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Commit 63bdf255 authored by kevin.heirich's avatar kevin.heirich
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Merge branch '2024' into 'master' 

2024

See merge request !1
parents 6d2792f9 624e67e9
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1 merge request!12024
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aruco_tags.json 0 → 100644
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View file @ 63bdf255
{"arucos": []}
\ No newline at end of file
demo.py
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View file @ 63bdf255
# from ar_sandbox import Sandbox
# from ar_sandbox.wrapper import sandbox_wrapper as sw
import falcon
from ar_sandbox import Sandbox
import sys
import cv2
import numpy as np
......@@ -9,17 +9,15 @@ from PIL import Image
import requests
import time
import math
import json
NORMALIZATION_BETWEEN = (0.8, 1.2)
LO_NORM = NORMALIZATION_BETWEEN[0]
HI_NORM = NORMALIZATION_BETWEEN[1]
SHOW_LINES = True
USE_HARD_COLORS = False
LINE_COLORS = [255, 255, 255]
COLORS_FULL_SPECTRUM_SOFT = [
(0.2, (0, 0, 255)),
(.25, (0, 255, 255)),
......@@ -66,7 +64,6 @@ COLOR_B_HARD = [c[1][2] for c in COLORS_FULL_SPECTRUM_HARD]
COLORMAP = None
COLORMAP_HARD = None
DEFAULT_URL = "http://localhost:8000"
def try_and_ignore(ignore=Exception, default_value=0.0):
......@@ -87,6 +84,9 @@ def try_and_ignore(ignore=Exception, default_value=0.0):
parse_int = try_and_ignore(ValueError, 0)(int)
parse_float = try_and_ignore(ValueError, 0.0)(float)
api_content_esri = ""
api_content_aruco = ""
class FakeSandbox:
"""Placeholder for testing purposes"""
......@@ -100,19 +100,16 @@ class FakeSandbox:
def start(self, *args):
cap = cv2.VideoCapture(0)
while cap.isOpened():
# im = Image.open("test_aru.png")
ret, fr = cap.read()
frame = cv2.resize(fr, (588, 432))
mat = np.loadtxt("depth")
# mat = cv2.cvtColor(fr, cv2.COLOR_BGR2GRAY)
mat2 = frame
if self.on_frame is not None:
frame = self.on_frame(mat, mat2)
cv2.imshow("frame", frame)
# time.sleep(self.refresh // 1000)
k = cv2.waitKey(self.refresh)
if k == 27:
break
......@@ -131,16 +128,7 @@ def get_color(depth, hard_colors=False) -> np.ndarray:
A 3 channel BGR matrix of the same size as depth_matrix.
"""
depth_matrix = depth.copy()
# if hard_colors:
# pts = POINTS_HARD
# r = COLOR_R_HARD
# g = COLOR_G_HARD
# b = COLOR_B_HARD
# else:
# pts = POINTS
# r = COLOR_R
# g = COLOR_G
# b = COLOR_B
if hard_colors:
pts = COLORMAP_HARD[0]
r = COLORMAP_HARD[1]
......@@ -153,11 +141,8 @@ def get_color(depth, hard_colors=False) -> np.ndarray:
b = COLORMAP[3]
r_val = np.interp(depth_matrix, pts, r)
# print(r_val)
g_val = np.interp(depth_matrix, pts, g)
# print(g_val)
b_val = np.interp(depth_matrix, pts, b)
# print(b_val)
res = np.dstack((b_val, g_val, r_val)).astype(np.uint8)
return res
......@@ -178,6 +163,7 @@ def send_request(body, url="http://localhost:8000/map"):
print(e)
# This is the older method that was used to transmit arucos over the network
def build_req_body(map, tag_list):
arucos = []
for t in tag_list:
......@@ -201,6 +187,29 @@ def build_req_body(map, tag_list):
return body
# This new method is basically a copy pasted version of the one above without the map
# Maybe both of them are not needed anymore
def build_arucos_json(tag_list):
arucos = []
for t in tag_list:
print(t)
(x, y), id, r = t
(x, y) = (parse_int(x), parse_int(y))
id = parse_int(id)
r = parse_float(r)
arucos.append({
"tag_id": id,
"position": {
"x": x,
"y": y
},
"rotation": r
})
body = {
"arucos": arucos
}
return body
def normalize_array(array):
return (array - array.min())/(array.max() - array.min())
......@@ -216,6 +225,7 @@ def normalize_array_between(array, lower_bound, higher_bound):
def make_esri_and_send(depth, color, *args):
global api_content_esri, api_content_aruco
if COLORMAP is None or COLORMAP_HARD is None:
gen_global_default_cmaps()
# Normalization step
......@@ -241,16 +251,30 @@ def make_esri_and_send(depth, color, *args):
# Aruco detection
grayscale_frame = cv2.cvtColor(color, cv2.COLOR_BGR2GRAY)
_, (corn, ids, rej), centers, rots = detect_aruco(grayscale_frame)
_, (corn, ids, rej), centers, rots = detect_aruco(grayscale_frame) #TODO
# Create map and tag dictionary
esri_map = EsriAscii.from_ndarray(depth)
detected = build_tag_list(ids, centers, rots)
detected = build_tag_list(ids, centers, rots) #TODO
# Send it toward api
send_request(build_req_body(esri_map, detected), url=DEFAULT_URL)
# May locally save the esri_map
# esri_map.to_file("depth_map_v2.asc")
#send_request(build_req_body(esri_map, detected), url=DEFAULT_URL)
#TODO
#send_request(build_req_body(esri_map, detected), url=dest)
#send_request(build_req_body(esri_map, []), url=dest)
#send_request(build_req_body(esri_map, detected), url=DEFAULT_URL2)
# May locally save the esri_map & arucos
# esri_map.to_file("depth_map.asc")
api_content_esri = esri_map.to_ascii()
api_content_aruco = build_arucos_json(detected)
# tags = build_arucos_json(detected)
# with open("aruco_tags.json", "w") as fp:
# json.dump(tags, fp)
# Return value will be displayed on the beamer
return levels
......@@ -266,12 +290,17 @@ def get_center(corner):
c0, _, c2, _ = corner[0]
return int(c0[0] + (c2[0]-c0[0]) // 2), int(c0[1] + (c2[1]-c0[1]) // 2)
# TODO def detect_aruco(a, b=None, c=None): return
def detect_aruco(frame,
aruco_dict=cv2.aruco.Dictionary_get(cv2.aruco.DICT_4X4_50),
aruco_params=cv2.aruco.DetectorParameters_create()):
output = frame.copy()
(corners, ids, rejected) = cv2.aruco.detectMarkers(frame, aruco_dict, parameters=aruco_params)
aruco_dict=cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_50),
aruco_params=cv2.aruco.DetectorParameters()):
# output = frame.copy()
#(corners, ids, rejected) = cv2.aruco.detectMarkers(frame, aruco_dict, parameters=aruco_params)
detector = cv2.aruco.ArucoDetector(aruco_dict, aruco_params)
(corners, ids, rejected) = detector.detectMarkers(frame)
centers = []
rotations = []
for c in range(len(corners)):
......@@ -279,14 +308,13 @@ def detect_aruco(frame,
ctr = get_center(corners[c])
top_left = corners[c][0][0]
centers.append(get_center(corners[c]))
# print("Corner is", corners[c], "Center is", get_center(corners[c]))
(w1, w2) = [-1, -1]
(v1, v2) = top_left - ctr
rotation_in_degree = math.degrees(math.atan2(w2 * v1 - w1 * v2, w1 * v1 + w2 * v2))
rotations.append(round(rotation_in_degree, 2))
except Exception as e:
print(e)
return output, (corners, ids, rejected), centers, rotations
return None, (corners, ids, rejected), centers, rotations
def save_matrices(depth, frame, *args):
......@@ -335,18 +363,18 @@ def rgb_to_hex(rgb):
return '#%02x%02x%02x' % rgb
if __name__ == "__main__":
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("-c", "--colors", default="")
parser.add_argument("-u", "--url", default=DEFAULT_URL)
parser.add_argument("-l", "--lines", action="store_true")
parser.add_argument("-H", "--hard", action="store_true")
arguments = parser.parse_args()
class ApiEsri:
def on_get(self, req, resp):
resp.media = api_content_esri
class ApiAruco:
def on_get(self, req, resp):
# resp.media = json.dumps(api_content_aruco)
resp.media = api_content_aruco
print(arguments)
DEFAULT_URL = arguments.url if arguments.url.startswith("http://") else "http://" + arguments.url
arg_colors = arguments.colors
def main():
arg_colors = ""
if arg_colors != "":
colours = []
cols = arg_colors.split(",")
......@@ -361,22 +389,38 @@ if __name__ == "__main__":
COLORMAP_HARD = create_colormap(create_hard_colors(cmap))
SHOW_LINES = False
if arguments.lines:
SHOW_LINES = True
USE_HARD_COLORS = False
if arguments.hard:
USE_HARD_COLORS = True
# colours = [(.2, (0,0,128)), (.25, (68, 87, 227)), (.3, (236, 255, 89)),(.4, (67, 138, 65)),(.6, (128,128,128)), (.8, (255, 255, 255))]
# colours = [(.2, (128,0,0)),(.3, (255,0,0)),(.4, (255,255,255)), (.5, (0,0,255)), (.6,(0, 0, 128))]
# COLORMAP = create_colormap(color_array=colours)
# COLORMAP_HARD = create_colormap(create_hard_colors(colours))
# USE_HARD_COLORS=True
LINE_COLORS = [0,0,0]
box = FakeSandbox(refresh=1000)
box = Sandbox(refresh=1000)
box.verbosity = 5
box.init()
box.on_frame = make_esri_and_send
box.start(box)
# ---- MAIN ----
from wsgiref.simple_server import make_server
from threading import Thread
app = falcon.App()
app.add_route('/sandbox', ApiEsri())
app.add_route('/aruco', ApiAruco())
class ApiThread(Thread):
def run(self):
print("run")
with make_server('', 8000, app) as httpd:
print('Serving on port 8000...')
# Serve until process is killed
httpd.serve_forever()
ApiThread().start()
main()
env.sh
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export LD_LIBRARY_PATH=/home/alexis/sandbox/sandbox_docker-builder/build/lib/
#export LD_LIBRARY_PATH=/home/alexis/sandbox/sandbox_docker-builder/build/lib/
export LD_LIBRARY_PATH=/home/sandbox/Documents/ar_sandbox_lib/build
sandbox_conf.yaml
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AdjustingMatrix:
angle: 1.4119340386036046
#angle: 0.5119340386036046
angle: 0.5
width: 3
height: 2
matrix: [0.999696374, 0.0246404037, 0, -0.0246404037, 0.999696374, 0]
matrix: [1.0, 0, 50, -0, 1, 70]
#matrix: [1.0, 0, 50, -0, 1, 50]
# [?, rotation, ?, ?, ?, ?]
#angle: 0
#width: 3
#height: 2
#matrix: [1, 0, 0, -0, 1, 0]
DistanceTopSandbox:
distance: 1
distance: 1.11300004
CroppingMask:
x: 52
y: 19
width: 588 # 568
height: 432
width: 588
height: 437
BeamerResolution:
width: 1400
height: 1050
width: 1280
height: 1024
BeamerPosition:
x: 0.0536931753
y: 0.260815978
z: -0.325273067
x: -0.0419691354
#x: -0.0419691354
y: 0.238534391
z: -0.126809254
FrameProcessProfil:
contrast: 1.0900000000000001
brightness: 14
minDistance: 15
cannyEdgeThreshold: 184
houghAccThreshold: 35
minRadius: 0
maxRadius: 0
contrast: 1.1200000000000001
brightness: -148
minDistance: 100
cannyEdgeThreshold: 86
houghAccThreshold: 44
minRadius: 2
maxRadius: 14
sandbox_conf_backup.yaml 0 → 100644
+ 27
− 0
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AdjustingMatrix:
angle: 1.4119340386036046
width: 3
height: 2
matrix: [0.999696374, 0.0246404037, 0, -0.0246404037, 0.999696374, 0]
DistanceTopSandbox:
distance: 1
CroppingMask:
x: 52
y: 19
width: 588 # 568
height: 432
BeamerResolution:
width: 1280
height: 1024
BeamerPosition:
x: 0.0536931753
y: 0.260815978
z: -0.325273067
FrameProcessProfil:
contrast: 1.0900000000000001
brightness: 14
minDistance: 15
cannyEdgeThreshold: 184
houghAccThreshold: 35
minRadius: 0
maxRadius: 0
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