def cubecalib_opencl():
"""Run the cube calibration, but then look at the points
after running normals2_opencl"""
table_calibration.finish_cube_calib('L')
cXYZL = np.array(lattice.cXYZ)
table_calibration.finish_cube_calib('R')
cXYZR = np.array(lattice.cXYZ)
cXYZ = np.hstack((cXYZL.reshape(3, -1), cXYZR.reshape(3, -1)))
opencl.setup_kernel((config.bgL['KK'], config.bgL['Ktable']),
(config.bgR['KK'], config.bgR['Ktable']))
opencl.compute_normals('LEFT')
opencl.compute_normals('RIGHT')
global modelmat
modelmat = np.eye(4, dtype='f')
modelmat[:3, :3] = flatrot.flatrot_opencl()
modelmat = lattice.lattice2_opencl(modelmat)
Xo, Yo, Zo, _ = np.rollaxis(opencl.get_xyz(), 1)
cx, cy, cz = cXYZ
cany = (cx > 0) | (cz > 0)
R, G, B = cx[cany], cy[cany], cz[cany]
update(Xo[cany], Yo[cany], Zo[cany], COLOR=(R, G, B, R + G + B))
window.mode = 'ortho'
window.clearcolor = [1, 1, 1, 0]
window.Refresh()
def cubecalib_opencl():
"""Run the cube calibration, but then look at the points
after running normals2_opencl"""
table_calibration.finish_cube_calib('L')
cXYZL = np.array(lattice.cXYZ)
table_calibration.finish_cube_calib('R')
cXYZR = np.array(lattice.cXYZ)
cXYZ = np.hstack((cXYZL.reshape(3,-1), cXYZR.reshape(3,-1)))
opencl.setup_kernel((config.bgL['KK'],config.bgL['Ktable']),
(config.bgR['KK'],config.bgR['Ktable']))
opencl.compute_normals('LEFT')
opencl.compute_normals('RIGHT')
global modelmat
modelmat = np.eye(4,dtype='f')
modelmat[:3,:3] = flatrot.flatrot_opencl()
modelmat = lattice.lattice2_opencl(modelmat)
Xo,Yo,Zo,_ = np.rollaxis(opencl.get_xyz(),1)
cx,cy,cz = cXYZ
cany = (cx>0)|(cz>0)
R,G,B = cx[cany],cy[cany],cz[cany]
update(Xo[cany],Yo[cany],Zo[cany],COLOR=(R,G,B,R+G+B))
window.mode = 'ortho'
window.clearcolor = [1,1,1,0]
window.Refresh()
def cubecalib():
table_calibration.finish_cube_calib('L')
XYZL = np.array(lattice.XYZ)
cXYZL = np.array(lattice.cXYZ)
table_calibration.finish_cube_calib('R')
XYZR = np.array(lattice.XYZ)
cXYZR = np.array(lattice.cXYZ)
XYZ = np.hstack((XYZL.reshape(3, -1), XYZR.reshape(3, -1)))
cXYZ = np.hstack((cXYZL.reshape(3, -1), cXYZR.reshape(3, -1)))
Xo, Yo, Zo = XYZ
cx, cy, cz = cXYZ
cany = (cx > 0) | (cz > 0)
R, G, B = cx[cany], cy[cany], cz[cany]
update(Xo[cany], Yo[cany], Zo[cany], COLOR=(R, G, B, R + G + B))
window.mode = 'ortho'
window.clearcolor = [1, 1, 1, 0]
window.Refresh()
def cubecalib():
table_calibration.finish_cube_calib('L')
XYZL = np.array(lattice.XYZ)
cXYZL = np.array(lattice.cXYZ)
table_calibration.finish_cube_calib('R')
XYZR = np.array(lattice.XYZ)
cXYZR = np.array(lattice.cXYZ)
XYZ = np.hstack((XYZL.reshape(3,-1), XYZR.reshape(3,-1)))
cXYZ = np.hstack((cXYZL.reshape(3,-1), cXYZR.reshape(3,-1)))
Xo,Yo,Zo = XYZ
cx,cy,cz = cXYZ
cany = (cx>0)|(cz>0)
R,G,B = cx[cany],cy[cany],cz[cany]
update(Xo[cany],Yo[cany],Zo[cany],COLOR=(R,G,B,R+G+B))
window.mode = 'ortho'
window.clearcolor = [1,1,1,0]
window.Refresh()
def run_calib():
global ds
ds = []
try:
shutil.rmtree(out_path)
except:
pass
os.mkdir(out_path)
for i in range(1):
dataset.load_random_dataset()
table_calibration.newest_folder = dataset.current_path
name = 'dataset_%s' % str(i)
d = dict(name=name)
folder = os.path.join(out_path, name)
os.mkdir(folder)
dt = timeit.timeit(lambda: table_calibration.finish_cube_calib(),
number=1)
d['dt'] = dt
depthL, depthR = table_calibration.depthL, table_calibration.depthR
bgL, bgR = config.bgL, config.bgR
for depth, side, bg in (depthL, 'left', bgL), (depthR, 'right', bgR):
pylab.figure(0)
pylab.clf()
pylab.imshow(depth)
pylab.savefig(os.path.join(folder, 'depth_%s.jpg' % side))
pylab.clf()
pylab.imshow(bg['bgHi'])
pylab.savefig(os.path.join(folder, 'bghi_%s.jpg' % side))
pylab.imshow(bg['bgLo'])
pylab.savefig(os.path.join(folder, 'bglo_%s.jpg' % side))
ds.append(d)
def run_calib():
global ds
ds = []
try:
shutil.rmtree(out_path)
except:
pass
os.mkdir(out_path)
for i in range(1):
dataset.load_random_dataset()
table_calibration.newest_folder = dataset.current_path
name = "dataset_%s" % str(i)
d = dict(name=name)
folder = os.path.join(out_path, name)
os.mkdir(folder)
dt = timeit.timeit(lambda: table_calibration.finish_cube_calib(), number=1)
d["dt"] = dt
depthL, depthR = table_calibration.depthL, table_calibration.depthR
bgL, bgR = config.bgL, config.bgR
for depth, side, bg in (depthL, "left", bgL), (depthR, "right", bgR):
pylab.figure(0)
pylab.clf()
pylab.imshow(depth)
pylab.savefig(os.path.join(folder, "depth_%s.jpg" % side))
pylab.clf()
pylab.imshow(bg["bgHi"])
pylab.savefig(os.path.join(folder, "bghi_%s.jpg" % side))
pylab.imshow(bg["bgLo"])
pylab.savefig(os.path.join(folder, "bglo_%s.jpg" % side))
ds.append(d)