Calibration tweaks

trap/laser_calibration.py

@@ -1,19 +1,24 @@
 
 
 from argparse import ArgumentParser
+import enum
 import json
 from pathlib import Path
+import time
 from typing import Optional
 
 import cv2
 import numpy as np
 
 from trap.base import DataclassJSONEncoder, DistortedCamera, Frame
-from trap.lines import CoordinateSpace, RenderableLines, SrgbaColor, cross_points
+from trap.lines import CoordinateSpace, RenderableLine, RenderableLines, RenderablePoint, RenderablePosition, SrgbaColor, cross_points
 from trap.node import Node
 from trap.stage import Coordinate
 
 
+class Modes(enum.Enum):
+    POINTS = 1
+    TEST_LINE = 2
 
 class LaserCalibration(Node):
     """
@@ -39,6 +44,7 @@ class LaserCalibration(Node):
         self._is_dragging = False
         self.laser_points = {}
         self.image_points = {}
+        self.mode = Modes.POINTS
         self.H = None
 
         self.img_size = (1920,1080)
@@ -111,6 +117,15 @@ class LaserCalibration(Node):
             cv2.imshow('laser_calib', img)
 
             lines = []
+            if self.mode == Modes.TEST_LINE:
+                lines.append(RenderableLine([
+                    RenderablePoint((i,time.time()%18), SrgbaColor(0,1,0,1)) for i in range(-15, 40)
+                    
+                    ]))
+                     # render in laser space
+                rl = RenderableLines(lines, CoordinateSpace.WORLD)
+                self.laser_sock.send_json(rl, cls=DataclassJSONEncoder)
+            else:
                 if self._selected_point:
                     point = self.laser_points[self._selected_point]
                     lines.extend(cross_points(point[0], point[1], 100, SrgbaColor(0,1,0,1)))
@@ -139,6 +154,10 @@ class LaserCalibration(Node):
         if key == ord('d') and self._selected_point:
             self.delete_point(self._selected_point)
         
+        if key == ord('t'):
+            self.mode = Modes.TEST_LINE if self.mode == Modes.POINTS else Modes.POINTS
+            print(self.mode)
+            
         # arrow up (82), down (84), arrow left(81) 
         if self._selected_point and key in [81, 84, 82, 83,
                    ord('h'), ord('j'), ord('k'), ord('l'),

trap/lines.py

@@ -77,7 +77,7 @@ class RenderableLines():
     space: CoordinateSpace = CoordinateSpace.WORLD
 
     def as_simplified(self, method: SimplifyMethod = SimplifyMethod.RDP, factor = SIMPLIFY_FACTOR_RDP):
-        """Wraps RenderableLine simplification"""
+        """Wraps RenderableLine simplification, smaller factor is more detailed"""
         return RenderableLines(
             [line.as_simplified(method, factor) for line in self.lines]
         )