py3dcal 1.0.0__py3-none-any.whl → 1.0.3__py3-none-any.whl

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Files changed (10) hide show
  1. py3DCal/__init__.py +1 -0
  2. py3DCal/model_training/datasets/DIGIT_dataset.py +4 -2
  3. py3DCal/model_training/datasets/GelSightMini_dataset.py +4 -2
  4. py3DCal/model_training/lib/fast_poisson.py +12 -12
  5. {py3dcal-1.0.0.dist-info → py3dcal-1.0.3.dist-info}/METADATA +1 -1
  6. {py3dcal-1.0.0.dist-info → py3dcal-1.0.3.dist-info}/RECORD +10 -10
  7. {py3dcal-1.0.0.dist-info → py3dcal-1.0.3.dist-info}/LICENSE +0 -0
  8. {py3dcal-1.0.0.dist-info → py3dcal-1.0.3.dist-info}/WHEEL +0 -0
  9. {py3dcal-1.0.0.dist-info → py3dcal-1.0.3.dist-info}/entry_points.txt +0 -0
  10. {py3dcal-1.0.0.dist-info → py3dcal-1.0.3.dist-info}/top_level.txt +0 -0
py3DCal/__init__.py CHANGED
@@ -9,4 +9,5 @@ from .model_training.datasets.split_dataset import split_dataset
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  from .model_training.models.touchnet import SensorType
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  from .model_training.lib.train_model import train_model
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  from .model_training.lib.depthmaps import get_depthmap, save_2d_depthmap, show_2d_depthmap
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+ from .model_training.lib.fast_poisson import fast_poisson
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  from .utils.utils import list_com_ports
py3DCal/model_training/datasets/DIGIT_dataset.py CHANGED
@@ -21,13 +21,15 @@ class DIGIT(TactileSensorDataset):
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  def __init__(self, root: Union[str, Path] = Path("."), download=False, add_coordinate_embeddings=True, subtract_blank=True, transform=None):
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  validate_root(root)
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- self.dataset_path = os.path.join(root, "digit_calibration_data")
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+ self.root = root
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- super().__init__(root=self.dataset_path, add_coordinate_embeddings=add_coordinate_embeddings, subtract_blank=subtract_blank, transform=transform)
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+ self.dataset_path = os.path.join(self.root, "digit_calibration_data")
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  if download:
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  self._download_dataset()
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+ super().__init__(root=self.dataset_path, add_coordinate_embeddings=add_coordinate_embeddings, subtract_blank=subtract_blank, transform=transform)
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+
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  def _download_dataset(self):
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  """
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  Downloads the dataset for either the DIGIT sensor.
py3DCal/model_training/datasets/GelSightMini_dataset.py CHANGED
@@ -21,13 +21,15 @@ class GelSightMini(TactileSensorDataset):
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  def __init__(self, root: Union[str, Path] = Path("."), download=False, add_coordinate_embeddings=True, subtract_blank=True, transform=None):
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  validate_root(root)
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- self.dataset_path = os.path.join(root, "gsmini_calibration_data")
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+ self.root = root
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- super().__init__(root=self.dataset_path, add_coordinate_embeddings=add_coordinate_embeddings, subtract_blank=subtract_blank, transform=transform)
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+ self.dataset_path = os.path.join(self.root, "gsmini_calibration_data")
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  if download:
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  self._download_dataset()
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+ super().__init__(root=self.dataset_path, add_coordinate_embeddings=add_coordinate_embeddings, subtract_blank=subtract_blank, transform=transform)
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+
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  def _download_dataset(self):
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  """
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  Downloads the dataset for the GelSight Mini sensor.
py3DCal/model_training/lib/fast_poisson.py CHANGED
@@ -2,25 +2,25 @@ import numpy as np
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  from scipy.fftpack import dst
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  from scipy.fftpack import idst
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- def fast_poisson(Fx, Fy):
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+ def fast_poisson(Gx, Gy):
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  """
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  Fast Poisson solver for 2D images.
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  Args:
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- Fx: 2D array of x-derivatives
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- Fy: 2D array of y-derivatives
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+ Gx (np.ndarray): 2D array of x-derivatives
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+ Gy (np.ndarray): 2D array of y-derivatives
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  Returns:
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- img: 2D array of the solution to the Poisson equation
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+ depthmap (np.ndarray): 2D array of the solution to the Poisson equation
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  """
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- height, width = Fx.shape
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+ height, width = Gx.shape
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- # Compute the difference of the Fx array in the x-direction to approximate the second derivative in the x-direction (only for interior)
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- Fxx = Fx[1:-1,1:-1] - Fx[1:-1,:-2]
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- # Compute the difference of the Fy array in the y-direction to approximate the second derivative in the y-direction (only for interior)
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- Fyy = Fy[1:-1,1:-1] - Fy[:-2,1:-1]
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+ # Compute the difference of the Gx array in the x-direction to approximate the second derivative in the x-direction (only for interior)
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+ Gxx = Gx[1:-1,1:-1] - Gx[1:-1,:-2]
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+ # Compute the difference of the Gy array in the y-direction to approximate the second derivative in the y-direction (only for interior)
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+ Gyy = Gy[1:-1,1:-1] - Gy[:-2,1:-1]
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  # Combine the two second derivatives to form the source term for the Poisson equation, g
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- g = Fxx + Fyy
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+ g = Gxx + Gyy
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  # Apply the Discrete Sine Transform (DST) to the 2D array g (row-wise transform)
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  g_sinx = dst(g, norm='ortho')
@@ -46,6 +46,6 @@ def fast_poisson(Fx, Fy):
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  # Note: The norm='ortho' option in the DST and IDST ensures that the transforms are orthonormal, maintaining energy conservation in the transforms
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  # Pad the result (which is only for the interior) with 0's at the border because we are assuming fixed boundary conditions
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- img = np.pad(g_xy, pad_width=1, mode='constant')
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+ depthmap = np.pad(g_xy, pad_width=1, mode='constant')
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- return img
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+ return depthmap
{py3dcal-1.0.0.dist-info → py3dcal-1.0.3.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.1
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  Name: py3dcal
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- Version: 1.0.0
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+ Version: 1.0.3
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  Summary: UNKNOWN
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  Home-page: https://github.com/rohankotanu/py3DCal
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  Author: Rohan Kota
{py3dcal-1.0.0.dist-info → py3dcal-1.0.3.dist-info}/RECORD RENAMED
@@ -1,4 +1,4 @@
1
- py3DCal/__init__.py,sha256=a2eY2WoX_GOmAIlLTi-pmp3Xm4TVpNf_7H__FtQIDh0,697
1
+ py3DCal/__init__.py,sha256=NM8ftqmz739vw9q6l8Uo-teuwklAX3Smywf9NSwXSNA,755
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  py3DCal/data_collection/Calibrator.py,sha256=pxj6gqrQLHTxbMsdUfsUxUgOgY8pLqKarzkYxjpxW58,11496
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  py3DCal/data_collection/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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  py3DCal/data_collection/Printers/Printer.py,sha256=ouqgWuJWk8PPjhTRFwolnupXbE0SzO819LIgw1ug-7s,1628
@@ -14,15 +14,15 @@ py3DCal/data_collection/Sensors/GelsightMini/GelsightMini.py,sha256=1jr9nfpja_19
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  py3DCal/data_collection/Sensors/GelsightMini/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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  py3DCal/data_collection/Sensors/GelsightMini/default.csv,sha256=lavPHcJ6o4VkvMvOk7lcdRCp9dOJxg_VrPNayf9zVvM,26449
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  py3DCal/model_training/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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- py3DCal/model_training/datasets/DIGIT_dataset.py,sha256=wNjmUHr9m_44Yq-KPldjLdWrb6ecpwHnmXmEY8X1DyM,2986
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- py3DCal/model_training/datasets/GelSightMini_dataset.py,sha256=EY-6yVj6rCmcIhNeui-ZCmsf14f1-GDXcGL4ZmTToGo,3039
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+ py3DCal/model_training/datasets/DIGIT_dataset.py,sha256=IYRqWDawbTTe4IOVjZuKVr0yVNBe1XLGC6PoDxsTMfo,3017
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+ py3DCal/model_training/datasets/GelSightMini_dataset.py,sha256=H8Fr_4f3HDHLLl6KshRfqt0FP8-3d4n9XRK0xfPcH0k,3070
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  py3DCal/model_training/datasets/__init__.py,sha256=vqrB177ZXrBmqDnL472EWleJS6Y-BxYEy2Ao9hWWDHc,137
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  py3DCal/model_training/datasets/split_dataset.py,sha256=AzNJlTgcXGa9AdHJnVJYNEyv__OuNHZAMB76Haqc-io,1351
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  py3DCal/model_training/datasets/tactile_sensor_dataset.py,sha256=O7jEtArQukV-jssXLHEueRiII5hE01kv2OBn0HS82Dc,3246
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  py3DCal/model_training/lib/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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  py3DCal/model_training/lib/add_coordinate_embeddings.py,sha256=8wit43RIx28IKEB82SnH_Of09FAmiWM3jgOeXpamM1I,1198
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  py3DCal/model_training/lib/depthmaps.py,sha256=v-UL7ui8ZMJLMtwVqfrYIecS2KTGjRwPXa7mhFQLztk,2684
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- py3DCal/model_training/lib/fast_poisson.py,sha256=Eh0Q_cr6r1MMppZ0xUMnQXpHTnZ-W6VQlwYcRREcN20,2198
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+ py3DCal/model_training/lib/fast_poisson.py,sha256=wJ5MTkSCxkFU3wUx-zomvIYPcAyEpPZj-LX7JQOx8JE,2252
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  py3DCal/model_training/lib/get_gradient_map.py,sha256=IbCigrK_-6ZkeOSaHZAIhMu2pFmkSpWAaz1EjUtenCM,1438
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  py3DCal/model_training/lib/precompute_gradients.py,sha256=zc1uvishZP7PjBWYF2VSrIMCtEkLrTPtLktOTpCh9P8,1860
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  py3DCal/model_training/lib/train_model.py,sha256=fxFIfKWp3WA1Aa2IEczKBJCivVyVovj7IW2HqNw5IlE,4016
@@ -36,9 +36,9 @@ py3DCal/model_training/touchnet/touchnet.py,sha256=c7FyDviwclaAQtak-QY5710r53aic
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  py3DCal/model_training/touchnet/touchnet_architecture.py,sha256=CGWodHCezCGVBPrjezj6574Sh0QQwSGWhRckUY8d7Hw,2137
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  py3DCal/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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  py3DCal/utils/utils.py,sha256=hgTyWZuBXfo9lxLnOLd0445Aw2-uARtKGXuBhZmz-Z0,995
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- py3dcal-1.0.0.dist-info/LICENSE,sha256=D95ljbgz6PW9niwHP26EWFN77QBvepSCsMKGp0mRVFM,1066
40
- py3dcal-1.0.0.dist-info/METADATA,sha256=RGWNQiOoZ0vAwjd1jq3mBLJO6eWK0UOEAb2KyrMr9fU,882
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- py3dcal-1.0.0.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
42
- py3dcal-1.0.0.dist-info/entry_points.txt,sha256=_N1ruxvLEyZmSAaPsCx8kEzbYSJ5bHG5S8bvpua_X5E,59
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- py3dcal-1.0.0.dist-info/top_level.txt,sha256=NbatjyXjN_E6UMifZpkx-ohahGQH_ZFvqovwmvU7FMA,8
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- py3dcal-1.0.0.dist-info/RECORD,,
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+ py3dcal-1.0.3.dist-info/LICENSE,sha256=D95ljbgz6PW9niwHP26EWFN77QBvepSCsMKGp0mRVFM,1066
40
+ py3dcal-1.0.3.dist-info/METADATA,sha256=vGiIuSBhT17_m0ciZhR066JNydbf0YDYZxVmgCbdA18,882
41
+ py3dcal-1.0.3.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
42
+ py3dcal-1.0.3.dist-info/entry_points.txt,sha256=_N1ruxvLEyZmSAaPsCx8kEzbYSJ5bHG5S8bvpua_X5E,59
43
+ py3dcal-1.0.3.dist-info/top_level.txt,sha256=NbatjyXjN_E6UMifZpkx-ohahGQH_ZFvqovwmvU7FMA,8
44
+ py3dcal-1.0.3.dist-info/RECORD,,