diff --git a/aruco_tags.json b/aruco_tags.json
new file mode 100644
index 0000000000000000000000000000000000000000..d83d93e96459e7286ab610a4c7b2607195fba63e
--- /dev/null
+++ b/aruco_tags.json
@@ -0,0 +1 @@
+{"arucos": []}
\ No newline at end of file
diff --git a/demo.py b/demo.py
index ff3e7cd96eb7ec47769091ab25295062fac0c1f7..2caf956b2ae8f681da8c75a9adb0ba291586cc16 100644
--- a/demo.py
+++ b/demo.py
@@ -1,4 +1,17 @@
+
+# import json
# from ar_sandbox import Sandbox
+# import sys
+# import cv2
+# import numpy as np
+# import numpy.ma as npma
+# from esrimap.esrimap import EsriAscii
+# from PIL import Image
+# import requests
+# import time
+# import math
+
+from ar_sandbox import Sandbox
# from ar_sandbox.wrapper import sandbox_wrapper as sw
import sys
import cv2
@@ -9,6 +22,14 @@ from PIL import Image
import requests
import time
import math
+import json
+
+
+# EDIT ME
+DEFAULT_URL = "http://172.30.255.2:8000/map"
+DEFAULT_URL2 = "http://10.136.217.168:8000/map"
+
+destinations = [DEFAULT_URL]
NORMALIZATION_BETWEEN = (0.8, 1.2)
@@ -66,7 +87,6 @@ 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):
@@ -172,12 +192,15 @@ def display_level(frame):
def send_request(body, url="http://localhost:8000/map"):
+ # with open("mapoutput.asc", "w") as fp:
+ # json.dump(fp, body)
try:
requests.post(url, json=body)
except Exception as e:
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 +224,29 @@ 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())
@@ -241,16 +287,30 @@ 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)
+ for dest in destinations:
+ pass
+ #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")
+ tags = build_arucos_json(detected)
+ print(tags)
+ with open("aruco_tags.json", "w") as fp:
+ json.dump(tags, fp)
+
# Return value will be displayed on the beamer
return levels
@@ -266,12 +326,19 @@ 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()):
+ #aruco_dict=cv2.aruco.Dictionary_get(cv2.aruco.DICT_4X4_50),
+ #aruco_params=cv2.aruco.DetectorParameters_create()):
+ 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)
+
+ #(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)):
@@ -376,7 +443,8 @@ if __name__ == "__main__":
# 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)
diff --git a/env.sh b/env.sh
index c58ef142030d2ead41f1f46f3b9cda323b7fc5c9..5cef6089bc5515a761151f95691a7fb24c690ae0 100644
--- a/env.sh
+++ b/env.sh
@@ -1 +1,2 @@
-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
diff --git a/sandbox_conf.yaml b/sandbox_conf.yaml
index 9fa6ebd2d61e28205719b28168e50d0078888247..e2c06e3181c52fe40ef454f71ec887ff655cdd1d 100644
--- a/sandbox_conf.yaml
+++ b/sandbox_conf.yaml
@@ -1,27 +1,35 @@
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, 50]
+ #matrix: [0.999696374, 0.0246404037, 0, -0.0246404037, 0.999696374, 0]
+ # [?, 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