diff --git a/doc/notebooks/Aruco/.ipynb_checkpoints/aruco_calibration_rotation-checkpoint.ipynb b/doc/notebooks/Aruco/.ipynb_checkpoints/aruco_calibration_rotation-checkpoint.ipynb
index 0457fe3..8ea1e9b 100644
--- a/doc/notebooks/Aruco/.ipynb_checkpoints/aruco_calibration_rotation-checkpoint.ipynb
+++ b/doc/notebooks/Aruco/.ipynb_checkpoints/aruco_calibration_rotation-checkpoint.ipynb
@@ -1619,6 +1619,8 @@
"source": [
"datadir = \"./data/\"\n",
"images = [datadir + f for f in os.listdir(datadir) if f.endswith(\".jpg\") ]\n",
+ "order = np.argsort([int(p.split(\".\")[-2].split(\"_\")[-1]) for p in images])\n",
+ "images = images[order]\n",
"im = PIL.Image.open(images[0])\n",
"fig = plt.figure()\n",
"ax = fig.add_subplot(1,1,1)\n",
diff --git a/doc/notebooks/Aruco/aruco_calibration_rotation.ipynb b/doc/notebooks/Aruco/aruco_calibration_rotation.ipynb
index 0457fe3..8ea1e9b 100644
--- a/doc/notebooks/Aruco/aruco_calibration_rotation.ipynb
+++ b/doc/notebooks/Aruco/aruco_calibration_rotation.ipynb
@@ -1619,6 +1619,8 @@
"source": [
"datadir = \"./data/\"\n",
"images = [datadir + f for f in os.listdir(datadir) if f.endswith(\".jpg\") ]\n",
+ "order = np.argsort([int(p.split(\".\")[-2].split(\"_\")[-1]) for p in images])\n",
+ "images = images[order]\n",
"im = PIL.Image.open(images[0])\n",
"fig = plt.figure()\n",
"ax = fig.add_subplot(1,1,1)\n",
diff --git a/doc/notebooks/Aruco/data/calib_webcam/calibHonor.csv b/doc/notebooks/Aruco/data/calib_webcam/calibHonor.csv
new file mode 100644
index 0000000..e000c93
--- /dev/null
+++ b/doc/notebooks/Aruco/data/calib_webcam/calibHonor.csv
@@ -0,0 +1,3 @@
+1.590858715762278052e+03 0.000000000000000000e+00 1.008206750217759691e+03
+0.000000000000000000e+00 1.594169947150725875e+03 5.462130872032349771e+02
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diff --git a/doc/notebooks/Aruco/data/calib_webcam/calib_dist_Honor.csv b/doc/notebooks/Aruco/data/calib_webcam/calib_dist_Honor.csv
new file mode 100644
index 0000000..c273041
--- /dev/null
+++ b/doc/notebooks/Aruco/data/calib_webcam/calib_dist_Honor.csv
@@ -0,0 +1,14 @@
+2.305745068374976725e+00
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diff --git a/doc/notebooks/Aruco/data/calib_webcam/calib_dist_alpha500.csv b/doc/notebooks/Aruco/data/calib_webcam/calib_dist_alpha500.csv
new file mode 100644
index 0000000..03ffd3c
--- /dev/null
+++ b/doc/notebooks/Aruco/data/calib_webcam/calib_dist_alpha500.csv
@@ -0,0 +1,14 @@
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diff --git a/doc/notebooks/Aruco/data/calib_webcam/calib_dist_webcam.csv b/doc/notebooks/Aruco/data/calib_webcam/calib_dist_webcam.csv
new file mode 100644
index 0000000..17afa5d
--- /dev/null
+++ b/doc/notebooks/Aruco/data/calib_webcam/calib_dist_webcam.csv
@@ -0,0 +1,14 @@
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diff --git a/doc/notebooks/Aruco/data/calib_webcam/calib_mtx_Honor.csv b/doc/notebooks/Aruco/data/calib_webcam/calib_mtx_Honor.csv
new file mode 100644
index 0000000..0ca050e
--- /dev/null
+++ b/doc/notebooks/Aruco/data/calib_webcam/calib_mtx_Honor.csv
@@ -0,0 +1,3 @@
+1.567189503342848866e+03 0.000000000000000000e+00 9.902670836836547323e+02
+0.000000000000000000e+00 1.570546506977959780e+03 5.553998461015821704e+02
+0.000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00
diff --git a/doc/notebooks/Aruco/data/calib_webcam/calib_mtx_alpha5000.csv b/doc/notebooks/Aruco/data/calib_webcam/calib_mtx_alpha5000.csv
new file mode 100644
index 0000000..c22eb50
--- /dev/null
+++ b/doc/notebooks/Aruco/data/calib_webcam/calib_mtx_alpha5000.csv
@@ -0,0 +1,3 @@
+1.376665680047565274e+03 0.000000000000000000e+00 7.098847132128643125e+02
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diff --git a/doc/notebooks/Aruco/data/calib_webcam/calib_mtx_webcam.csv b/doc/notebooks/Aruco/data/calib_webcam/calib_mtx_webcam.csv
new file mode 100644
index 0000000..cd4f267
--- /dev/null
+++ b/doc/notebooks/Aruco/data/calib_webcam/calib_mtx_webcam.csv
@@ -0,0 +1,3 @@
+5.405828689280267554e+02 0.000000000000000000e+00 3.104286084534308543e+02
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diff --git a/doc/notebooks/Aruco/sandbox/ludovic/.ipynb_checkpoints/aruco_calibration_rotation-checkpoint.ipynb b/doc/notebooks/Aruco/sandbox/ludovic/.ipynb_checkpoints/aruco_calibration_rotation-checkpoint.ipynb
new file mode 100644
index 0000000..f3d7f84
--- /dev/null
+++ b/doc/notebooks/Aruco/sandbox/ludovic/.ipynb_checkpoints/aruco_calibration_rotation-checkpoint.ipynb
@@ -0,0 +1,7118 @@
+{
+ "cells": [
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "# Camera calibration using CHARUCO"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 3,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "import numpy as np\n",
+ "import cv2, PIL, os\n",
+ "from cv2 import aruco\n",
+ "from mpl_toolkits.mplot3d import Axes3D\n",
+ "import matplotlib.pyplot as plt\n",
+ "import matplotlib as mpl\n",
+ "import pandas as pd\n",
+ "%matplotlib nbagg\n"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {
+ "collapsed": true
+ },
+ "source": [
+ "## 2. Camera pose estimation using CHARUCO chessboard\n",
+ "\n",
+ "First, let's create the board."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 4,
+ "metadata": {
+ "scrolled": false
+ },
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('
');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "workdir = \"./workdir/\"\n",
+ "aruco_dict = aruco.Dictionary_get(aruco.DICT_6X6_250)\n",
+ "board = aruco.CharucoBoard_create(7, 5, 1, .8, aruco_dict)\n",
+ "imboard = board.draw((2000, 2000))\n",
+ "cv2.imwrite(workdir + \"chessboard.tiff\", imboard)\n",
+ "fig = plt.figure()\n",
+ "ax = fig.add_subplot(1,1,1)\n",
+ "plt.imshow(imboard, cmap = mpl.cm.gray, interpolation = \"nearest\")\n",
+ "ax.axis(\"off\")\n",
+ "plt.show()\n"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "And take photos of it from multiple angles, for example:"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 5,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "datadir = \"../../data/calib_webcam/\"\n",
+ "images = [datadir + f for f in os.listdir(datadir) if f.endswith(\".jpg\") ]\n",
+ "\n",
+ "im = PIL.Image.open(images[0])\n",
+ "fig = plt.figure()\n",
+ "ax = fig.add_subplot(1,1,1)\n",
+ "plt.imshow(im)\n",
+ "#ax.axis('off')\n",
+ "plt.show()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 9,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "['../../data/calib_webcam/image_0.jpg',\n",
+ " '../../data/calib_webcam/image_1.jpg',\n",
+ " '../../data/calib_webcam/image_10.jpg',\n",
+ " '../../data/calib_webcam/image_11.jpg',\n",
+ " '../../data/calib_webcam/image_12.jpg',\n",
+ " '../../data/calib_webcam/image_13.jpg',\n",
+ " '../../data/calib_webcam/image_14.jpg',\n",
+ " '../../data/calib_webcam/image_15.jpg',\n",
+ " '../../data/calib_webcam/image_16.jpg',\n",
+ " '../../data/calib_webcam/image_17.jpg',\n",
+ " '../../data/calib_webcam/image_18.jpg',\n",
+ " '../../data/calib_webcam/image_19.jpg',\n",
+ " '../../data/calib_webcam/image_2.jpg',\n",
+ " '../../data/calib_webcam/image_20.jpg',\n",
+ " '../../data/calib_webcam/image_21.jpg',\n",
+ " '../../data/calib_webcam/image_22.jpg',\n",
+ " '../../data/calib_webcam/image_23.jpg',\n",
+ " '../../data/calib_webcam/image_24.jpg',\n",
+ " '../../data/calib_webcam/image_25.jpg',\n",
+ " '../../data/calib_webcam/image_26.jpg',\n",
+ " '../../data/calib_webcam/image_27.jpg',\n",
+ " '../../data/calib_webcam/image_28.jpg',\n",
+ " '../../data/calib_webcam/image_29.jpg',\n",
+ " '../../data/calib_webcam/image_3.jpg',\n",
+ " '../../data/calib_webcam/image_30.jpg',\n",
+ " '../../data/calib_webcam/image_31.jpg',\n",
+ " '../../data/calib_webcam/image_32.jpg',\n",
+ " '../../data/calib_webcam/image_33.jpg',\n",
+ " '../../data/calib_webcam/image_34.jpg',\n",
+ " '../../data/calib_webcam/image_35.jpg',\n",
+ " '../../data/calib_webcam/image_36.jpg',\n",
+ " '../../data/calib_webcam/image_37.jpg',\n",
+ " '../../data/calib_webcam/image_38.jpg',\n",
+ " '../../data/calib_webcam/image_39.jpg',\n",
+ " '../../data/calib_webcam/image_4.jpg',\n",
+ " '../../data/calib_webcam/image_40.jpg',\n",
+ " '../../data/calib_webcam/image_41.jpg',\n",
+ " '../../data/calib_webcam/image_42.jpg',\n",
+ " '../../data/calib_webcam/image_43.jpg',\n",
+ " '../../data/calib_webcam/image_44.jpg',\n",
+ " '../../data/calib_webcam/image_45.jpg',\n",
+ " '../../data/calib_webcam/image_46.jpg',\n",
+ " '../../data/calib_webcam/image_47.jpg',\n",
+ " '../../data/calib_webcam/image_48.jpg',\n",
+ " '../../data/calib_webcam/image_49.jpg',\n",
+ " '../../data/calib_webcam/image_5.jpg',\n",
+ " '../../data/calib_webcam/image_50.jpg',\n",
+ " '../../data/calib_webcam/image_51.jpg',\n",
+ " '../../data/calib_webcam/image_52.jpg',\n",
+ " '../../data/calib_webcam/image_53.jpg',\n",
+ " '../../data/calib_webcam/image_54.jpg',\n",
+ " '../../data/calib_webcam/image_55.jpg',\n",
+ " '../../data/calib_webcam/image_56.jpg',\n",
+ " '../../data/calib_webcam/image_57.jpg',\n",
+ " '../../data/calib_webcam/image_58.jpg',\n",
+ " '../../data/calib_webcam/image_59.jpg',\n",
+ " '../../data/calib_webcam/image_6.jpg',\n",
+ " '../../data/calib_webcam/image_60.jpg',\n",
+ " '../../data/calib_webcam/image_61.jpg',\n",
+ " '../../data/calib_webcam/image_62.jpg',\n",
+ " '../../data/calib_webcam/image_63.jpg',\n",
+ " '../../data/calib_webcam/image_64.jpg',\n",
+ " '../../data/calib_webcam/image_65.jpg',\n",
+ " '../../data/calib_webcam/image_66.jpg',\n",
+ " '../../data/calib_webcam/image_67.jpg',\n",
+ " '../../data/calib_webcam/image_68.jpg',\n",
+ " '../../data/calib_webcam/image_69.jpg',\n",
+ " '../../data/calib_webcam/image_7.jpg',\n",
+ " '../../data/calib_webcam/image_70.jpg',\n",
+ " '../../data/calib_webcam/image_71.jpg',\n",
+ " '../../data/calib_webcam/image_72.jpg',\n",
+ " '../../data/calib_webcam/image_73.jpg',\n",
+ " '../../data/calib_webcam/image_74.jpg',\n",
+ " '../../data/calib_webcam/image_75.jpg',\n",
+ " '../../data/calib_webcam/image_76.jpg',\n",
+ " '../../data/calib_webcam/image_77.jpg',\n",
+ " '../../data/calib_webcam/image_78.jpg',\n",
+ " '../../data/calib_webcam/image_79.jpg',\n",
+ " '../../data/calib_webcam/image_8.jpg',\n",
+ " '../../data/calib_webcam/image_80.jpg',\n",
+ " '../../data/calib_webcam/image_81.jpg',\n",
+ " '../../data/calib_webcam/image_82.jpg',\n",
+ " '../../data/calib_webcam/image_83.jpg',\n",
+ " '../../data/calib_webcam/image_84.jpg',\n",
+ " '../../data/calib_webcam/image_85.jpg',\n",
+ " '../../data/calib_webcam/image_86.jpg',\n",
+ " '../../data/calib_webcam/image_87.jpg',\n",
+ " '../../data/calib_webcam/image_88.jpg',\n",
+ " '../../data/calib_webcam/image_89.jpg',\n",
+ " '../../data/calib_webcam/image_9.jpg',\n",
+ " '../../data/calib_webcam/image_90.jpg',\n",
+ " '../../data/calib_webcam/image_91.jpg',\n",
+ " '../../data/calib_webcam/image_92.jpg',\n",
+ " '../../data/calib_webcam/image_93.jpg',\n",
+ " '../../data/calib_webcam/image_94.jpg',\n",
+ " '../../data/calib_webcam/image_95.jpg',\n",
+ " '../../data/calib_webcam/image_96.jpg',\n",
+ " '../../data/calib_webcam/image_97.jpg',\n",
+ " '../../data/calib_webcam/image_98.jpg',\n",
+ " '../../data/calib_webcam/image_99.jpg']"
+ ]
+ },
+ "execution_count": 9,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "sorted(images)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "Now, the camera calibration can be done using all the images of the chessboard. Two functions are necessary:\n",
+ "\n",
+ "* The first will detect markers on all the images and.\n",
+ "* The second will proceed the detected markers to estimage the camera calibration data."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 6,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "def read_chessboards(images):\n",
+ " \"\"\"\n",
+ " Charuco base pose estimation.\n",
+ " \"\"\"\n",
+ " print(\"POSE ESTIMATION STARTS:\")\n",
+ " allCorners = []\n",
+ " allIds = []\n",
+ " decimator = 0\n",
+ " # SUB PIXEL CORNER DETECTION CRITERION\n",
+ " criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 100, 0.0001)\n",
+ "\n",
+ " for im in images:\n",
+ " print(\"=> Processing image {0}\".format(im))\n",
+ " frame = cv2.imread(im)\n",
+ " gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)\n",
+ " corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(gray, aruco_dict)\n",
+ " \n",
+ " if len(corners)>0:\n",
+ " # SUB PIXEL DETECTION\n",
+ " for corner in corners:\n",
+ " cv2.cornerSubPix(gray, corner, \n",
+ " winSize = (20,20), \n",
+ " zeroZone = (-1,-1), \n",
+ " criteria = criteria)\n",
+ " res2 = cv2.aruco.interpolateCornersCharuco(corners,ids,gray,board) \n",
+ " if res2[1] is not None and res2[2] is not None and len(res2[1])>3 and decimator%1==0:\n",
+ " allCorners.append(res2[1])\n",
+ " allIds.append(res2[2]) \n",
+ " \n",
+ " decimator+=1 \n",
+ "\n",
+ " imsize = gray.shape\n",
+ " return allCorners,allIds,imsize"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 7,
+ "metadata": {
+ "scrolled": false
+ },
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "POSE ESTIMATION STARTS:\n",
+ "=> Processing image ../../data/calib_webcam/image_91.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_9.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_82.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_98.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_83.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_46.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_21.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_60.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_80.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_66.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_14.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_48.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_53.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_13.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_12.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_38.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_71.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_33.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_72.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_42.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_0.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_97.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_47.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_26.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_16.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_45.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_49.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_78.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_59.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_79.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_8.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_67.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_64.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_36.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_25.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_18.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_31.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_58.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_88.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_63.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_4.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_30.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_87.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_77.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_69.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_27.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_43.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_11.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_50.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_22.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_15.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_3.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_6.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_41.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_99.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_89.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_10.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_2.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_96.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_54.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_90.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_86.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_29.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_32.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_35.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_70.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_75.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_73.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_57.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_51.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_1.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_55.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_5.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_39.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_7.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_20.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_40.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_76.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_81.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_52.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_19.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_94.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_24.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_17.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_93.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_44.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_61.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_84.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_92.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_62.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_85.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_74.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_37.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_23.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_95.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_56.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_34.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_28.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_68.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_65.jpg\n"
+ ]
+ }
+ ],
+ "source": [
+ "allCorners,allIds,imsize=read_chessboards(images)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 31,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "def calibrate_camera(allCorners,allIds,imsize): \n",
+ " \"\"\"\n",
+ " Calibrates the camera using the dected corners.\n",
+ " \"\"\"\n",
+ " print(\"CAMERA CALIBRATION\")\n",
+ " \n",
+ " cameraMatrixInit = np.array([[ 2000., 0., imsize[0]/2.],\n",
+ " [ 0., 2000., imsize[1]/2.],\n",
+ " [ 0., 0., 1.]])\n",
+ "\n",
+ " distCoeffsInit = np.zeros((5,1))\n",
+ " flags = (cv2.CALIB_USE_INTRINSIC_GUESS + cv2.CALIB_RATIONAL_MODEL) \n",
+ " (ret, camera_matrix, distortion_coefficients0, \n",
+ " rotation_vectors, translation_vectors,\n",
+ " stdDeviationsIntrinsics, stdDeviationsExtrinsics, \n",
+ " perViewErrors) = cv2.aruco.calibrateCameraCharucoExtended(\n",
+ " charucoCorners=allCorners,\n",
+ " charucoIds=allIds,\n",
+ " board=board,\n",
+ " imageSize=imsize,\n",
+ " cameraMatrix=cameraMatrixInit,\n",
+ " distCoeffs=distCoeffsInit,\n",
+ " flags=flags,\n",
+ " criteria=(cv2.TERM_CRITERIA_EPS & cv2.TERM_CRITERIA_COUNT, 10000, 1e-9))\n",
+ "\n",
+ " return ret, camera_matrix, distortion_coefficients0, rotation_vectors, translation_vectors"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 32,
+ "metadata": {
+ "scrolled": true
+ },
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "CAMERA CALIBRATION\n",
+ "CPU times: user 160 ms, sys: 164 ms, total: 324 ms\n",
+ "Wall time: 402 ms\n"
+ ]
+ }
+ ],
+ "source": [
+ "%time ret, mtx, dist, rvecs, tvecs = calibrate_camera(allCorners,allIds,imsize)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 33,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "1.512203200242096"
+ ]
+ },
+ "execution_count": 33,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "ret"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 34,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "array([[3.01517523e+03, 0.00000000e+00, 1.24206092e+03],\n",
+ " [0.00000000e+00, 3.02160964e+03, 1.66722492e+03],\n",
+ " [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])"
+ ]
+ },
+ "execution_count": 34,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "mtx"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 35,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "array([[-3.44790638e+01],\n",
+ " [ 4.37856121e+02],\n",
+ " [-7.92991416e-04],\n",
+ " [ 2.52049107e-03],\n",
+ " [-9.02894797e+02],\n",
+ " [-3.44658908e+01],\n",
+ " [ 4.37364785e+02],\n",
+ " [-9.03429203e+02],\n",
+ " [ 0.00000000e+00],\n",
+ " [ 0.00000000e+00],\n",
+ " [ 0.00000000e+00],\n",
+ " [ 0.00000000e+00],\n",
+ " [ 0.00000000e+00],\n",
+ " [ 0.00000000e+00]])"
+ ]
+ },
+ "execution_count": 35,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "dist"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "### Check calibration results"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 36,
+ "metadata": {
+ "scrolled": false
+ },
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "i=0 # select image id\n",
+ "plt.figure()\n",
+ "frame = cv2.imread(images[i])\n",
+ "img_undist = cv2.undistort(frame,mtx,dist,None)\n",
+ "plt.subplot(1,2,1)\n",
+ "plt.imshow(frame)\n",
+ "plt.title(\"Raw image\")\n",
+ "plt.axis(\"off\")\n",
+ "plt.subplot(1,2,2)\n",
+ "plt.imshow(img_undist)\n",
+ "plt.title(\"Corrected image\")\n",
+ "plt.axis(\"off\")\n",
+ "plt.show()"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## 3 . Use of camera calibration to estimate 3D translation and rotation of each marker on a scene"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 124,
+ "metadata": {
+ "scrolled": false
+ },
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "\n",
+ "frame = cv2.imread(images[0])\n",
+ "#frame = cv2.undistort(src = frame, cameraMatrix = mtx, distCoeffs = dist)\n",
+ "plt.figure()\n",
+ "plt.imshow(frame, interpolation = \"nearest\")\n",
+ "plt.show()"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Post processing"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 125,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "[array([[[1047.402 , 1677.9854],\n",
+ " [1283.8707, 1680.0746],\n",
+ " [1276.6002, 1916.945 ],\n",
+ " [1038.5194, 1915.0704]]], dtype=float32),\n",
+ " array([[[1643.643 , 1108.2988],\n",
+ " [1872.287 , 1112.7354],\n",
+ " [1869.3154, 1340.0709],\n",
+ " [1640.2269, 1336.1356]]], dtype=float32),\n",
+ " array([[[1361.5458 , 816.6207 ],\n",
+ " [1590.9443 , 822.59094],\n",
+ " [1587.4158 , 1049.6078 ],\n",
+ " [1357.7041 , 1044.2266 ]]], dtype=float32),\n",
+ " array([[[2507., 850.],\n",
+ " [2721., 852.],\n",
+ " [2725., 1064.],\n",
+ " [2506., 1063.]]], dtype=float32),\n",
+ " array([[[2209.549 , 1693.0295],\n",
+ " [2437.6775, 1696.974 ],\n",
+ " [2437.3079, 1928.5906],\n",
+ " [2209.134 , 1925.7533]]], dtype=float32),\n",
+ " array([[[1634.5605, 1684.4054],\n",
+ " [1864.5225, 1686.7997],\n",
+ " [1862.7523, 1921.8263],\n",
+ " [1630.348 , 1919.4214]]], dtype=float32),\n",
+ " array([[[2497.2854, 1410.262 ],\n",
+ " [2726.4668, 1414.9214],\n",
+ " [2723.777 , 1644.2507],\n",
+ " [2495.574 , 1639.5747]]], dtype=float32),\n",
+ " array([[[1926.3191, 1399.1171],\n",
+ " [2154.1187, 1403.0922],\n",
+ " [2152.2625, 1633.4531],\n",
+ " [1922.9907, 1628.7273]]], dtype=float32),\n",
+ " array([[[1350.1337, 1389.171 ],\n",
+ " [1581.7115, 1393.2401],\n",
+ " [1577.6371, 1624.9827],\n",
+ " [1344.7365, 1621.3724]]], dtype=float32),\n",
+ " array([[[ 755.51526, 1380.8232 ],\n",
+ " [ 995.99176, 1384.0219 ],\n",
+ " [ 989.3362 , 1617.9678 ],\n",
+ " [ 749.1104 , 1616.1603 ]]], dtype=float32),\n",
+ " array([[[2214.076 , 1119.7678],\n",
+ " [2441.4485, 1124.6108],\n",
+ " [2439.671 , 1351.1348],\n",
+ " [2211.813 , 1346.1644]]], dtype=float32),\n",
+ " array([[[1075., 1106.],\n",
+ " [1287., 1111.],\n",
+ " [1282., 1319.],\n",
+ " [1068., 1314.]]], dtype=float32),\n",
+ " array([[[1933.5463, 831.5169],\n",
+ " [2160.6843, 835.7145],\n",
+ " [2157.5535, 1061.4719],\n",
+ " [1930.9468, 1056.8634]]], dtype=float32),\n",
+ " array([[[ 772.1637 , 797.4331 ],\n",
+ " [1010.6842 , 805.75104],\n",
+ " [1005.5871 , 1035.5946 ],\n",
+ " [ 765.15216, 1028.7201 ]]], dtype=float32),\n",
+ " array([[[2222.741 , 553.483 ],\n",
+ " [2447.1362 , 560.27136],\n",
+ " [2444.5088 , 784.8565 ],\n",
+ " [2218.7124 , 779.3621 ]]], dtype=float32),\n",
+ " array([[[1652.8452 , 538.9495 ],\n",
+ " [1881.1671 , 544.9499 ],\n",
+ " [1876.5771 , 772.5404 ],\n",
+ " [1649.0568 , 766.74243]]], dtype=float32),\n",
+ " array([[[1076.1353 , 520.23083],\n",
+ " [1307.8397 , 527.73737],\n",
+ " [1304.233 , 756.5825 ],\n",
+ " [1071.4615 , 749.1797 ]]], dtype=float32)]"
+ ]
+ },
+ "execution_count": 125,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "\n",
+ "gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)\n",
+ "aruco_dict = aruco.Dictionary_get(aruco.DICT_6X6_250)\n",
+ "parameters = aruco.DetectorParameters_create()\n",
+ "corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, \n",
+ " parameters=parameters)\n",
+ "# SUB PIXEL DETECTION\n",
+ "criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 100, 0.0001)\n",
+ "for corner in corners:\n",
+ " cv2.cornerSubPix(gray, corner, winSize = (5,5), zeroZone = (-1,-1), criteria = criteria)\n",
+ " \n",
+ "frame_markers = aruco.drawDetectedMarkers(frame.copy(), corners, ids)\n",
+ "\n",
+ "corners"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "Very fast processing !\n",
+ "\n",
+ "## Results"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 126,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "plt.figure()\n",
+ "plt.imshow(frame_markers, interpolation = \"nearest\")\n",
+ "\n",
+ "plt.show()"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "### Add local axis on each marker"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 127,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "size_of_marker = 0.0285 # side lenght of the marker in meter\n",
+ "rvecs,tvecs = aruco.estimatePoseSingleMarkers(corners, size_of_marker , mtx, dist)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 128,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "length_of_axis = 0.02\n",
+ "imaxis = aruco.drawDetectedMarkers(frame.copy(), corners, ids)\n",
+ "for i in range(len(tvecs)):\n",
+ " imaxis = aruco.drawAxis(imaxis, mtx, dist, rvecs[i], tvecs[i], length_of_axis)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 130,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "plt.figure()\n",
+ "plt.imshow(imaxis)\n",
+ "plt.grid()\n",
+ "plt.show()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 131,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/html": [
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+ "execution_count": 131,
+ "metadata": {},
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+ }
+ ],
+ "source": [
+ "data = pd.DataFrame(data = tvecs.reshape(len(tvecs),3), columns = [\"tx\", \"ty\", \"tz\"], \n",
+ " index = ids.flatten())\n",
+ "data.index.name = \"marker\"\n",
+ "data.sort_index(inplace= True)\n",
+ "datar = pd.DataFrame(data = tvecs.reshape(len(rvecs),3), columns = [\"rx\", \"ry\", \"rz\"], \n",
+ " index = ids.flatten())\n",
+ "datar.index.name = \"marker\"\n",
+ "datar.sort_index(inplace= True)\n",
+ "np.degrees(datar)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 116,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "array([0.07247715, 0.07235671, 0.07102116])"
+ ]
+ },
+ "execution_count": 116,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "v = data.loc[3:6].values\n",
+ "((v[1:] - v[:-1])**2).sum(axis = 1)**.5"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 139,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "(array([[ 0.99362566, 0.02736779, -0.10935749],\n",
+ " [ 0.00425153, -0.97849066, -0.20624733],\n",
+ " [-0.11264982, 0.2044677 , -0.97236977]]),\n",
+ " array([[ 0.00367594, -0.0625552 , 0.01774466, 0.05511376, -0.2054306 ,\n",
+ " 0.97575197, 0.03450362, -0.9747257 , -0.20896037],\n",
+ " [-0.01076324, 0.67264604, 0.07054117, 0.67358929, 0.00914596,\n",
+ " -0.02950556, -0.0695149 , -0.04626453, -0.00167504],\n",
+ " [ 0.07557143, -0.06627069, 0.67005951, 0.06729696, 0.01156224,\n",
+ " -0.05346701, 0.66911627, 0.06420195, -0.06401741]]))"
+ ]
+ },
+ "execution_count": 139,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "cv2.Rodrigues(rvecs[0], np.zeros((3,3)))"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 117,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "fig = plt.figure()\n",
+ "#ax = fig.add_subplot(111, projection='3d')\n",
+ "ax = fig.add_subplot(1,2,1)\n",
+ "ax.set_aspect(\"equal\")\n",
+ "plt.plot(data.tx, data.ty, \"or-\")\n",
+ "plt.grid()\n",
+ "ax = fig.add_subplot(1,2,2)\n",
+ "plt.imshow(imaxis, origin = \"lower\")\n",
+ "plt.plot(np.array(corners)[:, 0, 0,0], np.array(corners)[:, 0, 0,1], \"or\")\n",
+ "plt.show()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 66,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "array([ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16,\n",
+ " 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33,\n",
+ " 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49])"
+ ]
+ },
+ "execution_count": 66,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "a = np.arange(50)\n",
+ "a"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 291,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "import pickle"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 273,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "f = open(\"truc.pckl\", \"wb\")\n",
+ "pickle.dump(a, f)\n",
+ "f.close()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 274,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "array([ True, True, True, True, True, True, True, True, True,\n",
+ " True, True, True, True, True, True, True, True, True,\n",
+ " True, True, True, True, True, True, True, True, True,\n",
+ " True, True, True, True, True, True, True, True, True,\n",
+ " True, True, True, True, True, True, True, True, True,\n",
+ " True, True, True, True, True], dtype=bool)"
+ ]
+ },
+ "execution_count": 274,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "f = open(\"truc.pckl\", \"rb\")\n",
+ "b = pickle.load(f)\n",
+ "b == a"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 137,
+ "metadata": {},
+ "outputs": [
+ {
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+ "source": [
+ "corners = np.array(corners)\n",
+ "data2 = pd.DataFrame({\"px\": corners[:, 0, 0, 1], \n",
+ " \"py\": corners[:, 0, 0, 0]}, index = ids.flatten())\n",
+ "data2.sort_index(inplace=True)\n",
+ "data2"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 321,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
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+ "0.043476117957396747"
+ ]
+ },
+ "execution_count": 321,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "m0 = data2.loc[0]\n",
+ "m43 = data2.loc[43]\n",
+ "d01 = ((m0 - m43).values**2).sum()**.5\n",
+ "d = 42.5e-3 * (3.5**2 + 4.5**2)**.5\n",
+ "factor = d / d01\n",
+ "data2[\"x\"] = data2.px * factor\n",
+ "data2[\"y\"] = data2.py * factor\n",
+ "((data2[[\"x\", \"y\"]].loc[11] - data2[[\"x\", \"y\"]].loc[0]).values**2).sum()**.5\n"
+ ]
+ },
+ {
+ "cell_type": "code",
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+ "metadata": {},
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+ "execution_count": 347,
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+ ],
+ "source": [
+ "\n",
+ "c = np.array(corners).astype(np.float64).reshape(44,4,2)\n",
+ "(((c[:, 1:] - c[:, :-1])**2).sum(axis = 2)**.5).mean(axis =1)"
+ ]
+ },
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+ " [ 1321., 2073.],\n",
+ " [ 1184., 2072.]],\n",
+ "\n",
+ " [[ 780., 1935.],\n",
+ " [ 916., 1935.],\n",
+ " [ 920., 2070.],\n",
+ " [ 785., 2070.]],\n",
+ "\n",
+ " [[ 1788., 1731.],\n",
+ " [ 1928., 1732.],\n",
+ " [ 1929., 1876.],\n",
+ " [ 1790., 1875.]],\n",
+ "\n",
+ " [[ 1378., 1731.],\n",
+ " [ 1521., 1730.],\n",
+ " [ 1524., 1873.],\n",
+ " [ 1379., 1874.]],\n",
+ "\n",
+ " [[ 771., 1533.],\n",
+ " [ 909., 1533.],\n",
+ " [ 911., 1671.],\n",
+ " [ 774., 1671.]],\n",
+ "\n",
+ " [[ 1176., 1533.],\n",
+ " [ 1315., 1532.],\n",
+ " [ 1317., 1669.],\n",
+ " [ 1177., 1670.]],\n",
+ "\n",
+ " [[ 1989., 1532.],\n",
+ " [ 2137., 1532.],\n",
+ " [ 2137., 1671.],\n",
+ " [ 1989., 1670.]],\n",
+ "\n",
+ " [[ 1581., 1531.],\n",
+ " [ 1726., 1531.],\n",
+ " [ 1727., 1669.],\n",
+ " [ 1583., 1669.]],\n",
+ "\n",
+ " [[ 560., 1329.],\n",
+ " [ 700., 1328.],\n",
+ " [ 703., 1465.],\n",
+ " [ 565., 1466.]],\n",
+ "\n",
+ " [[ 966., 1328.],\n",
+ " [ 1112., 1327.],\n",
+ " [ 1113., 1465.],\n",
+ " [ 968., 1465.]],\n",
+ "\n",
+ " [[ 1169., 1127.],\n",
+ " [ 1309., 1126.],\n",
+ " [ 1310., 1264.],\n",
+ " [ 1171., 1265.]],\n",
+ "\n",
+ " [[ 1579., 1124.],\n",
+ " [ 1723., 1123.],\n",
+ " [ 1723., 1263.],\n",
+ " [ 1578., 1263.]],\n",
+ "\n",
+ " [[ 2415., 1120.],\n",
+ " [ 2560., 1119.],\n",
+ " [ 2556., 1261.],\n",
+ " [ 2412., 1261.]],\n",
+ "\n",
+ " [[ 956., 919.],\n",
+ " [ 1103., 918.],\n",
+ " [ 1106., 1058.],\n",
+ " [ 959., 1059.]],\n",
+ "\n",
+ " [[ 1367., 917.],\n",
+ " [ 1514., 916.],\n",
+ " [ 1514., 1056.],\n",
+ " [ 1368., 1056.]],\n",
+ "\n",
+ " [[ 1784., 914.],\n",
+ " [ 1926., 912.],\n",
+ " [ 1926., 1053.],\n",
+ " [ 1784., 1054.]],\n",
+ "\n",
+ " [[ 1160., 706.],\n",
+ " [ 1302., 706.],\n",
+ " [ 1304., 854.],\n",
+ " [ 1163., 854.]],\n",
+ "\n",
+ " [[ 1574., 703.],\n",
+ " [ 1722., 702.],\n",
+ " [ 1722., 850.],\n",
+ " [ 1575., 852.]],\n",
+ "\n",
+ " [[ 1991., 699.],\n",
+ " [ 2142., 697.],\n",
+ " [ 2138., 847.],\n",
+ " [ 1988., 848.]],\n",
+ "\n",
+ " [[ 539., 499.],\n",
+ " [ 677., 496.],\n",
+ " [ 681., 644.],\n",
+ " [ 542., 646.]],\n",
+ "\n",
+ " [[ 1360., 490.],\n",
+ " [ 1508., 488.],\n",
+ " [ 1510., 639.],\n",
+ " [ 1362., 641.]],\n",
+ "\n",
+ " [[ 1784., 486.],\n",
+ " [ 1928., 483.],\n",
+ " [ 1926., 635.],\n",
+ " [ 1784., 637.]],\n",
+ "\n",
+ " [[ 2637., 479.],\n",
+ " [ 2778., 480.],\n",
+ " [ 2776., 630.],\n",
+ " [ 2634., 629.]],\n",
+ "\n",
+ " [[ 2207., 481.],\n",
+ " [ 2356., 478.],\n",
+ " [ 2356., 629.],\n",
+ " [ 2205., 632.]]])"
+ ]
+ },
+ "execution_count": 343,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "c"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 11,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "Help on built-in function detectMarkers:\n",
+ "\n",
+ "detectMarkers(...)\n",
+ " detectMarkers(image, dictionary[, corners[, ids[, parameters[, rejectedImgPoints]]]]) -> corners, ids, rejectedImgPoints\n",
+ "\n"
+ ]
+ }
+ ],
+ "source": [
+ "help(cv2.aruco.detectMarkers)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": []
+ }
+ ],
+ "metadata": {
+ "anaconda-cloud": {},
+ "kernelspec": {
+ "display_name": "Python 3",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.6.1"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 1
+}
diff --git a/doc/notebooks/Aruco/sandbox/ludovic/aruco_calibration_rotation.ipynb b/doc/notebooks/Aruco/sandbox/ludovic/aruco_calibration_rotation.ipynb
new file mode 100644
index 0000000..4fc479b
--- /dev/null
+++ b/doc/notebooks/Aruco/sandbox/ludovic/aruco_calibration_rotation.ipynb
@@ -0,0 +1,7000 @@
+{
+ "cells": [
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "# Camera calibration using CHARUCO"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 22,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "import numpy as np\n",
+ "import cv2, PIL, os\n",
+ "from cv2 import aruco\n",
+ "from mpl_toolkits.mplot3d import Axes3D\n",
+ "import matplotlib.pyplot as plt\n",
+ "import matplotlib as mpl\n",
+ "import pandas as pd\n",
+ "%matplotlib nbagg\n"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {
+ "collapsed": true
+ },
+ "source": [
+ "## 2. Camera pose estimation using CHARUCO chessboard\n",
+ "\n",
+ "First, let's create the board."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 23,
+ "metadata": {
+ "scrolled": false
+ },
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "workdir = \"./workdir/\"\n",
+ "aruco_dict = aruco.Dictionary_get(aruco.DICT_6X6_250)\n",
+ "board = aruco.CharucoBoard_create(7, 5, 1, .8, aruco_dict)\n",
+ "imboard = board.draw((2000, 2000))\n",
+ "cv2.imwrite(workdir + \"chessboard.tiff\", imboard)\n",
+ "fig = plt.figure()\n",
+ "ax = fig.add_subplot(1,1,1)\n",
+ "plt.imshow(imboard, cmap = mpl.cm.gray, interpolation = \"nearest\")\n",
+ "ax.axis(\"off\")\n",
+ "plt.show()\n"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "And take photos of it from multiple angles, for example:"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 24,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "datadir = \"../../data/calib_webcam/\"\n",
+ "images = np.array([datadir + f for f in os.listdir(datadir) if f.endswith(\".jpg\") ])\n",
+ "order = np.argsort([int(p.split(\".\")[-2].split(\"_\")[-1]) for p in images])\n",
+ "images = images[order]\n",
+ "im = PIL.Image.open(images[0])\n",
+ "fig = plt.figure()\n",
+ "ax = fig.add_subplot(1,1,1)\n",
+ "plt.imshow(im)\n",
+ "#ax.axis('off')\n",
+ "plt.show()"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "Now, the camera calibration can be done using all the images of the chessboard. Two functions are necessary:\n",
+ "\n",
+ "* The first will detect markers on all the images and.\n",
+ "* The second will proceed the detected markers to estimage the camera calibration data."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 25,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "def read_chessboards(images):\n",
+ " \"\"\"\n",
+ " Charuco base pose estimation.\n",
+ " \"\"\"\n",
+ " print(\"POSE ESTIMATION STARTS:\")\n",
+ " allCorners = []\n",
+ " allIds = []\n",
+ " decimator = 0\n",
+ " # SUB PIXEL CORNER DETECTION CRITERION\n",
+ " criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 100, 0.0001)\n",
+ "\n",
+ " for im in images:\n",
+ " print(\"=> Processing image {0}\".format(im))\n",
+ " frame = cv2.imread(im)\n",
+ " gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)\n",
+ " corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(gray, aruco_dict)\n",
+ " \n",
+ " if len(corners)>0:\n",
+ " # SUB PIXEL DETECTION\n",
+ " for corner in corners:\n",
+ " cv2.cornerSubPix(gray, corner, \n",
+ " winSize = (20,20), \n",
+ " zeroZone = (-1,-1), \n",
+ " criteria = criteria)\n",
+ " res2 = cv2.aruco.interpolateCornersCharuco(corners,ids,gray,board) \n",
+ " if res2[1] is not None and res2[2] is not None and len(res2[1])>3 and decimator%1==0:\n",
+ " allCorners.append(res2[1])\n",
+ " allIds.append(res2[2]) \n",
+ " \n",
+ " decimator+=1 \n",
+ "\n",
+ " imsize = gray.shape\n",
+ " return allCorners,allIds,imsize"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 26,
+ "metadata": {
+ "scrolled": false
+ },
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "POSE ESTIMATION STARTS:\n",
+ "=> Processing image ../../data/calib_webcam/image_0.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_1.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_2.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_3.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_4.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_5.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_6.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_7.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_8.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_9.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_10.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_11.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_12.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_13.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_14.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_15.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_16.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_17.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_18.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_19.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_20.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_21.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_22.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_23.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_24.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_25.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_26.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_27.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_28.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_29.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_30.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_31.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_32.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_33.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_34.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_35.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_36.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_37.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_38.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_39.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_40.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_41.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_42.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_43.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_44.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_45.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_46.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_47.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_48.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_49.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_50.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_51.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_52.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_53.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_54.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_55.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_56.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_57.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_58.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_59.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_60.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_61.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_62.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_63.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_64.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_65.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_66.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_67.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_68.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_69.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_70.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_71.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_72.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_73.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_74.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_75.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_76.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_77.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_78.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_79.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_80.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_81.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_82.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_83.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_84.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_85.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_86.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_87.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_88.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_89.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_90.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_91.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_92.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_93.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_94.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_95.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_96.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_97.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_98.jpg\n",
+ "=> Processing image ../../data/calib_webcam/image_99.jpg\n"
+ ]
+ }
+ ],
+ "source": [
+ "allCorners,allIds,imsize=read_chessboards(images)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 27,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "def calibrate_camera(allCorners,allIds,imsize): \n",
+ " \"\"\"\n",
+ " Calibrates the camera using the dected corners.\n",
+ " \"\"\"\n",
+ " print(\"CAMERA CALIBRATION\")\n",
+ " \n",
+ " cameraMatrixInit = np.array([[ 2000., 0., imsize[0]/2.],\n",
+ " [ 0., 2000., imsize[1]/2.],\n",
+ " [ 0., 0., 1.]])\n",
+ "\n",
+ " distCoeffsInit = np.zeros((5,1))\n",
+ " flags = (cv2.CALIB_USE_INTRINSIC_GUESS + cv2.CALIB_RATIONAL_MODEL) \n",
+ " (ret, camera_matrix, distortion_coefficients0, \n",
+ " rotation_vectors, translation_vectors,\n",
+ " stdDeviationsIntrinsics, stdDeviationsExtrinsics, \n",
+ " perViewErrors) = cv2.aruco.calibrateCameraCharucoExtended(\n",
+ " charucoCorners=allCorners,\n",
+ " charucoIds=allIds,\n",
+ " board=board,\n",
+ " imageSize=imsize,\n",
+ " cameraMatrix=cameraMatrixInit,\n",
+ " distCoeffs=distCoeffsInit,\n",
+ " flags=flags,\n",
+ " criteria=(cv2.TERM_CRITERIA_EPS & cv2.TERM_CRITERIA_COUNT, 10000, 1e-9))\n",
+ "\n",
+ " return ret, camera_matrix, distortion_coefficients0, rotation_vectors, translation_vectors"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 28,
+ "metadata": {
+ "scrolled": true
+ },
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "CAMERA CALIBRATION\n",
+ "CPU times: user 36.8 s, sys: 22.3 s, total: 59.1 s\n",
+ "Wall time: 15.7 s\n"
+ ]
+ }
+ ],
+ "source": [
+ "%time ret, mtx, dist, rvecs, tvecs = calibrate_camera(allCorners,allIds,imsize)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 29,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "2.581475093169884"
+ ]
+ },
+ "execution_count": 29,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "ret"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 30,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "array([[1.02021933e+03, 0.00000000e+00, 3.05346289e+02],\n",
+ " [0.00000000e+00, 1.05524064e+03, 3.33841599e+02],\n",
+ " [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])"
+ ]
+ },
+ "execution_count": 30,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "mtx"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 32,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "array([[-2.41506625e+00],\n",
+ " [-3.35440635e+00],\n",
+ " [ 7.36605241e-02],\n",
+ " [ 2.22106812e-02],\n",
+ " [ 6.70756547e+02],\n",
+ " [-1.57098791e+00],\n",
+ " [-2.25433272e+01],\n",
+ " [ 8.00622188e+02],\n",
+ " [ 0.00000000e+00],\n",
+ " [ 0.00000000e+00],\n",
+ " [ 0.00000000e+00],\n",
+ " [ 0.00000000e+00],\n",
+ " [ 0.00000000e+00],\n",
+ " [ 0.00000000e+00]])"
+ ]
+ },
+ "execution_count": 32,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "dist"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "### Check calibration results"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 36,
+ "metadata": {
+ "scrolled": false
+ },
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "i=0 # select image id\n",
+ "plt.figure()\n",
+ "frame = cv2.imread(images[i])\n",
+ "img_undist = cv2.undistort(frame,mtx,dist,None)\n",
+ "plt.subplot(1,2,1)\n",
+ "plt.imshow(frame)\n",
+ "plt.title(\"Raw image\")\n",
+ "plt.axis(\"off\")\n",
+ "plt.subplot(1,2,2)\n",
+ "plt.imshow(img_undist)\n",
+ "plt.title(\"Corrected image\")\n",
+ "plt.axis(\"off\")\n",
+ "plt.show()"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## 3 . Use of camera calibration to estimate 3D translation and rotation of each marker on a scene"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 124,
+ "metadata": {
+ "scrolled": false
+ },
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "\n",
+ "frame = cv2.imread(images[0])\n",
+ "#frame = cv2.undistort(src = frame, cameraMatrix = mtx, distCoeffs = dist)\n",
+ "plt.figure()\n",
+ "plt.imshow(frame, interpolation = \"nearest\")\n",
+ "plt.show()"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Post processing"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 125,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "[array([[[1047.402 , 1677.9854],\n",
+ " [1283.8707, 1680.0746],\n",
+ " [1276.6002, 1916.945 ],\n",
+ " [1038.5194, 1915.0704]]], dtype=float32),\n",
+ " array([[[1643.643 , 1108.2988],\n",
+ " [1872.287 , 1112.7354],\n",
+ " [1869.3154, 1340.0709],\n",
+ " [1640.2269, 1336.1356]]], dtype=float32),\n",
+ " array([[[1361.5458 , 816.6207 ],\n",
+ " [1590.9443 , 822.59094],\n",
+ " [1587.4158 , 1049.6078 ],\n",
+ " [1357.7041 , 1044.2266 ]]], dtype=float32),\n",
+ " array([[[2507., 850.],\n",
+ " [2721., 852.],\n",
+ " [2725., 1064.],\n",
+ " [2506., 1063.]]], dtype=float32),\n",
+ " array([[[2209.549 , 1693.0295],\n",
+ " [2437.6775, 1696.974 ],\n",
+ " [2437.3079, 1928.5906],\n",
+ " [2209.134 , 1925.7533]]], dtype=float32),\n",
+ " array([[[1634.5605, 1684.4054],\n",
+ " [1864.5225, 1686.7997],\n",
+ " [1862.7523, 1921.8263],\n",
+ " [1630.348 , 1919.4214]]], dtype=float32),\n",
+ " array([[[2497.2854, 1410.262 ],\n",
+ " [2726.4668, 1414.9214],\n",
+ " [2723.777 , 1644.2507],\n",
+ " [2495.574 , 1639.5747]]], dtype=float32),\n",
+ " array([[[1926.3191, 1399.1171],\n",
+ " [2154.1187, 1403.0922],\n",
+ " [2152.2625, 1633.4531],\n",
+ " [1922.9907, 1628.7273]]], dtype=float32),\n",
+ " array([[[1350.1337, 1389.171 ],\n",
+ " [1581.7115, 1393.2401],\n",
+ " [1577.6371, 1624.9827],\n",
+ " [1344.7365, 1621.3724]]], dtype=float32),\n",
+ " array([[[ 755.51526, 1380.8232 ],\n",
+ " [ 995.99176, 1384.0219 ],\n",
+ " [ 989.3362 , 1617.9678 ],\n",
+ " [ 749.1104 , 1616.1603 ]]], dtype=float32),\n",
+ " array([[[2214.076 , 1119.7678],\n",
+ " [2441.4485, 1124.6108],\n",
+ " [2439.671 , 1351.1348],\n",
+ " [2211.813 , 1346.1644]]], dtype=float32),\n",
+ " array([[[1075., 1106.],\n",
+ " [1287., 1111.],\n",
+ " [1282., 1319.],\n",
+ " [1068., 1314.]]], dtype=float32),\n",
+ " array([[[1933.5463, 831.5169],\n",
+ " [2160.6843, 835.7145],\n",
+ " [2157.5535, 1061.4719],\n",
+ " [1930.9468, 1056.8634]]], dtype=float32),\n",
+ " array([[[ 772.1637 , 797.4331 ],\n",
+ " [1010.6842 , 805.75104],\n",
+ " [1005.5871 , 1035.5946 ],\n",
+ " [ 765.15216, 1028.7201 ]]], dtype=float32),\n",
+ " array([[[2222.741 , 553.483 ],\n",
+ " [2447.1362 , 560.27136],\n",
+ " [2444.5088 , 784.8565 ],\n",
+ " [2218.7124 , 779.3621 ]]], dtype=float32),\n",
+ " array([[[1652.8452 , 538.9495 ],\n",
+ " [1881.1671 , 544.9499 ],\n",
+ " [1876.5771 , 772.5404 ],\n",
+ " [1649.0568 , 766.74243]]], dtype=float32),\n",
+ " array([[[1076.1353 , 520.23083],\n",
+ " [1307.8397 , 527.73737],\n",
+ " [1304.233 , 756.5825 ],\n",
+ " [1071.4615 , 749.1797 ]]], dtype=float32)]"
+ ]
+ },
+ "execution_count": 125,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "\n",
+ "gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)\n",
+ "aruco_dict = aruco.Dictionary_get(aruco.DICT_6X6_250)\n",
+ "parameters = aruco.DetectorParameters_create()\n",
+ "corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, \n",
+ " parameters=parameters)\n",
+ "# SUB PIXEL DETECTION\n",
+ "criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 100, 0.0001)\n",
+ "for corner in corners:\n",
+ " cv2.cornerSubPix(gray, corner, winSize = (5,5), zeroZone = (-1,-1), criteria = criteria)\n",
+ " \n",
+ "frame_markers = aruco.drawDetectedMarkers(frame.copy(), corners, ids)\n",
+ "\n",
+ "corners"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "Very fast processing !\n",
+ "\n",
+ "## Results"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 126,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "plt.figure()\n",
+ "plt.imshow(frame_markers, interpolation = \"nearest\")\n",
+ "\n",
+ "plt.show()"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "### Add local axis on each marker"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 127,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "size_of_marker = 0.0285 # side lenght of the marker in meter\n",
+ "rvecs,tvecs = aruco.estimatePoseSingleMarkers(corners, size_of_marker , mtx, dist)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 128,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "length_of_axis = 0.02\n",
+ "imaxis = aruco.drawDetectedMarkers(frame.copy(), corners, ids)\n",
+ "for i in range(len(tvecs)):\n",
+ " imaxis = aruco.drawAxis(imaxis, mtx, dist, rvecs[i], tvecs[i], length_of_axis)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 130,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "plt.figure()\n",
+ "plt.imshow(imaxis)\n",
+ "plt.grid()\n",
+ "plt.show()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 131,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
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+ "execution_count": 131,
+ "metadata": {},
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+ }
+ ],
+ "source": [
+ "data = pd.DataFrame(data = tvecs.reshape(len(tvecs),3), columns = [\"tx\", \"ty\", \"tz\"], \n",
+ " index = ids.flatten())\n",
+ "data.index.name = \"marker\"\n",
+ "data.sort_index(inplace= True)\n",
+ "datar = pd.DataFrame(data = tvecs.reshape(len(rvecs),3), columns = [\"rx\", \"ry\", \"rz\"], \n",
+ " index = ids.flatten())\n",
+ "datar.index.name = \"marker\"\n",
+ "datar.sort_index(inplace= True)\n",
+ "np.degrees(datar)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 116,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "array([0.07247715, 0.07235671, 0.07102116])"
+ ]
+ },
+ "execution_count": 116,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "v = data.loc[3:6].values\n",
+ "((v[1:] - v[:-1])**2).sum(axis = 1)**.5"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 139,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "(array([[ 0.99362566, 0.02736779, -0.10935749],\n",
+ " [ 0.00425153, -0.97849066, -0.20624733],\n",
+ " [-0.11264982, 0.2044677 , -0.97236977]]),\n",
+ " array([[ 0.00367594, -0.0625552 , 0.01774466, 0.05511376, -0.2054306 ,\n",
+ " 0.97575197, 0.03450362, -0.9747257 , -0.20896037],\n",
+ " [-0.01076324, 0.67264604, 0.07054117, 0.67358929, 0.00914596,\n",
+ " -0.02950556, -0.0695149 , -0.04626453, -0.00167504],\n",
+ " [ 0.07557143, -0.06627069, 0.67005951, 0.06729696, 0.01156224,\n",
+ " -0.05346701, 0.66911627, 0.06420195, -0.06401741]]))"
+ ]
+ },
+ "execution_count": 139,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "cv2.Rodrigues(rvecs[0], np.zeros((3,3)))"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 117,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "application/javascript": [
+ "/* Put everything inside the global mpl namespace */\n",
+ "window.mpl = {};\n",
+ "\n",
+ "mpl.get_websocket_type = function() {\n",
+ " if (typeof(WebSocket) !== 'undefined') {\n",
+ " return WebSocket;\n",
+ " } else if (typeof(MozWebSocket) !== 'undefined') {\n",
+ " return MozWebSocket;\n",
+ " } else {\n",
+ " alert('Your browser does not have WebSocket support.' +\n",
+ " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
+ " 'Firefox 4 and 5 are also supported but you ' +\n",
+ " 'have to enable WebSockets in about:config.');\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
+ " this.id = figure_id;\n",
+ "\n",
+ " this.ws = websocket;\n",
+ "\n",
+ " this.supports_binary = (this.ws.binaryType != undefined);\n",
+ "\n",
+ " if (!this.supports_binary) {\n",
+ " var warnings = document.getElementById(\"mpl-warnings\");\n",
+ " if (warnings) {\n",
+ " warnings.style.display = 'block';\n",
+ " warnings.textContent = (\n",
+ " \"This browser does not support binary websocket messages. \" +\n",
+ " \"Performance may be slow.\");\n",
+ " }\n",
+ " }\n",
+ "\n",
+ " this.imageObj = new Image();\n",
+ "\n",
+ " this.context = undefined;\n",
+ " this.message = undefined;\n",
+ " this.canvas = undefined;\n",
+ " this.rubberband_canvas = undefined;\n",
+ " this.rubberband_context = undefined;\n",
+ " this.format_dropdown = undefined;\n",
+ "\n",
+ " this.image_mode = 'full';\n",
+ "\n",
+ " this.root = $('');\n",
+ " this._root_extra_style(this.root)\n",
+ " this.root.attr('style', 'display: inline-block');\n",
+ "\n",
+ " $(parent_element).append(this.root);\n",
+ "\n",
+ " this._init_header(this);\n",
+ " this._init_canvas(this);\n",
+ " this._init_toolbar(this);\n",
+ "\n",
+ " var fig = this;\n",
+ "\n",
+ " this.waiting = false;\n",
+ "\n",
+ " this.ws.onopen = function () {\n",
+ " fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
+ " fig.send_message(\"send_image_mode\", {});\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " }\n",
+ "\n",
+ " this.imageObj.onload = function() {\n",
+ " if (fig.image_mode == 'full') {\n",
+ " // Full images could contain transparency (where diff images\n",
+ " // almost always do), so we need to clear the canvas so that\n",
+ " // there is no ghosting.\n",
+ " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
+ " }\n",
+ " fig.context.drawImage(fig.imageObj, 0, 0);\n",
+ " };\n",
+ "\n",
+ " this.imageObj.onunload = function() {\n",
+ " this.ws.close();\n",
+ " }\n",
+ "\n",
+ " this.ws.onmessage = this._make_on_message_function(this);\n",
+ "\n",
+ " this.ondownload = ondownload;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_header = function() {\n",
+ " var titlebar = $(\n",
+ " '');\n",
+ " var titletext = $(\n",
+ " '');\n",
+ " titlebar.append(titletext)\n",
+ " this.root.append(titlebar);\n",
+ " this.header = titletext[0];\n",
+ "}\n",
+ "\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_canvas = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var canvas_div = $('');\n",
+ "\n",
+ " canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
+ "\n",
+ " function canvas_keyboard_event(event) {\n",
+ " return fig.key_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " canvas_div.keydown('key_press', canvas_keyboard_event);\n",
+ " canvas_div.keyup('key_release', canvas_keyboard_event);\n",
+ " this.canvas_div = canvas_div\n",
+ " this._canvas_extra_style(canvas_div)\n",
+ " this.root.append(canvas_div);\n",
+ "\n",
+ " var canvas = $('');\n",
+ " canvas.addClass('mpl-canvas');\n",
+ " canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
+ "\n",
+ " this.canvas = canvas[0];\n",
+ " this.context = canvas[0].getContext(\"2d\");\n",
+ "\n",
+ " var rubberband = $('');\n",
+ " rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
+ "\n",
+ " var pass_mouse_events = true;\n",
+ "\n",
+ " canvas_div.resizable({\n",
+ " start: function(event, ui) {\n",
+ " pass_mouse_events = false;\n",
+ " },\n",
+ " resize: function(event, ui) {\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " stop: function(event, ui) {\n",
+ " pass_mouse_events = true;\n",
+ " fig.request_resize(ui.size.width, ui.size.height);\n",
+ " },\n",
+ " });\n",
+ "\n",
+ " function mouse_event_fn(event) {\n",
+ " if (pass_mouse_events)\n",
+ " return fig.mouse_event(event, event['data']);\n",
+ " }\n",
+ "\n",
+ " rubberband.mousedown('button_press', mouse_event_fn);\n",
+ " rubberband.mouseup('button_release', mouse_event_fn);\n",
+ " // Throttle sequential mouse events to 1 every 20ms.\n",
+ " rubberband.mousemove('motion_notify', mouse_event_fn);\n",
+ "\n",
+ " rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
+ " rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
+ "\n",
+ " canvas_div.on(\"wheel\", function (event) {\n",
+ " event = event.originalEvent;\n",
+ " event['data'] = 'scroll'\n",
+ " if (event.deltaY < 0) {\n",
+ " event.step = 1;\n",
+ " } else {\n",
+ " event.step = -1;\n",
+ " }\n",
+ " mouse_event_fn(event);\n",
+ " });\n",
+ "\n",
+ " canvas_div.append(canvas);\n",
+ " canvas_div.append(rubberband);\n",
+ "\n",
+ " this.rubberband = rubberband;\n",
+ " this.rubberband_canvas = rubberband[0];\n",
+ " this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
+ " this.rubberband_context.strokeStyle = \"#000000\";\n",
+ "\n",
+ " this._resize_canvas = function(width, height) {\n",
+ " // Keep the size of the canvas, canvas container, and rubber band\n",
+ " // canvas in synch.\n",
+ " canvas_div.css('width', width)\n",
+ " canvas_div.css('height', height)\n",
+ "\n",
+ " canvas.attr('width', width);\n",
+ " canvas.attr('height', height);\n",
+ "\n",
+ " rubberband.attr('width', width);\n",
+ " rubberband.attr('height', height);\n",
+ " }\n",
+ "\n",
+ " // Set the figure to an initial 600x600px, this will subsequently be updated\n",
+ " // upon first draw.\n",
+ " this._resize_canvas(600, 600);\n",
+ "\n",
+ " // Disable right mouse context menu.\n",
+ " $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
+ " return false;\n",
+ " });\n",
+ "\n",
+ " function set_focus () {\n",
+ " canvas.focus();\n",
+ " canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " window.setTimeout(set_focus, 100);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items) {\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) {\n",
+ " // put a spacer in here.\n",
+ " continue;\n",
+ " }\n",
+ " var button = $('');\n",
+ " button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
+ " 'ui-button-icon-only');\n",
+ " button.attr('role', 'button');\n",
+ " button.attr('aria-disabled', 'false');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ "\n",
+ " var icon_img = $('');\n",
+ " icon_img.addClass('ui-button-icon-primary ui-icon');\n",
+ " icon_img.addClass(image);\n",
+ " icon_img.addClass('ui-corner-all');\n",
+ "\n",
+ " var tooltip_span = $('');\n",
+ " tooltip_span.addClass('ui-button-text');\n",
+ " tooltip_span.html(tooltip);\n",
+ "\n",
+ " button.append(icon_img);\n",
+ " button.append(tooltip_span);\n",
+ "\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " var fmt_picker_span = $('');\n",
+ "\n",
+ " var fmt_picker = $('');\n",
+ " fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
+ " fmt_picker_span.append(fmt_picker);\n",
+ " nav_element.append(fmt_picker_span);\n",
+ " this.format_dropdown = fmt_picker[0];\n",
+ "\n",
+ " for (var ind in mpl.extensions) {\n",
+ " var fmt = mpl.extensions[ind];\n",
+ " var option = $(\n",
+ " '', {selected: fmt === mpl.default_extension}).html(fmt);\n",
+ " fmt_picker.append(option)\n",
+ " }\n",
+ "\n",
+ " // Add hover states to the ui-buttons\n",
+ " $( \".ui-button\" ).hover(\n",
+ " function() { $(this).addClass(\"ui-state-hover\");},\n",
+ " function() { $(this).removeClass(\"ui-state-hover\");}\n",
+ " );\n",
+ "\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
+ " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
+ " // which will in turn request a refresh of the image.\n",
+ " this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_message = function(type, properties) {\n",
+ " properties['type'] = type;\n",
+ " properties['figure_id'] = this.id;\n",
+ " this.ws.send(JSON.stringify(properties));\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.send_draw_message = function() {\n",
+ " if (!this.waiting) {\n",
+ " this.waiting = true;\n",
+ " this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " var format_dropdown = fig.format_dropdown;\n",
+ " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
+ " fig.ondownload(fig, format);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
+ " var size = msg['size'];\n",
+ " if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
+ " fig._resize_canvas(size[0], size[1]);\n",
+ " fig.send_message(\"refresh\", {});\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
+ " var x0 = msg['x0'];\n",
+ " var y0 = fig.canvas.height - msg['y0'];\n",
+ " var x1 = msg['x1'];\n",
+ " var y1 = fig.canvas.height - msg['y1'];\n",
+ " x0 = Math.floor(x0) + 0.5;\n",
+ " y0 = Math.floor(y0) + 0.5;\n",
+ " x1 = Math.floor(x1) + 0.5;\n",
+ " y1 = Math.floor(y1) + 0.5;\n",
+ " var min_x = Math.min(x0, x1);\n",
+ " var min_y = Math.min(y0, y1);\n",
+ " var width = Math.abs(x1 - x0);\n",
+ " var height = Math.abs(y1 - y0);\n",
+ "\n",
+ " fig.rubberband_context.clearRect(\n",
+ " 0, 0, fig.canvas.width, fig.canvas.height);\n",
+ "\n",
+ " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
+ " // Updates the figure title.\n",
+ " fig.header.textContent = msg['label'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
+ " var cursor = msg['cursor'];\n",
+ " switch(cursor)\n",
+ " {\n",
+ " case 0:\n",
+ " cursor = 'pointer';\n",
+ " break;\n",
+ " case 1:\n",
+ " cursor = 'default';\n",
+ " break;\n",
+ " case 2:\n",
+ " cursor = 'crosshair';\n",
+ " break;\n",
+ " case 3:\n",
+ " cursor = 'move';\n",
+ " break;\n",
+ " }\n",
+ " fig.rubberband_canvas.style.cursor = cursor;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
+ " fig.message.textContent = msg['message'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
+ " // Request the server to send over a new figure.\n",
+ " fig.send_draw_message();\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
+ " fig.image_mode = msg['mode'];\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Called whenever the canvas gets updated.\n",
+ " this.send_message(\"ack\", {});\n",
+ "}\n",
+ "\n",
+ "// A function to construct a web socket function for onmessage handling.\n",
+ "// Called in the figure constructor.\n",
+ "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
+ " return function socket_on_message(evt) {\n",
+ " if (evt.data instanceof Blob) {\n",
+ " /* FIXME: We get \"Resource interpreted as Image but\n",
+ " * transferred with MIME type text/plain:\" errors on\n",
+ " * Chrome. But how to set the MIME type? It doesn't seem\n",
+ " * to be part of the websocket stream */\n",
+ " evt.data.type = \"image/png\";\n",
+ "\n",
+ " /* Free the memory for the previous frames */\n",
+ " if (fig.imageObj.src) {\n",
+ " (window.URL || window.webkitURL).revokeObjectURL(\n",
+ " fig.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
+ " evt.data);\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ " else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
+ " fig.imageObj.src = evt.data;\n",
+ " fig.updated_canvas_event();\n",
+ " fig.waiting = false;\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var msg = JSON.parse(evt.data);\n",
+ " var msg_type = msg['type'];\n",
+ "\n",
+ " // Call the \"handle_{type}\" callback, which takes\n",
+ " // the figure and JSON message as its only arguments.\n",
+ " try {\n",
+ " var callback = fig[\"handle_\" + msg_type];\n",
+ " } catch (e) {\n",
+ " console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " if (callback) {\n",
+ " try {\n",
+ " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
+ " callback(fig, msg);\n",
+ " } catch (e) {\n",
+ " console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
+ " }\n",
+ " }\n",
+ " };\n",
+ "}\n",
+ "\n",
+ "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
+ "mpl.findpos = function(e) {\n",
+ " //this section is from http://www.quirksmode.org/js/events_properties.html\n",
+ " var targ;\n",
+ " if (!e)\n",
+ " e = window.event;\n",
+ " if (e.target)\n",
+ " targ = e.target;\n",
+ " else if (e.srcElement)\n",
+ " targ = e.srcElement;\n",
+ " if (targ.nodeType == 3) // defeat Safari bug\n",
+ " targ = targ.parentNode;\n",
+ "\n",
+ " // jQuery normalizes the pageX and pageY\n",
+ " // pageX,Y are the mouse positions relative to the document\n",
+ " // offset() returns the position of the element relative to the document\n",
+ " var x = e.pageX - $(targ).offset().left;\n",
+ " var y = e.pageY - $(targ).offset().top;\n",
+ "\n",
+ " return {\"x\": x, \"y\": y};\n",
+ "};\n",
+ "\n",
+ "/*\n",
+ " * return a copy of an object with only non-object keys\n",
+ " * we need this to avoid circular references\n",
+ " * http://stackoverflow.com/a/24161582/3208463\n",
+ " */\n",
+ "function simpleKeys (original) {\n",
+ " return Object.keys(original).reduce(function (obj, key) {\n",
+ " if (typeof original[key] !== 'object')\n",
+ " obj[key] = original[key]\n",
+ " return obj;\n",
+ " }, {});\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.mouse_event = function(event, name) {\n",
+ " var canvas_pos = mpl.findpos(event)\n",
+ "\n",
+ " if (name === 'button_press')\n",
+ " {\n",
+ " this.canvas.focus();\n",
+ " this.canvas_div.focus();\n",
+ " }\n",
+ "\n",
+ " var x = canvas_pos.x;\n",
+ " var y = canvas_pos.y;\n",
+ "\n",
+ " this.send_message(name, {x: x, y: y, button: event.button,\n",
+ " step: event.step,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ "\n",
+ " /* This prevents the web browser from automatically changing to\n",
+ " * the text insertion cursor when the button is pressed. We want\n",
+ " * to control all of the cursor setting manually through the\n",
+ " * 'cursor' event from matplotlib */\n",
+ " event.preventDefault();\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " // Handle any extra behaviour associated with a key event\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.key_event = function(event, name) {\n",
+ "\n",
+ " // Prevent repeat events\n",
+ " if (name == 'key_press')\n",
+ " {\n",
+ " if (event.which === this._key)\n",
+ " return;\n",
+ " else\n",
+ " this._key = event.which;\n",
+ " }\n",
+ " if (name == 'key_release')\n",
+ " this._key = null;\n",
+ "\n",
+ " var value = '';\n",
+ " if (event.ctrlKey && event.which != 17)\n",
+ " value += \"ctrl+\";\n",
+ " if (event.altKey && event.which != 18)\n",
+ " value += \"alt+\";\n",
+ " if (event.shiftKey && event.which != 16)\n",
+ " value += \"shift+\";\n",
+ "\n",
+ " value += 'k';\n",
+ " value += event.which.toString();\n",
+ "\n",
+ " this._key_event_extra(event, name);\n",
+ "\n",
+ " this.send_message(name, {key: value,\n",
+ " guiEvent: simpleKeys(event)});\n",
+ " return false;\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
+ " if (name == 'download') {\n",
+ " this.handle_save(this, null);\n",
+ " } else {\n",
+ " this.send_message(\"toolbar_button\", {name: name});\n",
+ " }\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
+ " this.message.textContent = tooltip;\n",
+ "};\n",
+ "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
+ "\n",
+ "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
+ "\n",
+ "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
+ " // Create a \"websocket\"-like object which calls the given IPython comm\n",
+ " // object with the appropriate methods. Currently this is a non binary\n",
+ " // socket, so there is still some room for performance tuning.\n",
+ " var ws = {};\n",
+ "\n",
+ " ws.close = function() {\n",
+ " comm.close()\n",
+ " };\n",
+ " ws.send = function(m) {\n",
+ " //console.log('sending', m);\n",
+ " comm.send(m);\n",
+ " };\n",
+ " // Register the callback with on_msg.\n",
+ " comm.on_msg(function(msg) {\n",
+ " //console.log('receiving', msg['content']['data'], msg);\n",
+ " // Pass the mpl event to the overriden (by mpl) onmessage function.\n",
+ " ws.onmessage(msg['content']['data'])\n",
+ " });\n",
+ " return ws;\n",
+ "}\n",
+ "\n",
+ "mpl.mpl_figure_comm = function(comm, msg) {\n",
+ " // This is the function which gets called when the mpl process\n",
+ " // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
+ "\n",
+ " var id = msg.content.data.id;\n",
+ " // Get hold of the div created by the display call when the Comm\n",
+ " // socket was opened in Python.\n",
+ " var element = $(\"#\" + id);\n",
+ " var ws_proxy = comm_websocket_adapter(comm)\n",
+ "\n",
+ " function ondownload(figure, format) {\n",
+ " window.open(figure.imageObj.src);\n",
+ " }\n",
+ "\n",
+ " var fig = new mpl.figure(id, ws_proxy,\n",
+ " ondownload,\n",
+ " element.get(0));\n",
+ "\n",
+ " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
+ " // web socket which is closed, not our websocket->open comm proxy.\n",
+ " ws_proxy.onopen();\n",
+ "\n",
+ " fig.parent_element = element.get(0);\n",
+ " fig.cell_info = mpl.find_output_cell(\"\");\n",
+ " if (!fig.cell_info) {\n",
+ " console.error(\"Failed to find cell for figure\", id, fig);\n",
+ " return;\n",
+ " }\n",
+ "\n",
+ " var output_index = fig.cell_info[2]\n",
+ " var cell = fig.cell_info[0];\n",
+ "\n",
+ "};\n",
+ "\n",
+ "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
+ " fig.root.unbind('remove')\n",
+ "\n",
+ " // Update the output cell to use the data from the current canvas.\n",
+ " fig.push_to_output();\n",
+ " var dataURL = fig.canvas.toDataURL();\n",
+ " // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
+ " // the notebook keyboard shortcuts fail.\n",
+ " IPython.keyboard_manager.enable()\n",
+ " $(fig.parent_element).html('');\n",
+ " fig.close_ws(fig, msg);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.close_ws = function(fig, msg){\n",
+ " fig.send_message('closing', msg);\n",
+ " // fig.ws.close()\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
+ " // Turn the data on the canvas into data in the output cell.\n",
+ " var dataURL = this.canvas.toDataURL();\n",
+ " this.cell_info[1]['text/html'] = '';\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.updated_canvas_event = function() {\n",
+ " // Tell IPython that the notebook contents must change.\n",
+ " IPython.notebook.set_dirty(true);\n",
+ " this.send_message(\"ack\", {});\n",
+ " var fig = this;\n",
+ " // Wait a second, then push the new image to the DOM so\n",
+ " // that it is saved nicely (might be nice to debounce this).\n",
+ " setTimeout(function () { fig.push_to_output() }, 1000);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._init_toolbar = function() {\n",
+ " var fig = this;\n",
+ "\n",
+ " var nav_element = $('')\n",
+ " nav_element.attr('style', 'width: 100%');\n",
+ " this.root.append(nav_element);\n",
+ "\n",
+ " // Define a callback function for later on.\n",
+ " function toolbar_event(event) {\n",
+ " return fig.toolbar_button_onclick(event['data']);\n",
+ " }\n",
+ " function toolbar_mouse_event(event) {\n",
+ " return fig.toolbar_button_onmouseover(event['data']);\n",
+ " }\n",
+ "\n",
+ " for(var toolbar_ind in mpl.toolbar_items){\n",
+ " var name = mpl.toolbar_items[toolbar_ind][0];\n",
+ " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
+ " var image = mpl.toolbar_items[toolbar_ind][2];\n",
+ " var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
+ "\n",
+ " if (!name) { continue; };\n",
+ "\n",
+ " var button = $('');\n",
+ " button.click(method_name, toolbar_event);\n",
+ " button.mouseover(tooltip, toolbar_mouse_event);\n",
+ " nav_element.append(button);\n",
+ " }\n",
+ "\n",
+ " // Add the status bar.\n",
+ " var status_bar = $('');\n",
+ " nav_element.append(status_bar);\n",
+ " this.message = status_bar[0];\n",
+ "\n",
+ " // Add the close button to the window.\n",
+ " var buttongrp = $('');\n",
+ " var button = $('');\n",
+ " button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
+ " button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
+ " buttongrp.append(button);\n",
+ " var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
+ " titlebar.prepend(buttongrp);\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._root_extra_style = function(el){\n",
+ " var fig = this\n",
+ " el.on(\"remove\", function(){\n",
+ "\tfig.close_ws(fig, {});\n",
+ " });\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._canvas_extra_style = function(el){\n",
+ " // this is important to make the div 'focusable\n",
+ " el.attr('tabindex', 0)\n",
+ " // reach out to IPython and tell the keyboard manager to turn it's self\n",
+ " // off when our div gets focus\n",
+ "\n",
+ " // location in version 3\n",
+ " if (IPython.notebook.keyboard_manager) {\n",
+ " IPython.notebook.keyboard_manager.register_events(el);\n",
+ " }\n",
+ " else {\n",
+ " // location in version 2\n",
+ " IPython.keyboard_manager.register_events(el);\n",
+ " }\n",
+ "\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
+ " var manager = IPython.notebook.keyboard_manager;\n",
+ " if (!manager)\n",
+ " manager = IPython.keyboard_manager;\n",
+ "\n",
+ " // Check for shift+enter\n",
+ " if (event.shiftKey && event.which == 13) {\n",
+ " this.canvas_div.blur();\n",
+ " // select the cell after this one\n",
+ " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
+ " IPython.notebook.select(index + 1);\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
+ " fig.ondownload(fig, null);\n",
+ "}\n",
+ "\n",
+ "\n",
+ "mpl.find_output_cell = function(html_output) {\n",
+ " // Return the cell and output element which can be found *uniquely* in the notebook.\n",
+ " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
+ " // IPython event is triggered only after the cells have been serialised, which for\n",
+ " // our purposes (turning an active figure into a static one), is too late.\n",
+ " var cells = IPython.notebook.get_cells();\n",
+ " var ncells = cells.length;\n",
+ " for (var i=0; i= 3 moved mimebundle to data attribute of output\n",
+ " data = data.data;\n",
+ " }\n",
+ " if (data['text/html'] == html_output) {\n",
+ " return [cell, data, j];\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ " }\n",
+ "}\n",
+ "\n",
+ "// Register the function which deals with the matplotlib target/channel.\n",
+ "// The kernel may be null if the page has been refreshed.\n",
+ "if (IPython.notebook.kernel != null) {\n",
+ " IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
+ "}\n"
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ ""
+ ],
+ "text/plain": [
+ ""
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ }
+ ],
+ "source": [
+ "fig = plt.figure()\n",
+ "#ax = fig.add_subplot(111, projection='3d')\n",
+ "ax = fig.add_subplot(1,2,1)\n",
+ "ax.set_aspect(\"equal\")\n",
+ "plt.plot(data.tx, data.ty, \"or-\")\n",
+ "plt.grid()\n",
+ "ax = fig.add_subplot(1,2,2)\n",
+ "plt.imshow(imaxis, origin = \"lower\")\n",
+ "plt.plot(np.array(corners)[:, 0, 0,0], np.array(corners)[:, 0, 0,1], \"or\")\n",
+ "plt.show()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 66,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "array([ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16,\n",
+ " 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33,\n",
+ " 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49])"
+ ]
+ },
+ "execution_count": 66,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "a = np.arange(50)\n",
+ "a"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 291,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "import pickle"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 273,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": [
+ "f = open(\"truc.pckl\", \"wb\")\n",
+ "pickle.dump(a, f)\n",
+ "f.close()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 274,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "array([ True, True, True, True, True, True, True, True, True,\n",
+ " True, True, True, True, True, True, True, True, True,\n",
+ " True, True, True, True, True, True, True, True, True,\n",
+ " True, True, True, True, True, True, True, True, True,\n",
+ " True, True, True, True, True, True, True, True, True,\n",
+ " True, True, True, True, True], dtype=bool)"
+ ]
+ },
+ "execution_count": 274,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "f = open(\"truc.pckl\", \"rb\")\n",
+ "b = pickle.load(f)\n",
+ "b == a"
+ ]
+ },
+ {
+ "cell_type": "code",
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+ "source": [
+ "corners = np.array(corners)\n",
+ "data2 = pd.DataFrame({\"px\": corners[:, 0, 0, 1], \n",
+ " \"py\": corners[:, 0, 0, 0]}, index = ids.flatten())\n",
+ "data2.sort_index(inplace=True)\n",
+ "data2"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 321,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
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+ "0.043476117957396747"
+ ]
+ },
+ "execution_count": 321,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "m0 = data2.loc[0]\n",
+ "m43 = data2.loc[43]\n",
+ "d01 = ((m0 - m43).values**2).sum()**.5\n",
+ "d = 42.5e-3 * (3.5**2 + 4.5**2)**.5\n",
+ "factor = d / d01\n",
+ "data2[\"x\"] = data2.px * factor\n",
+ "data2[\"y\"] = data2.py * factor\n",
+ "((data2[[\"x\", \"y\"]].loc[11] - data2[[\"x\", \"y\"]].loc[0]).values**2).sum()**.5\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 347,
+ "metadata": {},
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+ {
+ "data": {
+ "text/plain": [
+ "array([ 138.33575835, 143.00113377, 142.012097 , 140.69699432,\n",
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+ ]
+ },
+ "execution_count": 347,
+ "metadata": {},
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+ ],
+ "source": [
+ "\n",
+ "c = np.array(corners).astype(np.float64).reshape(44,4,2)\n",
+ "(((c[:, 1:] - c[:, :-1])**2).sum(axis = 2)**.5).mean(axis =1)"
+ ]
+ },
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+ "execution_count": 11,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "Help on built-in function detectMarkers:\n",
+ "\n",
+ "detectMarkers(...)\n",
+ " detectMarkers(image, dictionary[, corners[, ids[, parameters[, rejectedImgPoints]]]]) -> corners, ids, rejectedImgPoints\n",
+ "\n"
+ ]
+ }
+ ],
+ "source": [
+ "help(cv2.aruco.detectMarkers)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {
+ "collapsed": true
+ },
+ "outputs": [],
+ "source": []
+ }
+ ],
+ "metadata": {
+ "anaconda-cloud": {},
+ "kernelspec": {
+ "display_name": "Python 3",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.6.1"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 1
+}