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)