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Commit 624e67e9 authored by kevin.heirich's avatar kevin.heirich
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Code cleaning

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demo.py
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− 52
View file @ 624e67e9
import falcon
# 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
import numpy as np
......@@ -24,17 +11,13 @@ 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)),
......@@ -117,19 +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
......@@ -148,16 +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]
......@@ -170,11 +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
......@@ -189,8 +157,6 @@ 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:
......@@ -305,7 +271,7 @@ def make_esri_and_send(depth, color, *args):
api_content_esri = esri_map.to_ascii()
api_content_aruco = build_arucos_json(detected)
# tags = build_arucos_json(detected)
# print(tags)
# with open("aruco_tags.json", "w") as fp:
# json.dump(tags, fp)
......@@ -327,11 +293,9 @@ def get_center(corner):
# 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.getPredefinedDictionary(cv2.aruco.DICT_4X4_50),
aruco_params=cv2.aruco.DetectorParameters()):
output = frame.copy()
# output = frame.copy()
#(corners, ids, rejected) = cv2.aruco.detectMarkers(frame, aruco_dict, parameters=aruco_params)
detector = cv2.aruco.ArucoDetector(aruco_dict, aruco_params)
......@@ -344,14 +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):
......@@ -406,6 +369,7 @@ class ApiEsri:
class ApiAruco:
def on_get(self, req, resp):
# resp.media = json.dumps(api_content_aruco)
resp.media = api_content_aruco
......@@ -425,20 +389,13 @@ def 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 = Sandbox(refresh=1000)
box.verbosity = 5
......@@ -446,20 +403,18 @@ def main():
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...')
......
sandbox_conf.yaml
+ 2
− 2
View file @ 624e67e9
......@@ -3,8 +3,8 @@ AdjustingMatrix:
angle: 0.5
width: 3
height: 2
matrix: [1.0, 0, 50, -0, 1, 50]
#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
......
sandbox_conf_backup.yaml 0 → 100644
+ 27
− 0
View file @ 624e67e9
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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