def set_cylinder_model(self, cx, cy, cz, ax, ay, az, radius):
self.recon = CylinderPointCloudTransformer(cx, cy, cz, ax, ay, az,
radius, self.xyz)
create_cylinder_publisher(cx,
cy,
cz,
ax,
ay,
az,
radius,
topic_name='/flydracalib/cyl',
publish_now=True,
latch=True,
length=3 * radius,
color=(0, 1, 0, 0.3))
create_point_publisher(cx,
cy,
cz,
r=0.1,
topic_name='/flydracalib/cylcenter',
publish_now=True,
latch=True,
color=(1, 0, 0, 0.5))
create_point_cloud_message_publisher(self.recon.move_cloud(self.xyz),
topic_name='/flydracalib/points2',
publish_now=True,
latch=True)
def new_flydra_calib(self, path="/tmp/flydra.xml"):
M = self.recon.get_transformation_matrix()
newfly = self.fly.get_aligned_copy(M)
newfly.save_to_xml_filename(path)
pts2d = self.laser.get_points_in_cameras(newfly.get_cam_ids(), random_num_results=1)
pts3d = newfly.find3d(pts2d[0], return_line_coords=False)
cx, cy, cz = pts3d
create_point_publisher(
cx, cy, cz, r=0.1, topic_name="/flydracalib/testpoint", publish_now=True, latch=True, color=(0, 0, 1, 0.5)
)
return path
def new_flydra_calib(self, path='/tmp/flydra.xml'):
M = self.recon.get_transformation_matrix()
newfly = self.fly.get_aligned_copy(M)
newfly.save_to_xml_filename(path)
pts2d = self.laser.get_points_in_cameras(newfly.get_cam_ids(), random_num_results=1)
pts3d = newfly.find3d(pts2d[0],return_line_coords=False)
cx,cy,cz = pts3d
create_point_publisher(
cx,cy,cz,
r=0.1,
topic_name='/flydracalib/testpoint',
publish_now=True,
latch=True,
color=(0,0,1,0.5))
return path
def set_cylinder_model(self, cx,cy,cz,ax,ay,az,radius):
self.recon = CylinderPointCloudTransformer(cx,cy,cz,ax,ay,az,radius,self.xyz)
create_cylinder_publisher(
cx,cy,cz,ax,ay,az,radius,
topic_name='/flydracalib/cyl',
publish_now=True,
latch=True,
length=3*radius,
color=(0,1,0,0.3))
create_point_publisher(
cx,cy,cz,
r=0.1,
topic_name='/flydracalib/cylcenter',
publish_now=True,
latch=True,
color=(1,0,0,0.5))
create_point_cloud_message_publisher(
self.recon.move_cloud(self.xyz),
topic_name='/flydracalib/points2',
publish_now=True,
latch=True)