def calibrate(rerun_mcsc,calib_config,display_server_numbers): config = yaml.load(open(decode_url(calib_config))) for n in [int(i) for i in display_server_numbers]: src = DS_PKL + "/ds%d" % n ds = '/display_server%d' % n ids = [ds] + config['display_servers'][ds] a = AllPointPickle() a.initilize_from_directory(src) print "*"*20 print src print "*"*20 if rerun_mcsc: mcsc = MultiCalSelfCam(src) mcsc.create_from_cams( cam_ids=ids, cam_resolutions=a.resolutions.copy(), cam_points=a.results.copy(), cam_calibrations={}, num_cameras_fill=0) dest = mcsc.execute(blocking=True, copy_files=True, silent=False) else: dest = src + "/result" MultiCalSelfCam.publish_calibration_points( dest, topic_base='/ds%d' % n)
def calibrate(rerun_mcsc, calib_config, display_server_numbers): config = yaml.load(open(decode_url(calib_config))) for n in [int(i) for i in display_server_numbers]: src = DS_PKL + "/ds%d" % n ds = '/display_server%d' % n ids = [ds] + config['display_servers'][ds] a = AllPointPickle() a.initilize_from_directory(src) print "*" * 20 print src print "*" * 20 if rerun_mcsc: mcsc = MultiCalSelfCam(src) mcsc.create_from_cams(cam_ids=ids, cam_resolutions=a.resolutions.copy(), cam_points=a.results.copy(), cam_calibrations={}, num_cameras_fill=0) dest = mcsc.execute(blocking=True, copy_files=True, silent=False) else: dest = src + "/result" MultiCalSelfCam.publish_calibration_points(dest, topic_base='/ds%d' % n)
rospy.init_node('calibone', anonymous=True) DS1_PKL = decode_url('package://flycave/calibration/triplets/ds1') DS1_CALIB = decode_url('package://flycave/calibration/triplets/ds1/result') LASER_PKL = decode_url('package://flycave/calibration/laser') FLYDRA_CALIB = decode_url('package://flycave/calibration/flydra') #test mcsc wrapper if 0: a = AllPointPickle() a.initilize_from_directory(DS1_PKL) mcsc = MultiCalSelfCam(DS1_CALIB) mcsc.create_from_cams(cam_ids=[], cam_resolutions=a.resolutions.copy(), cam_points=a.results.copy(), cam_calibrations={}, num_cameras_fill=0) dest = mcsc.execute(blocking=True, dest=tempfile.mkdtemp(prefix='mcsc'), silent=False) MultiCalSelfCam.publish_calibration_points(dest) MultiCalSelfCam.save_to_pcd(dest, "/tmp/ds1.pcd") #test roundtrip 2d -> 3d -> 2d if 0: r = flydra.reconstruct.Reconstructor(cal_source=DS1_CALIB) cams = r.get_cam_ids() print "cameras", cams
rospy.init_node('calibone', anonymous=True) DS1_PKL = decode_url('package://flycave/calibration/triplets/ds1') DS1_CALIB = decode_url('package://flycave/calibration/triplets/ds1/result') LASER_PKL = decode_url('package://flycave/calibration/laser') FLYDRA_CALIB = decode_url('package://flycave/calibration/flydra') #test mcsc wrapper if 0: a = AllPointPickle() a.initilize_from_directory(DS1_PKL) mcsc = MultiCalSelfCam(DS1_CALIB) mcsc.create_from_cams( cam_ids=[], cam_resolutions=a.resolutions.copy(), cam_points=a.results.copy(), cam_calibrations={}, num_cameras_fill=0) dest = mcsc.execute(blocking=True, dest=tempfile.mkdtemp(prefix='mcsc'), silent=False) MultiCalSelfCam.publish_calibration_points(dest) MultiCalSelfCam.save_to_pcd(dest, "/tmp/ds1.pcd") #test roundtrip 2d -> 3d -> 2d if 0: r = flydra.reconstruct.Reconstructor(cal_source=DS1_CALIB) cams = r.get_cam_ids() print "cameras",cams pts = a.get_points_in_cameras(r.get_cam_ids())