diff --git a/demo.py b/demo.py
index 35a4a58e1fe6b46e23c5675e55704b78029a683a..0829b33e888570b123f05714cbb50fae7c47afc3 100644
--- a/demo.py
+++ b/demo.py
@@ -1,18 +1,5 @@
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...')
diff --git a/sandbox_conf.yaml b/sandbox_conf.yaml
index e2c06e3181c52fe40ef454f71ec887ff655cdd1d..a59661043208415b2ddfe2ac04d13cd7c0494fa2 100644
--- a/sandbox_conf.yaml
+++ b/sandbox_conf.yaml
@@ -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
diff --git a/sandbox_conf_backup.yaml b/sandbox_conf_backup.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4a32850888b9e5c1bd6451e6af0b746fc86de00d
--- /dev/null
+++ b/sandbox_conf_backup.yaml
@@ -0,0 +1,27 @@
+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