From a33287139da6da282e7cf44096bb0f16d9ad06c7 Mon Sep 17 00:00:00 2001 From: Your Name Date: Wed, 30 Nov 2022 18:44:55 -0500 Subject: [PATCH] Fujun's commit, all corrected files --- README.md | 5 +- apriltag_ros/.gitignore | 3 + apriltag_ros/.travis.yml | 21 ++++ .../apriltag_ros/scripts/analyze_image | 0 .../apriltag_ros/src/common_functions.cpp | 2 +- blaser_ros/cfg/LaserDetector.cfg | 0 blaser_ros/scripts/im_hsv_shower.py | 0 blaser_ros/scripts/im_saver.py | 0 blaser_ros/scripts/imu_driver.py | 0 handeye.ipynb | 102 ++++++++++++------ multi_calibration/CMakeLists.txt | 9 +- multi_calibration/cfg/calib_params.yaml | 82 ++++++++------ multi_calibration/cfg/trajectory_planner.yaml | 16 +-- multi_calibration/cfg/ximea_80_calib.yaml | 60 +++++------ .../include/trajectory_planner.hpp | 1 - .../launch/auto_calibration.launch | 2 +- multi_calibration/src/trajectory_planner.cpp | 100 ++++++----------- ximea_ros_cam | 1 + 18 files changed, 225 insertions(+), 179 deletions(-) create mode 100644 apriltag_ros/.gitignore create mode 100644 apriltag_ros/.travis.yml mode change 100644 => 100755 apriltag_ros/apriltag_ros/scripts/analyze_image mode change 100644 => 100755 blaser_ros/cfg/LaserDetector.cfg mode change 100644 => 100755 blaser_ros/scripts/im_hsv_shower.py mode change 100644 => 100755 blaser_ros/scripts/im_saver.py mode change 100644 => 100755 blaser_ros/scripts/imu_driver.py create mode 160000 ximea_ros_cam diff --git a/README.md b/README.md index 2e4cc0c..5b5089b 100644 --- a/README.md +++ b/README.md @@ -221,13 +221,12 @@ Note: The tag size should not be measured from the outside of the tag. The tag s ![Tag size example](images/tag_size_example.png) -#### 2.2.2 Calibration Process +#### 2.2.2 Tag Measurement - Getting the *camera to Tag* transform: - Start the ximea camera node - ```shell cd ~/calibration_ws source devel/setup.bash @@ -245,8 +244,6 @@ Note: The tag size should not be measured from the outside of the tag. The tag s Now the **camera to Tag** transform can be viewed by echoing the **tf** rostopic. - Getting the *end-effector to Tag* transform: Use the CAD of your April tag holder and Camera holder to obtain the transform. -- As a sanity check for the calculation, the tag position derived from your **end-effector to Tag** transform and from **end-effector-camera-tag** transform chains should be exactly the same. - #### 2.2.3 Calibration Process After properly setting up the Apriltag pose estimation pipeline(that includes image undistortion and publishing updated rectified camera matrix), the **camera to Tag** transform should be available to you. diff --git a/apriltag_ros/.gitignore b/apriltag_ros/.gitignore new file mode 100644 index 0000000..c5b0f2d --- /dev/null +++ b/apriltag_ros/.gitignore @@ -0,0 +1,3 @@ +**/matlab_rosbag-0.5.0-linux64/ +**/*.bag +.vscode/ diff --git a/apriltag_ros/.travis.yml b/apriltag_ros/.travis.yml new file mode 100644 index 0000000..26924b0 --- /dev/null +++ b/apriltag_ros/.travis.yml @@ -0,0 +1,21 @@ +# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git). +# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst) + +language: generic # optional, just removes the language badge +services: + - docker +cache: + directories: + - $HOME/.ccache +git: + quiet: true # optional, silences the cloning of the target repository +env: + global: + - CCACHE_DIR=$HOME/.ccache # enables C/C++ caching in industrial_ci + matrix: # each line is a job + - ROS_DISTRO="melodic" + - ROS_DISTRO="noetic" +install: + - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci +script: + - .industrial_ci/travis.sh diff --git a/apriltag_ros/apriltag_ros/scripts/analyze_image b/apriltag_ros/apriltag_ros/scripts/analyze_image old mode 100644 new mode 100755 diff --git a/apriltag_ros/apriltag_ros/src/common_functions.cpp b/apriltag_ros/apriltag_ros/src/common_functions.cpp index 958c0e2..58afa3e 100644 --- a/apriltag_ros/apriltag_ros/src/common_functions.cpp +++ b/apriltag_ros/apriltag_ros/src/common_functions.cpp @@ -394,7 +394,7 @@ AprilTagDetectionArray TagDetector::detectTags ( tf::poseStampedMsgToTF(pose, tag_transform); tf_pub_.sendTransform(tf::StampedTransform(tag_transform, tag_transform.stamp_, - image->header.frame_id, + "/camera", detection_names[i])); } } diff --git a/blaser_ros/cfg/LaserDetector.cfg b/blaser_ros/cfg/LaserDetector.cfg old mode 100644 new mode 100755 diff --git a/blaser_ros/scripts/im_hsv_shower.py b/blaser_ros/scripts/im_hsv_shower.py old mode 100644 new mode 100755 diff --git a/blaser_ros/scripts/im_saver.py b/blaser_ros/scripts/im_saver.py old mode 100644 new mode 100755 diff --git a/blaser_ros/scripts/imu_driver.py b/blaser_ros/scripts/imu_driver.py old mode 100644 new mode 100755 diff --git a/handeye.ipynb b/handeye.ipynb index 71350aa..e92ad06 100644 --- a/handeye.ipynb +++ b/handeye.ipynb @@ -16,7 +16,7 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 3, "id": "ec9771e6", "metadata": {}, "outputs": [], @@ -28,7 +28,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 4, "id": "4d0daa6c", "metadata": {}, "outputs": [], @@ -49,20 +49,35 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 15, "id": "9fe9eea4", "metadata": {}, "outputs": [], "source": [ "# Matrix 1 (From camera to Tag or Arm_second_base to set position) calculation\n", "# M_1 = np.array([])\n", - "M1_x = 0.0006023064322632371\n", - "M1_y = 0.010909109872314858\n", - "M1_z = 0.08713564910079528\n", - "M1_R_x = 0.6961242419610357\n", - "M1_R_y = -0.695215316078465\n", - "M1_R_z = -0.12953962064348395\n", - "M1_R_w = -0.1237181907709441\n", + "# - Translation: [0.004, 0.036, 0.063]\n", + "# - Rotation: in Quaternion [0.708, 0.706, -0.019, 0.020]\n", + "M1_x = 0.0029274486736109227\n", + "M1_y = 0.037483151069323116\n", + "M1_z = 0.10065599886060031\n", + "M1_R_x =-0.7026550521830832\n", + "M1_R_y =0.710257908465643\n", + "M1_R_z =-0.00400648337114909\n", + "M1_R_w =-0.04235007903883518\n", + "\n", + "# translation:\n", + "# x: 0.0029274486736109227\n", + "# y: 0.037483151069323116\n", + "# z: 0.10065599886060031\n", + "# rotation:\n", + "# x: -0.7026550521830832\n", + "# y: 0.710257908465643\n", + "# z: -0.00400648337114909\n", + "# w: -0.04235007903883518\n", + "# ---\n", + "\n", + "\n", "\n", "M_1_position = np.array([M1_x,M1_y,M1_z,1])\n", "M_1_rotation = np.array([M1_R_x,M1_R_y,M1_R_z,M1_R_w])\n", @@ -75,7 +90,7 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 16, "id": "5ad9b971", "metadata": {}, "outputs": [], @@ -83,8 +98,13 @@ "# Matrix 2(From EE to Tag or Arm_refer_base to set position) calculation\n", "M_2 = np.array([[-1.,0.,0.,0.],\n", " [0., 1. , 0. , 0.],\n", - " [0.,0.,-1.,0.126],\n", + " [0.,0.,-1.,0.196],\n", " [0.,0.,0.,1.]])\n", + "\n", + "M_rot=np.array([[ 0.0000000, 1.0000000, 0.0000000,0],\n", + "[ -1.0000000, 0.0000000, 0.0000000,0],\n", + "[ 0.0000000, 0.0000000, 1.0000000 ,0],\n", + "[0.,0.,0.,1.]])\n", "# M2_x = \n", "# M2_y = \n", "# M2_z =\n", @@ -102,13 +122,14 @@ }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 17, "id": "19b107d7", "metadata": {}, "outputs": [], "source": [ "#Result calculate\n", "Result = M_2 @ M_1_inv\n", + "Result = Result @ M_rot\n", "Result_position = np.array([Result[0,3],Result[1,3],Result[2,3]])\n", "Result_rotation = R.from_matrix(Result [0:3,0:3])\n", "Result_rotation = Result_rotation.as_quat()" @@ -116,7 +137,7 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 18, "id": "39f7833f", "metadata": {}, "outputs": [ @@ -127,32 +148,39 @@ "\n", "input Matrix 1(From camera to Tag or Arm_second(right)_base to set position) :\n", "\n", - "[[-0.00289804 -0.9996473 -0.0263985 0.00308224]\n", - " [-0.92945203 -0.00704666 0.36887569 0.01443166]\n", - " [-0.3689316 0.02560516 -0.92910379 0.07736921]\n", + "[[-0.0089647 -0.99847197 -0.05452861 0.00292745]\n", + " [-0.99779327 0.01251965 -0.06520627 0.03748315]\n", + " [ 0.06578931 0.05382372 -0.99638084 0.100656 ]\n", " [ 0. 0. 0. 1. ]]\n", "\n", "input Matrix 2(From EE to Tag or Arm_refer_base to set position) :\n", "\n", "[[-1. 0. 0. 0. ]\n", " [ 0. 1. 0. 0. ]\n", - " [ 0. 0. -1. 0.126]\n", + " [ 0. 0. -1. 0.196]\n", " [ 0. 0. 0. 1. ]]\n", "\n", " Output Matrix(From EE to Camera or Arm_refer_base to Arm_second(right)_base) :\n", "\n", - "[[ 0.00289804 0.92945203 0.3689316 -0.04196641]\n", - " [-0.9996473 -0.00704666 0.02560516 0.0012018 ]\n", - " [ 0.0263985 -0.36887569 0.92910379 0.05935809]\n", + "[[-0.99779327 0.0089647 -0.06578931 -0.03080459]\n", + " [-0.01251965 -0.99847197 0.05382372 -0.00296398]\n", + " [-0.06520627 0.05452861 0.99638084 0.09310453]\n", + " [ 0. 0. 0. 1. ]]\n", + "\n", + " Output Matrix(From EE to Camera to tag) :\n", + "\n", + "[[-0.00432823 0.99283981 0.11937493 -0.04001164]\n", + " [ 0.99992186 0.00289699 0.01216038 -0.03500883]\n", + " [ 0.01172749 0.11941823 -0.99277477 0.19524925]\n", " [ 0. 0. 0. 1. ]]\n", "\n", " Position Matrix(X,Y,Z) :\n", "\n", - "[-0.04196641 0.0012018 0.05935809]\n", + "[-0.03080459 -0.00296398 0.09310453]\n", "\n", " Rotation Matrix(X,Y,Z,W) :\n", "\n", - "[ 0.14216268 -0.1234418 0.69520724 -0.69371377]\n" + "[ 0.03277904 -0.02711302 -0.99908034 0.00537603]\n" ] } ], @@ -167,6 +195,9 @@ "print(\"\\n Output Matrix(From EE to Camera or Arm_refer_base to Arm_second(right)_base) :\\n\" )\n", "print(Result)\n", "\n", + "print(\"\\n Output Matrix(From EE to Camera to tag) :\\n\" )\n", + "print(Result @ M_1)\n", + "\n", "print(\"\\n Position Matrix(X,Y,Z) :\\n\" )\n", "print(Result_position)\n", "print(\"\\n Rotation Matrix(X,Y,Z,W) :\\n\" )\n", @@ -175,7 +206,7 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 19, "id": "3844d951", "metadata": {}, "outputs": [], @@ -211,13 +242,13 @@ }, { "cell_type": "code", - "execution_count": 9, + "execution_count": 20, "id": "e1777430", "metadata": {}, "outputs": [ { "data": { - "application/javascript": "/* Put everything inside the global mpl namespace */\n/* global mpl */\nwindow.mpl = {};\n\nmpl.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(\n 'Your browser does not have WebSocket support. 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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\nmpl.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\nmpl.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\nmpl.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\nmpl.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], msg['forward']);\n fig.send_message('refresh', {});\n }\n};\n\nmpl.figure.prototype.handle_rubberband = function (fig, msg) {\n var x0 = msg['x0'] / fig.ratio;\n var y0 = (fig.canvas.height - msg['y0']) / fig.ratio;\n var x1 = msg['x1'] / fig.ratio;\n var y1 = (fig.canvas.height - msg['y1']) / fig.ratio;\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,\n 0,\n fig.canvas.width / fig.ratio,\n fig.canvas.height / fig.ratio\n );\n\n fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n};\n\nmpl.figure.prototype.handle_figure_label = function (fig, msg) {\n // Updates the figure title.\n fig.header.textContent = msg['label'];\n};\n\nmpl.figure.prototype.handle_cursor = function (fig, msg) {\n fig.rubberband_canvas.style.cursor = msg['cursor'];\n};\n\nmpl.figure.prototype.handle_message = function (fig, msg) {\n fig.message.textContent = msg['message'];\n};\n\nmpl.figure.prototype.handle_draw = function (fig, _msg) {\n // Request the server to send over a new figure.\n fig.send_draw_message();\n};\n\nmpl.figure.prototype.handle_image_mode = function (fig, msg) {\n fig.image_mode = msg['mode'];\n};\n\nmpl.figure.prototype.handle_history_buttons = function (fig, msg) {\n for (var key in msg) {\n if (!(key in fig.buttons)) {\n continue;\n }\n fig.buttons[key].disabled = !msg[key];\n fig.buttons[key].setAttribute('aria-disabled', !msg[key]);\n }\n};\n\nmpl.figure.prototype.handle_navigate_mode = function (fig, msg) {\n if (msg['mode'] === 'PAN') {\n fig.buttons['Pan'].classList.add('active');\n fig.buttons['Zoom'].classList.remove('active');\n } else if (msg['mode'] === 'ZOOM') {\n fig.buttons['Pan'].classList.remove('active');\n fig.buttons['Zoom'].classList.add('active');\n } else {\n fig.buttons['Pan'].classList.remove('active');\n fig.buttons['Zoom'].classList.remove('active');\n }\n};\n\nmpl.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.\nmpl.figure.prototype._make_on_message_function = function (fig) {\n return function socket_on_message(evt) {\n if (evt.data instanceof Blob) {\n var img = evt.data;\n if (img.type !== 'image/png') {\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 img.type = 'image/png';\n }\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\n fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n img\n );\n fig.updated_canvas_event();\n fig.waiting = false;\n return;\n } else if (\n typeof evt.data === 'string' &&\n evt.data.slice(0, 21) === 'data:image/png;base64'\n ) {\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(\n \"No handler for the '\" + msg_type + \"' message type: \",\n msg\n );\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(\n \"Exception inside the 'handler_\" + msg_type + \"' callback:\",\n e,\n e.stack,\n msg\n );\n }\n }\n };\n};\n\n// from https://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\nmpl.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 }\n if (e.target) {\n targ = e.target;\n } else if (e.srcElement) {\n targ = e.srcElement;\n }\n if (targ.nodeType === 3) {\n // defeat Safari bug\n targ = targ.parentNode;\n }\n\n // pageX,Y are the mouse positions relative to the document\n var boundingRect = targ.getBoundingClientRect();\n var x = e.pageX - (boundingRect.left + document.body.scrollLeft);\n var y = e.pageY - (boundingRect.top + document.body.scrollTop);\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 * https://stackoverflow.com/a/24161582/3208463\n */\nfunction simpleKeys(original) {\n return Object.keys(original).reduce(function (obj, key) {\n if (typeof original[key] !== 'object') {\n obj[key] = original[key];\n }\n return obj;\n }, {});\n}\n\nmpl.figure.prototype.mouse_event = function (event, name) {\n var canvas_pos = mpl.findpos(event);\n\n if (name === 'button_press') {\n this.canvas.focus();\n this.canvas_div.focus();\n }\n\n var x = canvas_pos.x * this.ratio;\n var y = canvas_pos.y * this.ratio;\n\n this.send_message(name, {\n x: x,\n y: y,\n button: event.button,\n step: event.step,\n guiEvent: simpleKeys(event),\n });\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\nmpl.figure.prototype._key_event_extra = function (_event, _name) {\n // Handle any extra behaviour associated with a key event\n};\n\nmpl.figure.prototype.key_event = function (event, name) {\n // Prevent repeat events\n if (name === 'key_press') {\n if (event.key === this._key) {\n return;\n } else {\n this._key = event.key;\n }\n }\n if (name === 'key_release') {\n this._key = null;\n }\n\n var value = '';\n if (event.ctrlKey && event.key !== 'Control') {\n value += 'ctrl+';\n }\n else if (event.altKey && event.key !== 'Alt') {\n value += 'alt+';\n }\n else if (event.shiftKey && event.key !== 'Shift') {\n value += 'shift+';\n }\n\n value += 'k' + event.key;\n\n this._key_event_extra(event, name);\n\n this.send_message(name, { key: value, guiEvent: simpleKeys(event) });\n return false;\n};\n\nmpl.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\nmpl.figure.prototype.toolbar_button_onmouseover = function (tooltip) {\n this.message.textContent = tooltip;\n};\n\n///////////////// REMAINING CONTENT GENERATED BY embed_js.py /////////////////\n// prettier-ignore\nvar _JSXTOOLS_RESIZE_OBSERVER=function(A){var t,i=new WeakMap,n=new WeakMap,a=new WeakMap,r=new WeakMap,o=new Set;function s(e){if(!(this instanceof s))throw new TypeError(\"Constructor requires 'new' operator\");i.set(this,e)}function h(){throw new TypeError(\"Function is not a constructor\")}function c(e,t,i,n){e=0 in arguments?Number(arguments[0]):0,t=1 in arguments?Number(arguments[1]):0,i=2 in arguments?Number(arguments[2]):0,n=3 in arguments?Number(arguments[3]):0,this.right=(this.x=this.left=e)+(this.width=i),this.bottom=(this.y=this.top=t)+(this.height=n),Object.freeze(this)}function d(){t=requestAnimationFrame(d);var s=new WeakMap,p=new Set;o.forEach((function(t){r.get(t).forEach((function(i){var r=t instanceof window.SVGElement,o=a.get(t),d=r?0:parseFloat(o.paddingTop),f=r?0:parseFloat(o.paddingRight),l=r?0:parseFloat(o.paddingBottom),u=r?0:parseFloat(o.paddingLeft),g=r?0:parseFloat(o.borderTopWidth),m=r?0:parseFloat(o.borderRightWidth),w=r?0:parseFloat(o.borderBottomWidth),b=u+f,F=d+l,v=(r?0:parseFloat(o.borderLeftWidth))+m,W=g+w,y=r?0:t.offsetHeight-W-t.clientHeight,E=r?0:t.offsetWidth-v-t.clientWidth,R=b+v,z=F+W,M=r?t.width:parseFloat(o.width)-R-E,O=r?t.height:parseFloat(o.height)-z-y;if(n.has(t)){var k=n.get(t);if(k[0]===M&&k[1]===O)return}n.set(t,[M,O]);var S=Object.create(h.prototype);S.target=t,S.contentRect=new c(u,d,M,O),s.has(i)||(s.set(i,[]),p.add(i)),s.get(i).push(S)}))})),p.forEach((function(e){i.get(e).call(e,s.get(e),e)}))}return s.prototype.observe=function(i){if(i instanceof window.Element){r.has(i)||(r.set(i,new Set),o.add(i),a.set(i,window.getComputedStyle(i)));var n=r.get(i);n.has(this)||n.add(this),cancelAnimationFrame(t),t=requestAnimationFrame(d)}},s.prototype.unobserve=function(i){if(i instanceof window.Element&&r.has(i)){var n=r.get(i);n.has(this)&&(n.delete(this),n.size||(r.delete(i),o.delete(i))),n.size||r.delete(i),o.size||cancelAnimationFrame(t)}},A.DOMRectReadOnly=c,A.ResizeObserver=s,A.ResizeObserverEntry=h,A}; // eslint-disable-line\nmpl.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\", \"Left button pans, Right button zooms\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\\nx/y fixes axis\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n\nmpl.extensions = [\"eps\", \"jpeg\", \"pgf\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n\nmpl.default_extension = \"png\";/* global mpl */\n\nvar 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.binaryType = comm.kernel.ws.binaryType;\n ws.readyState = comm.kernel.ws.readyState;\n function updateReadyState(_event) {\n if (comm.kernel.ws) {\n ws.readyState = comm.kernel.ws.readyState;\n } else {\n ws.readyState = 3; // Closed state.\n }\n }\n comm.kernel.ws.addEventListener('open', updateReadyState);\n comm.kernel.ws.addEventListener('close', updateReadyState);\n comm.kernel.ws.addEventListener('error', updateReadyState);\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 var data = msg['content']['data'];\n if (data['blob'] !== undefined) {\n data = {\n data: new Blob(msg['buffers'], { type: data['blob'] }),\n };\n }\n // Pass the mpl event to the overridden (by mpl) onmessage function.\n ws.onmessage(data);\n });\n return ws;\n};\n\nmpl.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 = document.getElementById(id);\n var ws_proxy = comm_websocket_adapter(comm);\n\n function ondownload(figure, _format) {\n window.open(figure.canvas.toDataURL());\n }\n\n var fig = new mpl.figure(id, ws_proxy, ondownload, element);\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;\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 fig.cell_info[0].output_area.element.on(\n 'cleared',\n { fig: fig },\n fig._remove_fig_handler\n );\n};\n\nmpl.figure.prototype.handle_close = function (fig, msg) {\n var width = fig.canvas.width / fig.ratio;\n fig.cell_info[0].output_area.element.off(\n 'cleared',\n fig._remove_fig_handler\n );\n fig.resizeObserverInstance.unobserve(fig.canvas_div);\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.innerHTML =\n '';\n fig.close_ws(fig, msg);\n};\n\nmpl.figure.prototype.close_ws = function (fig, msg) {\n fig.send_message('closing', msg);\n // fig.ws.close()\n};\n\nmpl.figure.prototype.push_to_output = function (_remove_interactive) {\n // Turn the data on the canvas into data in the output cell.\n var width = this.canvas.width / this.ratio;\n var dataURL = this.canvas.toDataURL();\n this.cell_info[1]['text/html'] =\n '';\n};\n\nmpl.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 () {\n fig.push_to_output();\n }, 1000);\n};\n\nmpl.figure.prototype._init_toolbar = function () {\n var fig = this;\n\n var toolbar = document.createElement('div');\n toolbar.classList = 'btn-toolbar';\n this.root.appendChild(toolbar);\n\n function on_click_closure(name) {\n return function (_event) {\n return fig.toolbar_button_onclick(name);\n };\n }\n\n function on_mouseover_closure(tooltip) {\n return function (event) {\n if (!event.currentTarget.disabled) {\n return fig.toolbar_button_onmouseover(tooltip);\n }\n };\n }\n\n fig.buttons = {};\n var buttonGroup = document.createElement('div');\n buttonGroup.classList = 'btn-group';\n var button;\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 /* Instead of a spacer, we start a new button group. */\n if (buttonGroup.hasChildNodes()) {\n toolbar.appendChild(buttonGroup);\n }\n buttonGroup = document.createElement('div');\n buttonGroup.classList = 'btn-group';\n continue;\n }\n\n button = fig.buttons[name] = document.createElement('button');\n button.classList = 'btn btn-default';\n button.href = '#';\n button.title = name;\n button.innerHTML = '';\n button.addEventListener('click', on_click_closure(method_name));\n button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n buttonGroup.appendChild(button);\n }\n\n if (buttonGroup.hasChildNodes()) {\n toolbar.appendChild(buttonGroup);\n }\n\n // Add the status bar.\n var status_bar = document.createElement('span');\n status_bar.classList = 'mpl-message pull-right';\n toolbar.appendChild(status_bar);\n this.message = status_bar;\n\n // Add the close button to the window.\n var buttongrp = document.createElement('div');\n buttongrp.classList = 'btn-group inline pull-right';\n button = document.createElement('button');\n button.classList = 'btn btn-mini btn-primary';\n button.href = '#';\n button.title = 'Stop Interaction';\n button.innerHTML = '';\n button.addEventListener('click', function (_evt) {\n fig.handle_close(fig, {});\n });\n button.addEventListener(\n 'mouseover',\n on_mouseover_closure('Stop Interaction')\n );\n buttongrp.appendChild(button);\n var titlebar = this.root.querySelector('.ui-dialog-titlebar');\n titlebar.insertBefore(buttongrp, titlebar.firstChild);\n};\n\nmpl.figure.prototype._remove_fig_handler = function (event) {\n var fig = event.data.fig;\n if (event.target !== this) {\n // Ignore bubbled events from children.\n return;\n }\n fig.close_ws(fig, {});\n};\n\nmpl.figure.prototype._root_extra_style = function (el) {\n el.style.boxSizing = 'content-box'; // override notebook setting of border-box.\n};\n\nmpl.figure.prototype._canvas_extra_style = function (el) {\n // this is important to make the div 'focusable\n el.setAttribute('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 } else {\n // location in version 2\n IPython.keyboard_manager.register_events(el);\n }\n};\n\nmpl.figure.prototype._key_event_extra = function (event, _name) {\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\nmpl.figure.prototype.handle_save = function (fig, _msg) {\n fig.ondownload(fig, null);\n};\n\nmpl.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 < ncells; i++) {\n var cell = cells[i];\n if (cell.cell_type === 'code') {\n for (var j = 0; j < cell.output_area.outputs.length; j++) {\n var data = cell.output_area.outputs[j];\n if (data.data) {\n // IPython >= 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.\nif (IPython.notebook.kernel !== null) {\n IPython.notebook.kernel.comm_manager.register_target(\n 'matplotlib',\n mpl.mpl_figure_comm\n );\n}\n", + "application/javascript": "/* Put everything inside the global mpl namespace */\nwindow.mpl = {};\n\n\nmpl.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\nmpl.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 if (mpl.ratio != 1) {\n fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n }\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 fig.ws.close();\n }\n\n this.ws.onmessage = this._make_on_message_function(this);\n\n this.ondownload = ondownload;\n}\n\nmpl.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\nmpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n\n}\n\n\nmpl.figure.prototype._root_extra_style = function(canvas_div) {\n\n}\n\nmpl.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 backingStore = this.context.backingStorePixelRatio ||\n\tthis.context.webkitBackingStorePixelRatio ||\n\tthis.context.mozBackingStorePixelRatio ||\n\tthis.context.msBackingStorePixelRatio ||\n\tthis.context.oBackingStorePixelRatio ||\n\tthis.context.backingStorePixelRatio || 1;\n\n mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\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 * mpl.ratio);\n canvas.attr('height', height * mpl.ratio);\n canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\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\nmpl.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 = $('