diff --git a/calibration.py b/calibration.py
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..54ce5b61b9c40e77c397ae4fa4f25a31b270ccce 100644
--- a/calibration.py
+++ b/calibration.py
@@ -0,0 +1,58 @@
+import numpy as np
+import matplotlib.pyplot as plt
+
+from sklearn.preprocessing import PolynomialFeatures
+from sklearn.linear_model import LinearRegression
+from sklearn.pipeline import Pipeline
+
+
+def polynomial_regression(x, y, angles_calib, deg):
+ """
+ Return the coefficients of a polynomial regression of degree deg on x and y.
+ x: x-positions of the spot (np-array of dim n_calib_steps)
+ x: y-positions of the spot (np-array of dim n_calib_steps)
+ angles_calib: H and V angles of calibration (np-array of dim n_calib_steps*2)
+ deg: degree of the regression's polynome (int)
+
+ RETURNS
+ coefs: coefficients for the two polynomes (np-array of dim n_coefs*2)
+ """
+ # Preprocessing of the data
+ measured_values = np.array([x, y]).transpose()
+ angles_horizontal = angles_calib[0, :]
+ angles_vertical = angles_calib[1, :]
+
+ # Creation of the models
+ model_horizontal = Pipeline([('poly', PolynomialFeatures(degree = deg, interaction_only=False)),
+ ('linear', LinearRegression(fit_intercept=False))])
+ model_vertical = Pipeline([('poly', PolynomialFeatures(degree = deg, interaction_only=False)),
+ ('linear', LinearRegression(fit_intercept=False))])
+ # Fitting of the models and return of the results
+ model_horizontal = model_horizontal.fit(measured_values, angles_horizontal)
+ coefs_horizontal = model_horizontal.named_steps['linear'].coef_
+ print(coefs_horizontal)
+ model_vertical = model_vertical.fit(measured_values, angles_vertical)
+ coefs_vertical = model_vertical.named_steps['linear'].coef_
+ print(coefs_vertical)
+
+ return np.array([coefs_horizontal, coefs_vertical]).transpose()
+
+
+if __name__ == '__main__':
+ import matplotlib.pyplot as plt
+ x = np.array([-10,0,10])
+ y = np.array([4,5,6])
+ angles_horizontal = np.array([-8,8, 93])
+ angles_vertical = np.array([10, 11, 12])
+ angles = np.array([angles_horizontal, angles_vertical])
+
+ coefs = polynomial_regression(x, y, angles, 3)
+ import pdb; pdb.set_trace()
+ coefs_horizontal = coefs[:,0]
+ x_plot = np.linspace(-10, 10, 100)
+ y_plot = x_plot
+ angle_horizontal_reg = coefs_horizontal[0] + coefs_horizontal[1] * x_plot + coefs_horizontal[2] * y_plot + coefs_horizontal[3] * x_plot**2 + coefs_horizontal[4] * x_plot*y_plot + coefs_horizontal[5] * y_plot**2 + coefs_horizontal[6] * x_plot**3 + coefs_horizontal[7] * x_plot**2 * y_plot + coefs_horizontal[8] * x_plot * y_plot**2 + coefs_horizontal[9] * y_plot**3
+ plt.figure()
+ plt.scatter(x, angles_horizontal)
+ plt.plot(x_plot, angle_horizontal_reg)
+ plt.show()
diff --git a/main.py b/main.py
index f67b83a60dd0667a22f257e05c315295d25aa599..eb836a02672180cabe441071b1bf421d7377e2cb 100644
--- a/main.py
+++ b/main.py
@@ -11,6 +11,7 @@ import numpy as np
import uvc
from sklearn.linear_model import LinearRegression
import matplotlib.pyplot as plt
+import calibration
### Variables initiales
dev_list = uvc.device_list()
@@ -270,10 +271,20 @@ class App(QWidget):
self.centroid_right_text_3.setText(str(self.centroids[1][1]))
# print(self.centroids)
if self.calib_done:
- self.angles[0][0] = (centroids[0][0] - self.b_leftH) / self.a_leftH
- self.angles[0][1] = (centroids[0][1] - self.b_leftV) / self.a_leftV
- self.angles[1][0] = (centroids[1][0] - self.b_rightH) / self.a_rightH
- self.angles[1][1] = (centroids[1][1] - self.b_rightV) / self.a_rightV
+ # self.angles[0][0] = (centroids[0][0] - self.b_leftH) / self.a_leftH
+ # self.angles[0][1] = (centroids[0][1] - self.b_leftV) / self.a_leftV
+ # self.angles[1][0] = (centroids[1][0] - self.b_rightH) / self.a_rightH
+ # self.angles[1][1] = (centroids[1][1] - self.b_rightV) / self.a_rightV
+ x_l = centroids[0][0]
+ y_l = centroids[0][1]
+ x_r = centroids[1][0]
+ y_r = centroids[1][1]
+ c_l = self.regression_coefs_left
+ c_r = self.regression_coefs_right
+ self.angles[0][0] = c_l[0][0] + c_l[1][0] * x_l + c_l[2][0] * y_l + c_l[3][0] * x_l**2 + c_l[4][0] * x_l * y_l + c_l[5][0] * y_l**2
+ self.angles[0][1] = c_l[0][1] + c_l[1][1] * x_l + c_l[2][1] * y_l + c_l[3][1] * x_l**2 + c_l[4][1] * x_l * y_l + c_l[5][1] * y_l**2
+ self.angles[1][0] = c_r[0][0] + c_r[1][0] * x_r + c_r[2][0] * y_r + c_r[3][0] * x_r**2 + c_r[4][0] * x_r * y_r + c_r[5][0] * y_r**2
+ self.angles[1][1] = c_r[0][1] + c_r[1][1] * x_r + c_r[2][1] * y_r + c_r[3][1] * x_r**2 + c_r[4][1] * x_r * y_r + c_r[5][1] * y_r**2
# print(self.angles)
self.angle_left_text_2.setText(str(self.angles[0][0]))
self.angle_left_text_3.setText(str(self.angles[0][1]))
@@ -375,31 +386,34 @@ class App(QWidget):
print(anglesH_calib.reshape(1,-1).shape)
print(self.calibH[0,:].shape)
- self.reg_leftH.fit(anglesH_calib.reshape(-1,1), self.calibH[0,:])
- print(anglesH_calib.reshape(-1,1))
- print(self.calibH[0,:])
- self.reg_rightH.fit(anglesH_calib.reshape(-1,1), self.calibH[1,:])
- self.reg_leftV.fit(anglesV_calib.reshape(-1,1), self.calibV[0,:])
- self.reg_rightV.fit(anglesV_calib.reshape(-1,1), self.calibV[1,:])
- self.a_leftH = self.reg_leftH.coef_
- self.b_leftH = self.reg_leftH.intercept_
- self.a_rightH = self.reg_rightH.coef_
- self.b_rightH = self.reg_leftH.intercept_
- self.a_leftV = self.reg_leftV.coef_
- self.b_leftV = self.reg_leftH.intercept_
- self.a_rightV = self.reg_rightV.coef_
- self.b_rightV = self.reg_leftH.intercept_
- print(self.a_leftH)
- print(self.b_leftV)
- print(self.a_rightH)
- print(self.b_rightV)
- print(self.a_leftH)
- print(self.b_leftV)
- print(self.a_rightH)
- print(self.b_rightV)
- plt.plot(anglesH_calib, self.calibH[0,:], 'r*')
- plt.plot(anglesH_calib, self.a_leftH[0] * anglesH_calib + self.b_leftH, 'r-')
- plt.show()
+ self.angles_calib = np.array([anglesH_calib, anglesV_calib]).transpose()
+ self.regression_coefs_left = calibration.polynomial_regression(self.calibH[:, 0], self.calibV[:, 0], self.angles_calib, deg=3)
+ self.regression_coefs_right = calibration.polynomial_regression(self.calibH[:, 1], self.calibV[:, 1], self.angles_calib, deg=3)
+ # self.reg_leftH.fit(anglesH_calib.reshape(-1,1), self.calibH[0,:])
+ # print(anglesH_calib.reshape(-1,1))
+ # print(self.calibH[0,:])
+ # self.reg_rightH.fit(anglesH_calib.reshape(-1,1), self.calibH[1,:])
+ # self.reg_leftV.fit(anglesV_calib.reshape(-1,1), self.calibV[0,:])
+ # self.reg_rightV.fit(anglesV_calib.reshape(-1,1), self.calibV[1,:])
+ # self.a_leftH = self.reg_leftH.coef_
+ # self.b_leftH = self.reg_leftH.intercept_
+ # self.a_rightH = self.reg_rightH.coef_
+ # self.b_rightH = self.reg_leftH.intercept_
+ # self.a_leftV = self.reg_leftV.coef_
+ # self.b_leftV = self.reg_leftH.intercept_
+ # self.a_rightV = self.reg_rightV.coef_
+ # self.b_rightV = self.reg_leftH.intercept_
+ # print(self.a_leftH)
+ # print(self.b_leftV)
+ # print(self.a_rightH)
+ # print(self.b_rightV)
+ # print(self.a_leftH)
+ # print(self.b_leftV)
+ # print(self.a_rightH)
+ # print(self.b_rightV)
+ # plt.plot(anglesH_calib, self.calibH[0,:], 'r*')
+ # plt.plot(anglesH_calib, self.a_leftH[0] * anglesH_calib + self.b_leftH, 'r-')
+ # plt.show()
print('Calibration complete !')
self.calib_step_label.setText('Calibration complete !')