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..0829b33e888570b123f05714cbb50fae7c47afc3 100644
--- a/demo.py
+++ b/demo.py
@@ -1,5 +1,5 @@
-# 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()
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..a59661043208415b2ddfe2ac04d13cd7c0494fa2 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, 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
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