def main():
fc = Calibration()
fname = rospy.myargv()[1]
daca, dacb = np.mgrid[-0x3FFF:0x3FFF:50j, -0x3FFF:0x3FFF:50j]
daca = daca.ravel().astype(np.int16)
dacb = dacb.ravel().astype(np.int16)
dac = np.array([daca, dacb])
pixels = fc.pixels_for_dac(dac)
print 'dac.shape', dac.shape
print 'pixels.shape', pixels.shape
save_raw_calibration_data(fname, dac, pixels)
if 1:
fname2 = time.strftime("cal_%Y%m%d_%H%M%S.out")
save_raw_calibration_data(fname2, dac, pixels)
def main():
fc = FakeCalibration()
fname = sys.argv[1]
daca, dacb = np.mgrid[0:0xFFFF:100j, 0:0xFFFF:100j]
daca = daca.ravel().astype(np.uint16)
dacb = dacb.ravel().astype(np.uint16)
dac = np.array([daca, dacb])
pixels = fc.pixels_for_dac(dac)
pixels[:, 3] = np.nan
print 'dac.shape', dac.shape
print 'pixels.shape', pixels.shape
save_raw_calibration_data(fname, dac, pixels)
def main():
fc = Calibration()
fname = rospy.myargv()[1]
daca, dacb = np.mgrid[-0x3FFF:0x3FFF:50j, -0x3FFF:0x3FFF:50j]
daca = daca.ravel().astype(np.int16)
dacb = dacb.ravel().astype(np.int16)
dac = np.array([daca,dacb])
pixels = fc.pixels_for_dac( dac )
print 'dac.shape',dac.shape
print 'pixels.shape',pixels.shape
save_raw_calibration_data(fname, dac, pixels)
if 1:
fname2 = time.strftime("cal_%Y%m%d_%H%M%S.out")
save_raw_calibration_data(fname2, dac, pixels)
def main():
fc = FakeCalibration()
fname = sys.argv[1]
daca, dacb = np.mgrid[0:0xFFFF:100j, 0:0xFFFF:100j]
daca = daca.ravel().astype(np.uint16)
dacb = dacb.ravel().astype(np.uint16)
dac = np.array([daca,dacb])
pixels = fc.pixels_for_dac( dac )
pixels[:,3]=np.nan
print 'dac.shape',dac.shape
print 'pixels.shape',pixels.shape
save_raw_calibration_data(fname, dac, pixels)
def main():
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('fname_in', type=str, help='input filename')
parser.add_argument('--hotspot', nargs=2, metavar=('hotspot_x','hotspot_y'),
default=(None, None), help='the (X,Y) location of the laser reflection')
parser.add_argument('--hotspot-radius', type=float,
default=10.0, help='the radius of the laser reflection')
parser.add_argument('--center', nargs=2, metavar=('center_x','center_y'),
default=(320, 240), help='the (X,Y) location of the arena center')
parser.add_argument('--center-radius', type=float,
default=300.0, help='the radius of the laser reflection')
args=rospy.myargv()[1:]
args = parser.parse_args(args)
fname_in = args.fname_in
out_dir = os.path.dirname(os.path.abspath(fname_in))
fname_out = os.path.splitext(fname_in)[0] + '.filtered.yaml'
dac_in, pixels_in = read_raw_calibration_data(fname_in)
center_x, center_y = args.center
center_x, center_y = map(int, (center_x, center_y))
print 'removing all points outside radius %s of center %d,%d' % (args.center_radius,
center_x,
center_y )
center = np.c_[center_x,center_y].T
r = np.sqrt(np.sum((pixels_in-center)**2,axis=0))
valid1 = r < args.center_radius
print 'removing all points outside near DAC zero'
dac2 = dac_in.astype(np.int16)
dac3 = dac2.astype(np.float)
rd = np.sqrt(np.sum(dac3**2,axis=0))
valid2 = rd < 16000
hotspot_x, hotspot_y = args.hotspot
if hotspot_x is not None:
assert hotspot_y is not None
hotspot_x, hotspot_y = map(int, (hotspot_x, hotspot_y))
print 'removing all points within radius %s of hotspot %d,%d' % (args.hotspot_radius,
hotspot_x,
hotspot_y )
hotspot = np.c_[hotspot_x,hotspot_y].T
r = np.sqrt(np.sum((pixels_in-hotspot)**2,axis=0))
valid3 = r > args.hotspot_radius
else:
print 'no hotspot defined'
valid3 = np.ones_like(pixels_in[0,:], dtype=np.bool)
valid = (valid1 & valid2) & valid3
pixels = pixels_in[:,valid]
dac = dac_in[:,valid]
if 0:
# useful to change some values to debug coordinates
c = (pixels[0,:] < 400) & (pixels[1,:] < 200)
dac[:,c]=0
save_raw_calibration_data(fname_out, dac, pixels)
if 1:
fname2 = time.strftime("cal_%Y%m%d_%H%M%S.filtered.out")
full_path = os.path.join(out_dir, fname2)
save_raw_calibration_data(full_path, dac, pixels)
def main():
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('fname_in', type=str, help='input filename')
parser.add_argument('--hotspot',
nargs=2,
metavar=('hotspot_x', 'hotspot_y'),
default=(None, None),
help='the (X,Y) location of the laser reflection')
parser.add_argument('--hotspot-radius',
type=float,
default=10.0,
help='the radius of the laser reflection')
parser.add_argument('--center',
nargs=2,
metavar=('center_x', 'center_y'),
default=(320, 240),
help='the (X,Y) location of the arena center')
parser.add_argument('--center-radius',
type=float,
default=300.0,
help='the radius of the laser reflection')
args = rospy.myargv()[1:]
args = parser.parse_args(args)
fname_in = args.fname_in
out_dir = os.path.dirname(os.path.abspath(fname_in))
fname_out = os.path.splitext(fname_in)[0] + '.filtered.yaml'
dac_in, pixels_in = read_raw_calibration_data(fname_in)
center_x, center_y = args.center
center_x, center_y = map(int, (center_x, center_y))
print 'removing all points outside radius %s of center %d,%d' % (
args.center_radius, center_x, center_y)
center = np.c_[center_x, center_y].T
r = np.sqrt(np.sum((pixels_in - center)**2, axis=0))
valid1 = r < args.center_radius
print 'removing all points outside near DAC zero'
dac2 = dac_in.astype(np.int16)
dac3 = dac2.astype(np.float)
rd = np.sqrt(np.sum(dac3**2, axis=0))
valid2 = rd < 16000
hotspot_x, hotspot_y = args.hotspot
if hotspot_x is not None:
assert hotspot_y is not None
hotspot_x, hotspot_y = map(int, (hotspot_x, hotspot_y))
print 'removing all points within radius %s of hotspot %d,%d' % (
args.hotspot_radius, hotspot_x, hotspot_y)
hotspot = np.c_[hotspot_x, hotspot_y].T
r = np.sqrt(np.sum((pixels_in - hotspot)**2, axis=0))
valid3 = r > args.hotspot_radius
else:
print 'no hotspot defined'
valid3 = np.ones_like(pixels_in[0, :], dtype=np.bool)
valid = (valid1 & valid2) & valid3
pixels = pixels_in[:, valid]
dac = dac_in[:, valid]
if 0:
# useful to change some values to debug coordinates
c = (pixels[0, :] < 400) & (pixels[1, :] < 200)
dac[:, c] = 0
save_raw_calibration_data(fname_out, dac, pixels)
if 1:
fname2 = time.strftime("cal_%Y%m%d_%H%M%S.filtered.out")
full_path = os.path.join(out_dir, fname2)
save_raw_calibration_data(full_path, dac, pixels)
