Merge pull request #44 from braden6521/spatial_orientation

Implemented a standalone SpatialOrientation object in Sofast Fixed and Fringe.

doc/source/example/camera_calibration/config.rst

@@ -0,0 +1,8 @@
+View Camera Distortion
+======================
+
+.. currentmodule:: example.camera_calibration.example_view_camera_distortion
+
+.. automodule:: example.camera_calibration.example_view_camera_distortion
+   :members:
+   :show-inheritance:

doc/source/example/camera_calibration/index.rst

@@ -0,0 +1,11 @@
+Camera Calibration
+==================
+
+These are example files that provide examples on how to use OpenCSP for camera lens calibration.
+
+
+
+.. toctree::
+   :maxdepth: 1
+
+   config.rst

doc/source/example/index.rst

@@ -6,6 +6,7 @@ This section describes the OpenCSP examples.
 .. toctree::
    :maxdepth: 1
 
+   camera_calibration/index.rst
    csp/index.rst
    mirror/index.rst
    scene_reconstruction/index.rst

doc/source/example/sofast/config.rst

@@ -17,11 +17,3 @@ Undefined Facet Data Process
    :members:
    :show-inheritance:
 
-View Camera Distortion
-======================
-
-.. currentmodule:: example.sofast_fringe.example_calibration_camera_pose
-
-.. automodule:: example.sofast_fringe.example_calibration_camera_pose
-   :members:
-   :show-inheritance:

doc/source/example/sofast/index.rst

@@ -1,7 +1,7 @@
-SoFast
-======
+SOFAST Fringe
+=============
 
-These are example files that provide examples on how to use Sofast to collect data and process already collected data.
+These are example files that provide examples on how to use Sofast Fringe to process collected data and perform system calibrations.
 
 
 

doc/source/library_reference/app/sofast/config.rst

@@ -116,4 +116,14 @@ opencsp.app.sofast.SofastGUI
 .. automodule:: opencsp.app.sofast.SofastGUI
    :members:
    :undoc-members:
-   :show-inheritance:
+   :show-inheritance:
+
+opencsp.app.sofast.lib.CalibrateDisplayShape
+=============================================================
+
+.. currentmodule:: opencsp.app.sofast.lib.CalibrateDisplayShape
+
+.. automodule:: opencsp.app.sofast.lib.CalibrateDisplayShape
+   :members:
+   :undoc-members:
+   :show-inheritance:

doc/source/library_reference/app/sofast/index.rst

@@ -1,4 +1,4 @@
-sofast
+SOFAST
 ======
 
 High-precision deflectometry measurement of CSP mirrors, including heliostat facets, full heliostats, and dishes.
@@ -7,4 +7,3 @@ High-precision deflectometry measurement of CSP mirrors, including heliostat fac
    :maxdepth: 1
 
    config.rst
-   calibration/index.rst

example/camera_calibration/example_view_camera_distortion.py

@@ -7,7 +7,7 @@
 from opencsp.common.lib.opencsp_path.opencsp_root_path import opencsp_code_dir
 
 
-def example_driver():
+def example_show_camera_distortion():
     """Example SOFAST script
 
     Plots visualization of camera distortion given a saved Camera HDF file
@@ -38,4 +38,4 @@ def example_driver():
 
 
 if __name__ == '__main__':
-    example_driver()
+    example_show_camera_distortion()

example/sofast_fringe/example_calibration_screen_shape.py

@@ -14,7 +14,9 @@
 
 
 def run_screen_shape_calibration(save_dir):
-    """Runs screen shape calibration. Saves data to ./data/output/screen_shape"""
+    """Runs screen shape calibration. Saves a DisplayShape HDF5 file
+    to ./data/output/screen_shape/display_shape.h5
+    """
     # Load output data from Scene Reconstruction (Aruco marker xyz points)
     file_pts_data = join(
         opencsp_code_dir(), 'common/lib/deflectometry/test/data/data_measurement', 'point_locations.csv'
@@ -56,8 +58,13 @@ def run_screen_shape_calibration(save_dir):
     cal.make_figures = True
     cal.run_calibration()
 
-    # Save screen shape data as HDF5 file
-    cal.save_data_as_hdf(join(save_dir, 'screen_distortion_data.h5'))
+    # Get screen shape data
+    display_shape = cal.as_DisplayShape('Example display shape')
+
+    # Save DisplayShape file
+    file = join(save_dir, 'display_shape.h5')
+    display_shape.save_to_hdf(file)
+    lt.info(f'Saved DisplayShape file to {file:s}')
 
     # Save calibration figures
     for fig in cal.figures:

example/sofast_fringe/example_calibration_camera_pose.py → example/sofast_fringe/example_calibration_spatial_orientation.py

@@ -1,7 +1,9 @@
 from os.path import join, dirname
 
 import numpy as np
+from scipy.spatial.transform import Rotation
 
+from opencsp.app.sofast.lib.SpatialOrientation import SpatialOrientation
 from opencsp.common.lib.deflectometry.CalibrationCameraPosition import CalibrationCameraPosition
 from opencsp.common.lib.camera.Camera import Camera
 from opencsp.common.lib.geometry.Vxyz import Vxyz
@@ -13,8 +15,8 @@
 
 def run_camera_position_calibration(save_dir):
     """Calibrates the position of the Sofast camera. Saves the rvec/tvec that
-    define the relative pose of the camera/screen to a CSV file located
-    at ./data/output/camera_rvec_tvec.csv
+    define the relative pose of the camera/screen in a SpatialOrientation file
+    at ./data/output/spatial_orientation.h5
     """
     # Define directory where screen shape calibration data is saved
     base_dir_sofast_cal = join(opencsp_code_dir(), 'common/lib/deflectometry/test/data/data_measurement')
@@ -38,14 +40,26 @@ def run_camera_position_calibration(save_dir):
     cal.make_figures = True
     cal.run_calibration()
 
+    # Get orientation
+    r_screen_cam, v_cam_screen_screen = cal.get_data()
+    r_screen_cam = Rotation.from_rotvec(r_screen_cam)
+    v_cam_screen_screen = Vxyz(v_cam_screen_screen)
+
+    r_cam_screen = r_screen_cam.inv()
+    v_cam_screen_cam = v_cam_screen_screen.rotate(r_screen_cam)
+
+    # Create spatial orientation object
+    orientation = SpatialOrientation(r_cam_screen, v_cam_screen_cam)
+
+    # Save data
+    orientation.save_to_hdf(join(save_dir, 'spatial_orientation.h5'))
+
+    # Save figures
     for fig in cal.figures:
         file = join(save_dir, fig.get_label() + '.png')
         lt.info(f'Saving figure to: {file:s}')
         fig.savefig(file)
 
-    # Save data
-    cal.save_data_as_csv(join(save_dir, 'camera_rvec_tvec.csv'))
-
 
 def example_driver():
     # Define save dir

example/sofast_fringe/example_process_facet_ensemble.py

@@ -1,15 +1,12 @@
 from os.path import join, dirname
 
-import matplotlib
-
 from opencsp.app.sofast.lib.DisplayShape import DisplayShape as Display
 from opencsp.app.sofast.lib.DefinitionEnsemble import DefinitionEnsemble
 from opencsp.app.sofast.lib.DefinitionFacet import DefinitionFacet
 from opencsp.app.sofast.lib.ImageCalibrationScaling import ImageCalibrationScaling
 from opencsp.app.sofast.lib.MeasurementSofastFringe import MeasurementSofastFringe
 from opencsp.app.sofast.lib.ProcessSofastFringe import ProcessSofastFringe as Sofast
 from opencsp.app.sofast.lib.SpatialOrientation import SpatialOrientation
-from opencsp.app.sofast.lib.visualize_setup import visualize_setup
 from opencsp.common.lib.camera.Camera import Camera
 from opencsp.common.lib.csp.FacetEnsemble import FacetEnsemble
 from opencsp.common.lib.deflectometry.Surface2DParabolic import Surface2DParabolic
@@ -39,13 +36,15 @@ def example(dir_save: str):
     file_measurement = join(sample_data_dir, 'measurement_ensemble.h5')
     file_camera = join(sample_data_dir, 'camera.h5')
     file_display = join(sample_data_dir, 'display_distorted_2d.h5')
+    file_orientation = join(sample_data_dir, 'spatial_orientation.h5')
     file_calibration = join(sample_data_dir, 'image_calibration.h5')
     file_facet = join(sample_data_dir, 'Facet_lab_6x4.json')
     file_ensemble = join(sample_data_dir, 'Ensemble_lab_6x4.json')
 
     # Load data
     camera = Camera.load_from_hdf(file_camera)
     display = Display.load_from_hdf(file_display)
+    orientation = SpatialOrientation.load_from_hdf(file_orientation)
     measurement = MeasurementSofastFringe.load_from_hdf(file_measurement)
     calibration = ImageCalibrationScaling.load_from_hdf(file_calibration)
     ensemble_data = DefinitionEnsemble.load_from_json(file_ensemble)
@@ -62,7 +61,7 @@ def example(dir_save: str):
     measurement.calibrate_fringe_images(calibration)
 
     # Instantiate sofast object
-    sofast = Sofast(measurement, camera, display)
+    sofast = Sofast(measurement, orientation, camera, display)
 
     # Update search parameters
     sofast.params.mask_hist_thresh = 0.83
@@ -88,12 +87,6 @@ def example(dir_save: str):
     mirror_control = rcm.RenderControlMirror(centroid=True, surface_normals=True, norm_res=1)
     axis_control_m = rca.meters()
 
-    # Visualize setup
-    fig_record = fm.setup_figure_for_3d_data(figure_control, axis_control_m, title='')
-    spatial_ori: SpatialOrientation = sofast.data_geometry_facet[0].spatial_orientation
-    visualize_setup(display, camera, spatial_ori.v_screen_optic_screen, spatial_ori.r_optic_screen, ax=fig_record.axis)
-    fig_record.save(dir_save, 'physical_setup_layout', 'png')
-
     # Plot scenario
     fig_record = fm.setup_figure_for_3d_data(figure_control, axis_control_m, title='Facet Ensemble')
     ensemble.draw(fig_record.view, mirror_control)

example/sofast_fringe/example_process_single_facet.py

@@ -1,14 +1,11 @@
 from os.path import join, dirname
 
-import matplotlib
-
 from opencsp.app.sofast.lib.DisplayShape import DisplayShape as Display
 from opencsp.app.sofast.lib.DefinitionFacet import DefinitionFacet
 from opencsp.app.sofast.lib.ImageCalibrationScaling import ImageCalibrationScaling
 from opencsp.app.sofast.lib.MeasurementSofastFringe import MeasurementSofastFringe
 from opencsp.app.sofast.lib.ProcessSofastFringe import ProcessSofastFringe as Sofast
 from opencsp.app.sofast.lib.SpatialOrientation import SpatialOrientation
-from opencsp.app.sofast.lib.visualize_setup import visualize_setup
 from opencsp.common.lib.camera.Camera import Camera
 from opencsp.common.lib.csp.Facet import Facet
 from opencsp.common.lib.deflectometry.Surface2DParabolic import Surface2DParabolic
@@ -36,12 +33,14 @@ def example(dir_save: str):
     file_measurement = join(sample_data_dir, 'measurement_facet.h5')
     file_camera = join(sample_data_dir, 'camera.h5')
     file_display = join(sample_data_dir, 'display_distorted_2d.h5')
+    file_orientation = join(sample_data_dir, 'spatial_orientation.h5')
     file_calibration = join(sample_data_dir, 'image_calibration.h5')
     file_facet = join(sample_data_dir, 'Facet_NSTTF.json')
 
     # Load data
     camera = Camera.load_from_hdf(file_camera)
     display = Display.load_from_hdf(file_display)
+    orientation = SpatialOrientation.load_from_hdf(file_orientation)
     measurement = MeasurementSofastFringe.load_from_hdf(file_measurement)
     calibration = ImageCalibrationScaling.load_from_hdf(file_calibration)
     facet_data = DefinitionFacet.load_from_json(file_facet)
@@ -53,7 +52,7 @@ def example(dir_save: str):
     measurement.calibrate_fringe_images(calibration)
 
     # Instantiate sofast object
-    sofast = Sofast(measurement, camera, display)
+    sofast = Sofast(measurement, orientation, camera, display)
 
     # Process
     sofast.process_optic_singlefacet(facet_data, surface)
@@ -70,12 +69,6 @@ def example(dir_save: str):
     figure_control = rcfg.RenderControlFigure(tile_array=(1, 1), tile_square=True)
     axis_control_m = rca.meters()
 
-    # Visualize setup
-    fig_record = fm.setup_figure_for_3d_data(figure_control, axis_control_m, title='')
-    spatial_ori: SpatialOrientation = sofast.data_geometry_facet[0].spatial_orientation
-    visualize_setup(display, camera, spatial_ori.v_screen_optic_screen, spatial_ori.r_optic_screen, ax=fig_record.axis)
-    fig_record.save(dir_save, 'physical_setup_layout', 'png')
-
     # Plot slope map
     fig_record = fm.setup_figure(figure_control, axis_control_m, title='')
     facet.plot_orthorectified_slope(res=0.002, clim=7, axis=fig_record.axis)