Kevin stuff

aruco_tags.json

+{"arucos": []}
\ No newline at end of file

demo.py

+
+# 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)

env.sh

-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

 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