', True)
elif dealiasEnabled:
self.captureData(1)
self.commonPhaseFileName1 = self.fileName
self.message.setText(self.messageTexts[3])
self.captureButton.setText(self.buttonTexts[3])
self.commonPhaseCaptured = True
self.commonPhaseDistance = self.distanceValue
if 'perPixel' in self.calibrations:
self.perPixelFileName = self.fileName
self.perPixelCaptured = True
elif self.perPixelCaptured is False and 'perPixel' in self.calibrations:
self.startCapture()
self.captureData(1)
self.perPixelFileName = self.fileName
self.perPixelCaptured = True
self.message.setText(self.messageTexts[2])
self.captureButton.setText(self.buttonTexts[2])
else:
self.message.setText(self.messageTexts[3])
self.captureButton.setText(self.buttonTexts[3])
self.calibrate()
elif self.calibrationToDo == 'perPixel':
if self.perPixelCaptured == False:
self.startCapture()
self.captureData(0)
self.perPixelCaptured = True
self.perPixelFileName = self.fileName
self.message.setText(self.messageTexts[1])
self.captureButton.setText(self.buttonTexts[1])
else:
self.calibrate()
def calibrate(self):
if self.nearCaptured and self.farCaptured:
try:
ret, mtx, dist = flatWallLensCalibration(
self.nearFileName, self.nearDistance / 100,
self.farFileName, self.farDistance / 100)
except Exception, e:
ret = False
if ret:
self.paramsText += "cx = %f\n cy = %f/n fx = fy = %f/n k1 = %f\n k2 = %f/n k3 = %f\n"\
%(mtx[0,2], mtx[1,2], mtx[0,0], dist[0], dist[1], dist[2])
self.message.setText(
"Calibration Done. Click on next to proceed")
self.calibrationWizard.calibParams['cx'] = mtx[0, 2]
self.calibrationWizard.calibParams['cy'] = mtx[1, 2]
self.calibrationWizard.calibParams['fx'] = mtx[0, 0]
self.calibrationWizard.calibParams['fy'] = mtx[0, 0]
self.calibrationWizard.calibParams['k1'] = dist[0]
self.calibrationWizard.calibParams['k2'] = dist[1]
self.calibrationWizard.calibParams['k3'] = dist[2]
self.calibrationWizard.calibParams['p1'] = 0
self.calibrationWizard.calibParams['p1'] = 0
self.completed = True
self.completeChanged.emit()
else:
QtGui.QMessageBox.critical(self, "Check Data",
"Can't get the coefficients")
if self.commonPhaseCaptured:
try:
if 'cx' in self.calibrationWizard.calibParams: \
cx = self.calibrationWizard.calibParams['cx']
else:
cx = 0
if 'cy' in self.calibrationWizard.calibParams:
cy = self.calibrationWizard.calibParams['cy']
else:
cy = 0
ret, phaseCorr1, phaseCorr2, _, _ = commonPhaseOffset(
self.commonPhaseFileName,
self.commonPhaseDistance / 100,
self.modFreq1,
cx,
cy,
self.commonPhaseFileName1,
self.modFreq2,
chipset=self.depthCamera.chipset())
except Exception, e:
print(e)
ret = False
if ret:
self.paramsText += "phase_corr_1 = %d\n phase_corr_2 = %d\n" % (
phaseCorr1, phaseCorr2)
self.calibrationWizard.calibParams['phase_corr1'] = phaseCorr1
self.calibrationWizard.calibParams['phase_corr2'] = phaseCorr2
else:
QtGui.QMessageBox.critical(self, "Check Data",
"Can't get the coefficients")
def initializePage(self, *args, **kwargs):
self.depthCamera = self.calibrationWizard.depthCamera
self.calibrations = []
for calibration in self.calibrationWizard.calibs:
if self.calibrationWizard.calibs[
calibration] == CalibrationDataCapturePage.STRATEGY:
self.calibrations.append(calibration)
if 'lens' in self.calibrations:
self.calibrationToDo = 'lens'
self.buttonTexts = CalibrationDataCapturePage.BUTTON_TEXTS['lens']
self.messageTexts = CalibrationDataCapturePage.MESSAGE_TEXTS[
'lens']
elif 'commonPhase' in self.calibrations:
self.calibrationToDo = 'commonPhase'
self.buttonTexts = CalibrationDataCapturePage.BUTTON_TEXTS[
'commonPhase']
self.messageTexts = CalibrationDataCapturePage.MESSAGE_TEXTS[
'commonPhase']
elif 'perPixel' in self.calibrations:
self.calibrationToDo = 'perPixel'
self.buttonTexts = CalibrationDataCapturePage.BUTTON_TEXTS[
'perPixel']
self.messageTexts = CalibrationDataCapturePage.MESSAGE_TEXTS[
'perPixel']
self.captureButton.setText(self.buttonTexts[0])
self.message.setText(self.messageTexts[0])
if not self.hlayout:
self.hlayout = QtGui.QHBoxLayout()
self.numberOfFrames = 100
self.hlayout.addWidget(
QtGui.QLabel('Number of frames to capture: '))
self.frameCount = QtGui.QSpinBox()
self.frameCount.setRange(50, 1000)
self.frameCount.setValue(self.numberOfFrames)
self.frameCount.valueChanged.connect(self.setNumberOfFrames)
self.hlayout.addWidget(self.frameCount)
self.hlayout.addStretch()
self.hlayout.addWidget(QtGui.QLabel(' Distance from flat wall: '))
self.distance = QtGui.QDoubleSpinBox()
self.distance.setRange(0.1, 5000)
self.distance.setSingleStep(0.1)
self.distance.setValue(25.0)
self.distanceValue = self.distance.value()
self.distance.setDecimals(1)
self.distance.valueChanged.connect(self.setDistance)
self.hlayout.addWidget(self.distance)
self.hlayout.addWidget(QtGui.QLabel('cm'))
self.layout.addLayout(self.hlayout)
if not self.dataEngine:
self.depthCameraController = DepthCameraStreamController(
self.calibrationWizard.cameraSystem,
self.calibrationWizard.depthCamera)
self.dataEngine = DataEngine(self.depthCameraController)
self.dataEngine.disableStatistics()
self.captureRunning = False
self.dataEngine.connectData("phase", self.captureData,
QtCore.Qt.QueuedConnection)
if not self.dataView:
self.dataView = DataViewContainer(self.dataEngine,
'phase',
shouldLinkViewBox=False,
showFormatMenu=True)
self.layout.addWidget(self.dataView)
if not self.progressBar:
self.progressBar = QtGui.QProgressBar()
self.currentProgressValue = 0
self.progressBar.setValue(0)
self.layout.addWidget(self.progressBar)
if not self.progressText:
self.progressText = QtGui.QLabel()
self.layout.addWidget(self.progressText)
if not self.paramsGroupBox:
self.paramsGroupBox = QtGui.QGroupBox("Calibration Parameters")
vlayout = QtGui.QVBoxLayout()
self.paramsGroupBox.setLayout(vlayout)
self.paramsLabel = QtGui.QLabel()
vlayout.addWidget(self.paramsLabel)
self.paramsGroupBox.hide()
self.layout.addWidget(self.paramsGroupBox)
self.depthCameraController.start()
def __init__(self,
cameraSystem,
depthCamera,
captureFileName,
captureType,
numberOfFrames,
parent=None,
flags=0):
super(CalibrationDataCaptureDialog, self).__init__(parent, flags)
self.captureTypes = {
'phase': ['Phase', self.captureData],
'amplitude': ['Amplitude', self.captureAmplitude]
}
self.setMinimumHeight(500)
self.setMinimumWidth(600)
self.depthCamera = depthCamera
self.depthCameraController = DepthCameraStreamController(
cameraSystem, depthCamera)
self.dataEngine = DataEngine(self.depthCameraController)
self.dataEngine.disableStatistics()
self.captureType = captureType
if not self.captureTypes.has_key(
self.captureType) or not self.depthCamera:
return
self.captureFileName = captureFileName
self.numberOfFrames = numberOfFrames
layout = QtGui.QVBoxLayout()
self.setWindowTitle('Data Capture')
self.dataView = DataViewContainer(self.dataEngine,
self.captureType,
shouldLinkViewBox=False,
showFormatMenu=True)
layout.addWidget(self.dataView)
hlayout = QtGui.QHBoxLayout()
hlayout.addWidget(QtGui.QLabel('Filename: '))
nameEdit = QtGui.QLineEdit()
hlayout.addWidget(nameEdit)
nameEdit.setText(self.captureFileName)
nameEdit.setDisabled(True)
layout.addLayout(hlayout)
self.progressBar = QtGui.QProgressBar()
self.progressBar.setValue(0)
layout.addWidget(self.progressBar)
hlayout = QtGui.QHBoxLayout()
hlayout.addWidget(QtGui.QLabel('Number of frames to capture: '))
self.frameCount = QtGui.QSpinBox()
self.frameCount.setRange(50, 500)
self.frameCount.setValue(self.numberOfFrames)
self.frameCount.valueChanged.connect(self.setNumberOfFrames)
hlayout.addWidget(self.frameCount)
self.captureButton = QtGui.QPushButton('Capture')
self.captureButton.pressed.connect(self.startCapture)
hlayout.addWidget(self.captureButton)
self.cancelButton = QtGui.QPushButton('Cancel')
self.cancelButton.pressed.connect(self.reject)
hlayout.addWidget(self.cancelButton)
layout.addLayout(hlayout)
self.setLayout(layout)
self.depthCameraController.start()
self.captureFrames = False
self.currentFrameCount = 0
self.average = None
self.data = None
self.dataEngine.connectData(self.captureType,
self.captureTypes[self.captureType][1],
QtCore.Qt.QueuedConnection)
class CalibrationDataCaptureDialog(QtGui.QDialog):
""" Shows the dialog for capturing data used in the wizard
This code is used to show and capture data. It can save VXL files or png files.
Args:
cameraSystem: The camera system used. Generally, Voxel.CameraSystem() for TI cameras
depthCamera: The depth camera connected to the device
captureFileName: The name of the file where the captured data is stored
numberOfFrames: Frames to capture
Returns:
Data (png or vxl or npy) file containing information about the captured data
"""
def __init__(self,
cameraSystem,
depthCamera,
captureFileName,
captureType,
numberOfFrames,
parent=None,
flags=0):
super(CalibrationDataCaptureDialog, self).__init__(parent, flags)
self.captureTypes = {
'phase': ['Phase', self.captureData],
'amplitude': ['Amplitude', self.captureAmplitude]
}
self.setMinimumHeight(500)
self.setMinimumWidth(600)
self.depthCamera = depthCamera
self.depthCameraController = DepthCameraStreamController(
cameraSystem, depthCamera)
self.dataEngine = DataEngine(self.depthCameraController)
self.dataEngine.disableStatistics()
self.captureType = captureType
if not self.captureTypes.has_key(
self.captureType) or not self.depthCamera:
return
self.captureFileName = captureFileName
self.numberOfFrames = numberOfFrames
layout = QtGui.QVBoxLayout()
self.setWindowTitle('Data Capture')
self.dataView = DataViewContainer(self.dataEngine,
self.captureType,
shouldLinkViewBox=False,
showFormatMenu=True)
layout.addWidget(self.dataView)
hlayout = QtGui.QHBoxLayout()
hlayout.addWidget(QtGui.QLabel('Filename: '))
nameEdit = QtGui.QLineEdit()
hlayout.addWidget(nameEdit)
nameEdit.setText(self.captureFileName)
nameEdit.setDisabled(True)
layout.addLayout(hlayout)
self.progressBar = QtGui.QProgressBar()
self.progressBar.setValue(0)
layout.addWidget(self.progressBar)
hlayout = QtGui.QHBoxLayout()
hlayout.addWidget(QtGui.QLabel('Number of frames to capture: '))
self.frameCount = QtGui.QSpinBox()
self.frameCount.setRange(50, 500)
self.frameCount.setValue(self.numberOfFrames)
self.frameCount.valueChanged.connect(self.setNumberOfFrames)
hlayout.addWidget(self.frameCount)
self.captureButton = QtGui.QPushButton('Capture')
self.captureButton.pressed.connect(self.startCapture)
hlayout.addWidget(self.captureButton)
self.cancelButton = QtGui.QPushButton('Cancel')
self.cancelButton.pressed.connect(self.reject)
hlayout.addWidget(self.cancelButton)
layout.addLayout(hlayout)
self.setLayout(layout)
self.depthCameraController.start()
self.captureFrames = False
self.currentFrameCount = 0
self.average = None
self.data = None
self.dataEngine.connectData(self.captureType,
self.captureTypes[self.captureType][1],
QtCore.Qt.QueuedConnection)
def setNumberOfFrames(self, value):
self.numberOfFrames = value
@QtCore.Slot(object, object, object)
def capturePhase(self, id, timestamp, frame):
if not self.captureFrames:
return
if self.average is None:
self.average = np.zeros(self.dataEngine.data['phase'].shape,
dtype='complex')
phase = self.dataEngine.data['phase'] * np.pi / 2048
self.average += self.dataEngine.data['amplitude'] * (
np.cos(phase) + 1j * np.sin(phase))
self.currentFrameCount += 1
self.progressBar.setValue(self.currentFrameCount * 100 /
self.numberOfFrames)
if self.currentFrameCount == self.numberOfFrames:
self.average /= self.currentFrameCount
self.average = np.angle(self.average) * (4096 / (2 * math.pi))
np.save(self.captureFileName, self.average.T)
self.stopCapture()
@QtCore.Slot(object, object, object)
def captureAmplitude(self, id, timestamp, frame):
if not self.captureFrames:
return
if self.average is None:
self.average = np.array(frame, copy=True).astype(float)
else:
self.average += np.array(frame)
self.currentFrameCount += 1
self.progressBar.setValue(self.currentFrameCount * 100 /
self.numberOfFrames)
if self.currentFrameCount == self.numberOfFrames:
self.average /= self.currentFrameCount
self.average.clip(0, 255, out=self.average)
cv2.imwrite(self.captureFileName,
self.average.transpose().astype(np.uint8))
self.stopCapture()
def captureData(self, id, timestamp, frame):
if not self.captureFrames:
return
if self.depthCamera.isSavingFrameStream():
self.currentFrameCount += 1
self.progressBar.setValue(self.currentFrameCount * 100 /
self.numberOfFrames)
if self.currentFrameCount > self.numberOfFrames:
self.stopCapture()
else:
if not self.depthCamera.saveFrameStream(self.captureFileName):
QtGui.QMessageBox.critical(self, "Can't save stream",
"Cannot save the current stream")
def startCapture(self):
self.captureButton.setDisabled(True)
self.frameCount.setDisabled(True)
self.average = None
self.captureFrames = True
def stopCapture(self):
if self.average is not None:
self.data = self.average
self.average = None
if self.depthCameraController.isRunning():
self.depthCameraController.stop()
self.accept()
self.dataEngine.stop()
# static method to create the dialog and return (date, time, accepted)
@staticmethod
def showDialog(cameraSystem,
depthCamera,
captureFileName,
captureType,
numberOfFrames,
parent=None):
dialog = CalibrationDataCaptureDialog(cameraSystem, depthCamera,
captureFileName, captureType,
numberOfFrames, parent)
result = dialog.exec_()
dialog.stopCapture()
if result == QtGui.QDialog.Accepted:
return dialog.data
else:
return None
class CalibrationDataCapturePage(CalibrationPage):
#Capture Data Only for FlatWall Method: Captures Phase Data Only
STATE_START = 0
STATE_NEAR_CAPTURED = 1
STATE_FAR_CAPTURED = 2
DISTANCE_READONLY = [False, True, True]
DISTANCE_ENABLED = [True, False, False]
BUTTON_TEXTS = ["Capture Near View", "Capture Far View", "Calibrate"]
MESSAGE_TEXTS = {
'lens': [
"Step 1: Point the depth camera flat to a wall. Make sure you only see the flat wall in the camera view below and nothing else. This will be for near view capture (usually about 25cm). Later you'll need to capture far view. Now, for near view click on the capture button to the right.",
"Step 2: Maintain the depth camera orientation to the flat wall but move it farther away by about 35cm (usually to about 60cm). Make sure you only see the flat wall in the camera view below and nothing else. Now, click on the capture button to the right.",
"Step 3: Great! You've got both near and far views captured. Now, click on the calibrate button to the right to compute the calibration coefficents."
],
'commonPhase':
"Point the depth camera flat to a wall. Make sure you only see the flat wall in the camera view below and nothing else.",
'perPixel':
'Point the camera to a vxl and capture data for calculating per pixel offsets.'
}
def __init__(self, calibrationWizard):
super(CalibrationDataCapturePage, self).__init__()
self.calibrationWizard = calibrationWizard
self.setMinimumHeight(200)
self.setSizePolicy(QtGui.QSizePolicy.Preferred,
QtGui.QSizePolicy.Expanding)
self.setTitle("Capture Data For Calibration")
self.setSubTitle("Follow the instructions to save data")
self.layout = QtGui.QVBoxLayout(self)
self.nearPhase = None
self.farPhase = None
self.currentFrameCount = 0
self.phaseAverage = None
self.phaseData = None
self.captureFrames = False
def setState(self, state):
self.state = state
self.calibrateButton.setText(
CalibrationDataCapturePage.BUTTON_TEXTS[state])
self.message.setText(
CalibrationDataCapturePage.MESSAGE_TEXTS['lens'][state])
if self.depthCamera.chipset(
) == self.calibrationWizard.CHIPSET_CALCULUS:
self.distance.setReadOnly(
CalibrationDataCapturePage.DISTANCE_READONLY[state])
self.distance.setEnabled(
CalibrationDataCapturePage.DISTANCE_ENABLED[state])
def setCenterPoint(self, value=0):
self.center = [self.cx.value(), self.cy.value()]
def setNumberOfFrames(self, value):
self.numberOfFrames = value
def getMousePosition(self, pos):
p = self.dataView.dataView.imageItem.mapFromScene(pos)
if self.frameSize is not None and self.phaseData is not None:
if p.x() < 0 or p.x() >= self.frameSize[1] or p.y() < 0 or p.y(
) >= self.frameSize[0]:
return
x = int(p.x())
y = int(p.y())
self.progressText.setText('Current point (%d, %d). Phase = %d' %
(x, y, self.phaseData[x, y]))
def reset(self):
self.setState(CalibrationDataCapturePage.STATE_START)
# self.calibrationPage.resetCalibrationParameters()
if self.depthCamera.chipset(
) == self.calibrationWizard.CHIPSET_CALCULUS:
self.distance.setValue(25.0)
def calibrate(self):
if self.state == CalibrationDataCapturePage.STATE_START:
if not self.setExtraPhaseOffsetInCamera():
QtGui.QMessageBox.critical(self, 'Extra Phase Offset',
'Failed to set extra phase offset')
return
if self.state == CalibrationDataCapturePage.STATE_START or self.state == CalibrationDataCapturePage.STATE_NEAR_CAPTURED: # Capture first and second view
self.captureRunning = True
self.currentFrameCount = 0
elif self.state == CalibrationDataCapturePage.STATE_FAR_CAPTURED:
if self.nearPhase is None or self.farPhase is None:
QtGui.QMessageBox.critical(
self, 'Invalid state',
'Cannot calibrate with near and far views captured.')
return
def captureData(self, id, timestamp, frame):
if not self.captureFrames:
return
if self.depthCamera.isSavingFrameStream():
self.currentFrameCount += 1
self.progressBar.setValue(self.currentFrameCount * 100 /
self.numberOfFrames)
if self.currentFrameCount > self.numberOfFrames:
self.stopCapture()
self.currentFrameCount = 0
else:
if not self.depthCamera.saveFrameStream(self.captureFileName):
QtGui.QMessageBox.critical(self, "Can't save stream",
"Cannot save the current stream")
def initializePage(self, *args, **kwargs):
hlayout = QtGui.QHBoxLayout()
hlayout.setAlignment(QtCore.Qt.AlignTop)
self.message = QtGui.QLabel()
self.message.setSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Preferred)
self.message.setWordWrap(True)
self.message.setAlignment(QtCore.Qt.AlignTop)
hlayout.addWidget(self.message)
self.layout.addLayout(hlayout)
self.depthCamera = self.calibrationWizard.depthCamera
self.lensPath = self.calibrationWizard.profilePath + os.sep + self.depthCamera.name(
) + os.sep + self.depthCamera.id().split(':')[-1].split(')')[0]
if not self.lensPath:
os.makedirs(self.lensPath)
hlayout = QtGui.QHBoxLayout()
self.resetButton = QtGui.QPushButton('&Reset')
self.resetButton.setShortcut('Alt+R')
self.resetButton.pressed.connect(self.reset)
self.calibrateButton = QtGui.QPushButton('&Calibrate')
self.calibrateButton.pressed.connect(self.calibrate)
self.calibrateButton.setShortcut('Alt+C')
vlayout = QtGui.QVBoxLayout()
vlayout.setAlignment(QtCore.Qt.AlignRight)
vlayout.addWidget(self.calibrateButton)
vlayout.addWidget(self.resetButton)
hlayout.addLayout(vlayout)
self.layout.addLayout(hlayout)
r, size = self.calibrationWizard.depthCamera.getMaximumFrameSize()
if not r:
QtGui.QMessageBox.warning(self, 'Maximum Frame Size',
'Could not get maximum frame size')
width = 1920
height = 1080
else:
width = size.width
height = size.height
hlayout = QtGui.QHBoxLayout()
hlayout.addWidget(QtGui.QLabel('Center pixel: cx = '))
self.cx = QtGui.QSpinBox()
self.cx.setRange(0, width - 1)
self.cx.setValue(width / 2)
hlayout.addWidget(self.cx)
self.cx.valueChanged.connect(self.setCenterPoint)
hlayout.addWidget(QtGui.QLabel(', cy = '))
self.cy = QtGui.QSpinBox()
self.cy.setRange(0, height - 1)
self.cy.setValue(height / 2)
self.cy.valueChanged.connect(self.setCenterPoint)
hlayout.addWidget(self.cy)
hlayout.addStretch()
self.setCenterPoint()
self.extraPhaseOffset = 0
hlayout.addWidget(QtGui.QLabel('Introduce Phase Offset: '))
self.phaseOffsetBox = QtGui.QSpinBox()
self.phaseOffsetBox.setRange(-4095, 4095)
self.phaseOffsetBox.setValue(self.extraPhaseOffset)
self.phaseOffsetBox.valueChanged.connect(self.setExtraPhaseOffset)
hlayout.addWidget(self.phaseOffsetBox)
self.layout.addLayout(hlayout)
hlayout = QtGui.QHBoxLayout()
self.numberOfFrames = 1000
hlayout.addWidget(QtGui.QLabel('Number of frames to capture: '))
self.frameCount = QtGui.QSpinBox()
self.frameCount.setRange(50, 1000)
self.frameCount.setValue(self.numberOfFrames)
self.frameCount.valueChanged.connect(self.setNumberOfFrames)
hlayout.addWidget(self.frameCount)
hlayout.addStretch()
r, self.dealiasingEnabled = self.depthCamera.getb('dealias_en')
r1, self.commonPhaseAdditive = self.depthCamera.getb('phase_corr_add')
if self.depthCamera.chipset() == self.calibrationWizard.CHIPSET_CALCULUS or \
r and not self.dealiasingEnabled:
self.updateCommonPhase = True
hlayout.addWidget(
QtGui.QLabel('Camera Distance (near view) from flat wall: '))
self.distance = QtGui.QDoubleSpinBox()
self.distance.setRange(0.1, 5000)
self.distance.setSingleStep(0.1)
self.distance.setValue(25.0)
self.distance.setDecimals(1)
hlayout.addWidget(self.distance)
hlayout.addWidget(QtGui.QLabel('cm'))
else:
self.updateCommonPhase = False
self.layout.addLayout(hlayout)
self.depthCameraController = DepthCameraStreamController(
self.calibrationWizard.cameraSystem,
self.calibrationWizard.depthCamera)
self.dataEngine = DataEngine(self.depthCameraController)
self.dataEngine.disableStatistics()
self.captureRunning = False
self.dataEngine.connectData("phase", self.captureData,
QtCore.Qt.QueuedConnection)
self.dataView = DataViewContainer(self.dataEngine,
'phase',
shouldLinkViewBox=False,
showFormatMenu=True)
self.layout.addWidget(self.dataView)
self.progressBar = QtGui.QProgressBar()
self.currentProgressValue = 0
self.progressBar.setValue(0)
self.layout.addWidget(self.progressBar)
self.progressText = QtGui.QLabel()
self.layout.addWidget(self.progressText)
self.dataView.dataView.graphicsWidget.scene().sigMouseMoved.connect(
self.getMousePosition)
self.setState(CalibrationDataCapturePage.STATE_START)
self.depthCameraController.start()
def setExtraPhaseOffset(self, value):
self.extraPhaseOffset = value
def setExtraPhaseOffsetInCamera(self):
return self.depthCamera.setb('disable_offset_corr', False) and \
self.depthCamera.seti('phase_corr_1', self.extraPhaseOffset)
def initializePage(self, *args, **kwargs):
hlayout = QtGui.QHBoxLayout()
hlayout.setAlignment(QtCore.Qt.AlignTop)
self.message = QtGui.QLabel()
self.message.setSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Preferred)
self.message.setWordWrap(True)
self.message.setAlignment(QtCore.Qt.AlignTop)
hlayout.addWidget(self.message)
self.layout.addLayout(hlayout)
self.depthCamera = self.calibrationWizard.depthCamera
self.lensPath = self.calibrationWizard.profilePath + os.sep + self.depthCamera.name(
) + os.sep + self.depthCamera.id().split(':')[-1].split(')')[0]
if not self.lensPath:
os.makedirs(self.lensPath)
hlayout = QtGui.QHBoxLayout()
self.resetButton = QtGui.QPushButton('&Reset')
self.resetButton.setShortcut('Alt+R')
self.resetButton.pressed.connect(self.reset)
self.calibrateButton = QtGui.QPushButton('&Calibrate')
self.calibrateButton.pressed.connect(self.calibrate)
self.calibrateButton.setShortcut('Alt+C')
vlayout = QtGui.QVBoxLayout()
vlayout.setAlignment(QtCore.Qt.AlignRight)
vlayout.addWidget(self.calibrateButton)
vlayout.addWidget(self.resetButton)
hlayout.addLayout(vlayout)
self.layout.addLayout(hlayout)
r, size = self.calibrationWizard.depthCamera.getMaximumFrameSize()
if not r:
QtGui.QMessageBox.warning(self, 'Maximum Frame Size',
'Could not get maximum frame size')
width = 1920
height = 1080
else:
width = size.width
height = size.height
hlayout = QtGui.QHBoxLayout()
hlayout.addWidget(QtGui.QLabel('Center pixel: cx = '))
self.cx = QtGui.QSpinBox()
self.cx.setRange(0, width - 1)
self.cx.setValue(width / 2)
hlayout.addWidget(self.cx)
self.cx.valueChanged.connect(self.setCenterPoint)
hlayout.addWidget(QtGui.QLabel(', cy = '))
self.cy = QtGui.QSpinBox()
self.cy.setRange(0, height - 1)
self.cy.setValue(height / 2)
self.cy.valueChanged.connect(self.setCenterPoint)
hlayout.addWidget(self.cy)
hlayout.addStretch()
self.setCenterPoint()
self.extraPhaseOffset = 0
hlayout.addWidget(QtGui.QLabel('Introduce Phase Offset: '))
self.phaseOffsetBox = QtGui.QSpinBox()
self.phaseOffsetBox.setRange(-4095, 4095)
self.phaseOffsetBox.setValue(self.extraPhaseOffset)
self.phaseOffsetBox.valueChanged.connect(self.setExtraPhaseOffset)
hlayout.addWidget(self.phaseOffsetBox)
self.layout.addLayout(hlayout)
hlayout = QtGui.QHBoxLayout()
self.numberOfFrames = 1000
hlayout.addWidget(QtGui.QLabel('Number of frames to capture: '))
self.frameCount = QtGui.QSpinBox()
self.frameCount.setRange(50, 1000)
self.frameCount.setValue(self.numberOfFrames)
self.frameCount.valueChanged.connect(self.setNumberOfFrames)
hlayout.addWidget(self.frameCount)
hlayout.addStretch()
r, self.dealiasingEnabled = self.depthCamera.getb('dealias_en')
r1, self.commonPhaseAdditive = self.depthCamera.getb('phase_corr_add')
if self.depthCamera.chipset() == self.calibrationWizard.CHIPSET_CALCULUS or \
r and not self.dealiasingEnabled:
self.updateCommonPhase = True
hlayout.addWidget(
QtGui.QLabel('Camera Distance (near view) from flat wall: '))
self.distance = QtGui.QDoubleSpinBox()
self.distance.setRange(0.1, 5000)
self.distance.setSingleStep(0.1)
self.distance.setValue(25.0)
self.distance.setDecimals(1)
hlayout.addWidget(self.distance)
hlayout.addWidget(QtGui.QLabel('cm'))
else:
self.updateCommonPhase = False
self.layout.addLayout(hlayout)
self.depthCameraController = DepthCameraStreamController(
self.calibrationWizard.cameraSystem,
self.calibrationWizard.depthCamera)
self.dataEngine = DataEngine(self.depthCameraController)
self.dataEngine.disableStatistics()
self.captureRunning = False
self.dataEngine.connectData("phase", self.captureData,
QtCore.Qt.QueuedConnection)
self.dataView = DataViewContainer(self.dataEngine,
'phase',
shouldLinkViewBox=False,
showFormatMenu=True)
self.layout.addWidget(self.dataView)
self.progressBar = QtGui.QProgressBar()
self.currentProgressValue = 0
self.progressBar.setValue(0)
self.layout.addWidget(self.progressBar)
self.progressText = QtGui.QLabel()
self.layout.addWidget(self.progressText)
self.dataView.dataView.graphicsWidget.scene().sigMouseMoved.connect(
self.getMousePosition)
self.setState(CalibrationDataCapturePage.STATE_START)
self.depthCameraController.start()