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slo office changes
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@jakgra
jakgra committed Jul 25, 2024
1 parent c0a2d6e commit 7bda16e
Showing 1 changed file with 50 additions and 12 deletions.
62 changes: 50 additions & 12 deletions calibrate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -963,8 +963,10 @@ def calibrate(self):
stereo_calib = calibUtils.StereoCalibration(self.args.traceLevel, self.args.outputScaleFactor, self.args.disableCamera)
dest_path = str(Path('resources').absolute())
# self.args.cameraMode = 'perspective' # hardcoded for now
try:

if True:
# stereo_calib = StereoCalibration()
print(self.dataset_path)
status, result_config = stereo_calib.calibrate(
self.board_config,
self.dataset_path,
Expand All @@ -984,7 +986,7 @@ def calibrate(self):
if self.empty_calibration(calibration_handler):
if "name" in board_keys and "revision" in board_keys:
calibration_handler.setBoardInfo(self.board_config['name'], self.board_config['revision'])
else:
elif not self.args.debugProcessingMode:
calibration_handler.setBoardInfo(str(self.device.getDeviceName()), str(self.args.revision))
except Exception as e:
print('Device closed in exception..' )
Expand Down Expand Up @@ -1073,8 +1075,29 @@ def calibrate(self):
calibration_handler.setStereoRight(stringToCam[camera], result_config['stereo_config']['rectification_right'])
calibration_handler.setStereoLeft(stringToCam[cam_info['extrinsics']['to_cam']], result_config['stereo_config']['rectification_left'])
target_file.close()

if len(error_text) == 0 and not self.args.debugProcessingMode:
"""import os
dataset_Path = "/run/user/1000/gvfs/smb-share:server=officeslo-nas.local,share=public/Calibration_depth_rig/SiQ 2/OAK-D-W_temperature_testing"
for folder in os.listdir(dataset_Path):
if not os.path.isdir(Path(Path(dataset_Path) / folder)) or folder[-2:]== "py":
continue
if folder.split("_")[0] != self.original:
continue
for subfolder in os.listdir(Path(Path(dataset_Path) / folder)):
for which in os.listdir(Path(Path(dataset_Path) / folder / subfolder)):
if which != "Depth":
continue
for subsubfolder in os.listdir(Path(Path(dataset_Path) / folder / subfolder/ which)):
print(f"Saved to: {str(Path(Path(dataset_Path) / folder / subfolder/ which /subsubfolder/ f'calib_redo_{self.name}.json'))}")
if self.args.cameraMode != 'perspective':
#self.f.write(f"{self.original};fisheye;{result_config['cameras']['CAM_B']['reprojection_error']};{result_config['cameras']['CAM_C']['reprojection_error']};{result_config['cameras']['CAM_A']['reprojection_error']};{result_config['cameras']['CAM_B']['extrinsics']['epipolar_error']};{result_config['cameras']['CAM_A']['extrinsics']['epipolar_error']}")
#self.f.write("\n")
calibration_handler.eepromToJsonFile(Path(Path(dataset_Path) / folder / subfolder/ which /subsubfolder/ f"calib_redo_{self.name}.json"))
else:
#self.f.write(f"{self.original};normal;{result_config['cameras']['CAM_B']['reprojection_error']};{result_config['cameras']['CAM_C']['reprojection_error']};{result_config['cameras']['CAM_A']['reprojection_error']};{result_config['cameras']['CAM_B']['extrinsics']['epipolar_error']};{result_config['cameras']['CAM_A']['extrinsics']['epipolar_error']}")
#self.f.write("\n")
calibration_handler.eepromToJsonFile(Path(Path(dataset_Path) / folder / subfolder/ which /subsubfolder/ f"calib_redo_{self.name}.json"))"""
calibration_handler.eepromToJsonFile(Path(Path(self.dataset_path) /f"calib_TILTED.json"))
if len(error_text) == 0 and not self.args.debugProcessingMode and False:
print('Flashing Calibration data into ')
# print(calib_dest_path)

Expand All @@ -1087,6 +1110,7 @@ def calibrate(self):
file_name = mx_serial_id + date_time_string
calib_dest_path = dest_path + '/' + file_name + '.json'
calibration_handler.eepromToJsonFile(calib_dest_path)
calibration_handler.eepromToJsonFile("/home/x/depthai/dataset/calib.json")
if self.args.saveCalibPath:
Path(self.args.saveCalibPath).parent.mkdir(parents=True, exist_ok=True)
calibration_handler.eepromToJsonFile(self.args.saveCalibPath)
Expand Down Expand Up @@ -1126,7 +1150,7 @@ def calibrate(self):
cv2.waitKey(0)
# return (False, "EEPROM write Failed!!")

else:
elif False:
if not self.args.debugProcessingMode:
self.device.close()
print(error_text)
Expand All @@ -1136,13 +1160,7 @@ def calibrate(self):
cv2.putText(resImage, text, (10, 250), font, 2, (0, 0, 0), 2)
cv2.imshow("Result Image", resImage)
cv2.waitKey(0)
except Exception as e:
if not self.args.debugProcessingMode:
self.device.close()
print('Device closed in exception..' )
print(e)
print(traceback.format_exc())
raise SystemExit(1)


def run(self):
if 'capture' in self.args.mode:
Expand Down Expand Up @@ -1173,6 +1191,26 @@ def run(self):
print("Using dataset path: {}".format(self.args.datasetPath))
self.dataset_path = self.args.datasetPath
if 'process' in self.args.mode:
"""import os
dataset_Path = "/run/user/1000/gvfs/smb-share:server=officeslo-nas.local,share=public/Calibration_depth_rig/SiQ 2/OAK-D-W_temperature_testing/"
self.f = open(dataset_Path + "Results_prism.txt", 'w')
self.f.write("Device_num;model;reprojection_left;reprojection_right;reprojection_vertical;epipolar_lr;epipolar_rv")
self.f.write("\n")
for folder in os.listdir(dataset_Path):
if not os.path.isdir(Path(Path(dataset_Path) / folder)) or folder[-2:]== "py" or folder[-3:]== "txt":
continue
for subfolder in os.listdir(Path(Path(dataset_Path) / folder)):
for which in os.listdir(Path(Path(dataset_Path) / folder / subfolder)):
if which.split("_")[0][:5] != "Calib":
continue
for subsubfolder in os.listdir(Path(Path(dataset_Path) / folder / subfolder/ which)):
for subsubsubfolder in os.listdir(Path(Path(dataset_Path) / folder / subfolder/ which /subsubfolder)):
if subsubsubfolder == "capture":
self.original = folder.split("_")[0]
self.name = subfolder
self.dataset_path = str(Path(Path(dataset_Path) / folder / subfolder/ which/ subsubfolder/ subsubsubfolder )) + "/"
print(self.dataset_path, self.original)
self.calibrate()"""
self.calibrate()
print('py: DONE.')

Expand Down

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