chang kinect wuerfel configfinder to work with achterbahn
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parent
ee1ed34935
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@ -0,0 +1,605 @@
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import processing.video.*; //Video | GStreamer-based video library for Processing
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//on linux: sudo apt-get install libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libglib2.0-dev
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// sudo apt-get install libgstreamer-plugins-good1.0-dev
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import processing.serial.*;
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Serial sPort;
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Capture cam;
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PImage cam_reference;
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PImage cam_currentbox;
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PGraphics canvas;
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PImage image_clear;
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int currentID=0;
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//int MAXID = 50; //inclusive
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//int MAXID = 599;
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int MAXID = 10;
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int searchstate=0; //0=get reference image and ping box, 1=wait, 2=get image to compare and turn box off, 3=wait
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long starttime_wait=0;
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float PIXELDISTANCE_CM=1.6; //pixeldistance in centimeter
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boolean running=false;
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color testcolor=color(255,255,255);
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color offcolor=color(0,0,0);
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color successcolor=color(0,255,0);
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color failcolor=color(255,0,0);
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static int boxnum=19; //how many boxes are visible?
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ArrayList<Box> boxes=new ArrayList<Box>();
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//result will be written to the following arrays
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//int boxid[] = new int[boxnum]; //for found boxes
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//PVector boxpos[] = new PVector[boxnum]; //center position of box
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//PVector boxsize[] = new PVector[boxnum]; //size of box (width,height)
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//Settings
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//int FINDBOXES_MINIMUMBRIGHTNESS; //brightness difference required
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int FINDBOXES_MAXIMUMPIXELDISTANCE; //distance to add pixel to existing box
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PVector MINBOXSIZE; //minimum box size to accept box
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int TIME_FIND = 100; //time in ms to find box in image
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int TIME_RESULT = 100; //time in ms to show success/fail
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int TIME_TURNOFF = 100; //time in ms to wait to turn off
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float MINBRIGHTNESS_PERCENTILE=0.98; //percentile for minbrightness calculation (how many pixels will be considered). between 0(all) and 1(none). 0=all pixels. ->1=only bright pixels
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int MINIMUMALLOWEDBRIGHTNESS=50; //minimum brightness. will be limited to this lower bound if no box in image (percentile calculation yields low value)
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void setup() {
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size(640, 480);
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frameRate(30);
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/*
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for (int i=0; i<Serial.list().length; i++) {
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println(""+i+": "+Serial.list()[i]);
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}
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*/
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//String portName = Serial.list()[0];
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String portName="/dev/ttyUSB0";
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sPort = new Serial(this, portName, 115200);
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canvas = createGraphics(width, height);
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//FINDBOXES_MINIMUMBRIGHTNESS=60; //brightness difference required
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FINDBOXES_MAXIMUMPIXELDISTANCE=width/200; //distance to add pixel to existing box
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MINBOXSIZE = new PVector(width/300,width/300); //minimum box size to accept box
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String[] cameras = Capture.list();
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if (cameras.length == 0) {
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println("There are no cameras available for capture.");
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exit();
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} else {
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println("Available cameras:");
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for (int i = 0; i < cameras.length; i++) {
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println(i+"->"+cameras[i]);
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}
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// The camera can be initialized directly using an
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// element from the array returned by list():
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//cam = new Capture(this, cameras[1]); //windows
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cam = new Capture(this, cameras[0]); //linux
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cam.start();
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}
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image_clear=cam.copy();
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cam_reference=cam.copy();
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}
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void draw() {
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if (cam.available() == true) {
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cam.read();
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}
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//image(cam, 0, 0);
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// The following does the same, and is faster when just drawing the image
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// without any additional resizing, transformations, or tint.
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//set(0, 0, cam);
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//Subtract images
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canvas.beginDraw();
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canvas.background(0);
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canvas.blendMode(NORMAL);
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canvas.image(cam, 0, 0);
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canvas.blendMode(SUBTRACT);
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canvas.image(cam_reference, 0, 0);
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canvas.endDraw();
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image(canvas,0,0); //show camera image
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if (running) {
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checkState();
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}
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textSize(12);
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fill(0,255,150); //textcolor
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text("id: " + currentID, 10, 20);
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text("state: " + searchstate, 10, 20*2);
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//draw boxes
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for (Box box : boxes) {
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PVector boxcenter = box.getBoxCenter();
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PVector boxsize = box.getBoxSize();
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rectMode(CENTER);
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noFill();
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fill(255,255,0,100);
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stroke(255,0,0);
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rect(boxcenter.x,boxcenter.y, boxsize.x,boxsize.y);
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textSize(12);
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fill(0,255,150); //textcolor
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text(box.getBoxID(), boxcenter.x,boxcenter.y);
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}
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}
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void checkState() {
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switch(searchstate) {
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case 0: //0=get reference image and ping box
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println("Set achterbahn to debug mode");
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String writeserial="debug_dark\n";
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sPort.write(writeserial);
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delay(500);
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cam_reference=cam.copy();
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println();
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println("Searching BoxID "+str(currentID));
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colorBox(currentID);
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starttime_wait=millis();
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searchstate++;
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break;
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case 1: //1=wait
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if (millis()>starttime_wait + TIME_FIND) { //wait some time
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searchstate++;
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}
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break;
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case 2: //2=get image to compare and turn box off
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cam_currentbox=canvas.copy();
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Box box = findSingleBox(cam_currentbox); //find single box in this image
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if (box!=null && (box.getBoxSize().x<MINBOXSIZE.x || box.getBoxSize().y<MINBOXSIZE.y)) { //box too small
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box=null;
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println(" Box too small");
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}
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if (box!=null) { //if box found
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PVector boxsize = box.getBoxSize();
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float boxarea = boxsize.x * boxsize.y;
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if (boxarea >= pow(cam_currentbox.width/40,2)) { //if box is big enough
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box.setBoxID(currentID);
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box.setConfidence(1.0);
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boxes.add(box);
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}
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}
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if (box!=null) {
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println("Found box");
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println("Pos: "+box.getBoxCenter().x+", "+box.getBoxCenter().y+" | size: "+box.getBoxSize().x+", "+box.getBoxSize().y);
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//colorBox(currentID);
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}else {
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println("No Box Found!");
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//colorBox(currentID);
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}
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starttime_wait=millis();
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searchstate++;
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break;
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case 3: //3=wait, color box fail or success
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if (millis()>starttime_wait + TIME_RESULT) { //wait some time
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colorAllOff();
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starttime_wait=millis();
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searchstate++;
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}
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break;
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case 4: //wait for box to turn off completely
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if (millis()>starttime_wait + TIME_TURNOFF) { //wait some time
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starttime_wait=millis();
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searchstate++;
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}
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break;
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case 5: //next box
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searchstate=0;
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currentID++;
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if (currentID>MAXID) {
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running=false;
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cam_reference=image_clear; //show normal camera image
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}
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break;
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}
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}
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void keyPressed() {
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if (key == 'n' ){
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cam_reference=cam.copy();
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println("New Reference Set");
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} else if (key == 10){ //ENTER
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running=true;
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colorAllOff(); //turn box off
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currentID=0; //reset
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searchstate=0;
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boxes.clear(); //reset found boxes
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println("Search started");
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} else if (key == 'r' ){
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running=false;
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cam_reference=image_clear; //show normal camera image
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} else if(key == 's') {
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sendHeights();
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} else if(key == 'S') {
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saveToEEPROM();
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} else if(key == 'p') {
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calculateConfidences();
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}
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}
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int getPercentileBrightness(PImage img, float percentile) { //percentile between 0 and 1
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percentile=min(max(percentile,0.0),1.0); //limit to 0 to 1
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int[] brightness=new int[img.pixels.length];
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for (int i=0;i<brightness.length;i++) {
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brightness[i] = int(brightness(img.pixels[i]));
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}
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int[] sortedbrightness=sort(brightness);
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return sortedbrightness[int(percentile*sortedbrightness.length)];
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}
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ArrayList<Box> findBoxes(PImage img) {
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ArrayList<Box> foundboxes=new ArrayList<Box>();
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int minimumbrightness=getPercentileBrightness(img, MINBRIGHTNESS_PERCENTILE); //calculate brightness by percentile based on minimum box size
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minimumbrightness=max(minimumbrightness, MINIMUMALLOWEDBRIGHTNESS); //limit lower value
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println(" minimumbrightness="+minimumbrightness);
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for (int y=0;y<img.height;y++) {
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for (int x=0;x<img.width;x++) {
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color pcolor = img.get(x,y);
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if (brightness(pcolor)>minimumbrightness) { //pixel has changed
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Box nearestBox=null;
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float nearestBoxDistance=MAX_FLOAT;
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for (Box cb : foundboxes) { //check all known boxes
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float cdist = cb.getDistanceTo(new PVector(x,y));
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if (cdist<=FINDBOXES_MAXIMUMPIXELDISTANCE && cdist<nearestBoxDistance) { //is near this box and closer than to another box before
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nearestBox=cb; //remeber box
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nearestBoxDistance=cdist; //remember distance
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}
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}
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if (nearestBox==null) { //no box near this pixel
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Box newbox=new Box(); //create new box
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newbox.addPixel(new PVector(x,y));
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foundboxes.add(newbox); //add
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} else {
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nearestBox.addPixel(new PVector(x,y)); //add this pixel to near box
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}
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}
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}
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}
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println(" findBoxes(): foundboxes.size="+foundboxes.size());
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//merge overlapping boxes together
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for (int i=0;i<foundboxes.size();i++) {
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Box fbox = foundboxes.get(i);
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if (fbox.getMarked()) { continue; } //skip if this box was marked
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for (int i2=i+1;i2<foundboxes.size();i2++) {
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Box fbox2 = foundboxes.get(i2);
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if (fbox.getMarked()) { continue; } //skip if this box was marked
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if (fbox2.isInside(fbox) && fbox.isInside(fbox2)) {
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fbox.merge(fbox2); //add pixels to one box
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fbox2.setMarked(true); //mark for deletion
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}
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}
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}
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for (int i=0;i<foundboxes.size();i++) { //remove marked boxes
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Box fbox = foundboxes.get(i);
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if (fbox.getMarked()) { //if marked
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foundboxes.remove(fbox); //remove merged box
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i--;
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}
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}
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println(" after merge: foundboxes.size="+foundboxes.size());
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return foundboxes;
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}
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Box findSingleBox(PImage img) {
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ArrayList<Box> foundboxes = findBoxes(img);
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Box mostPixelBox=null;
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for (Box box : foundboxes) {
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if (mostPixelBox == null || mostPixelBox.getPixelNumber()<box.getPixelNumber()) { //found box with more pixels
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mostPixelBox=box;
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}
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}
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return mostPixelBox;
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}
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public class Box {
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ArrayList<PVector> boxpixels;
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int boxid;
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boolean marked=false;
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float confidence=0;
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public Box() {
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boxpixels = new ArrayList<PVector>();
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}
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public void setMarked(boolean pm) {
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marked=pm;
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}
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public boolean getMarked() {
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return marked;
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}
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public void addPixel(PVector newpix) {
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boxpixels.add(newpix);
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}
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public ArrayList<PVector> getPixels() {
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return boxpixels;
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}
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public void setBoxID(int pid) {
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this.boxid=pid;
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}
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public int getBoxID() {
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return this.boxid;
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}
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public float getDistanceTo(PVector pix) { //get distance from pix to nearest point of this box
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float mindist=MAX_FLOAT;
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for (PVector pbox : boxpixels) {
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float currentdist = sqrt(pow(pix.x-pbox.x,2)+pow(pix.y-pbox.y,2)); //calculate distance
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mindist=min(currentdist,mindist); //save new minimum
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}
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return mindist;
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}
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public PVector getMeanPos(){
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PVector meanvec= new PVector(0,0);
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for (PVector pbox : boxpixels) {
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meanvec.x+=pbox.x;
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meanvec.y+=pbox.y;
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}
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meanvec.x/=boxpixels.size();
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meanvec.y/=boxpixels.size();
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return meanvec;
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}
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public PVector getBoxSize(){ //returns widht and height as vector
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PVector upperleft= new PVector(MAX_FLOAT,MAX_FLOAT); //min x and y
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PVector lowerright= new PVector(0,0); //max x and y
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for (PVector pbox : boxpixels) {
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upperleft.x=min(upperleft.x, pbox.x);
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upperleft.y=min(upperleft.y, pbox.y);
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lowerright.x=max(lowerright.x, pbox.x);
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lowerright.y=max(lowerright.y, pbox.y);
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}
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PVector boxsize = new PVector(lowerright.x-upperleft.x, lowerright.y-upperleft.y);
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return boxsize;
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}
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public PVector getBoxCenter(){ //returns width and height as vector
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PVector upperleft= new PVector(MAX_FLOAT,MAX_FLOAT); //min x and y
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PVector lowerright= new PVector(0,0); //max x and y
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for (PVector pbox : boxpixels) {
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upperleft.x=min(upperleft.x, pbox.x);
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upperleft.y=min(upperleft.y, pbox.y);
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lowerright.x=max(lowerright.x, pbox.x);
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lowerright.y=max(lowerright.y, pbox.y);
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}
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PVector boxcenter = new PVector((lowerright.x+upperleft.x)/2, (lowerright.y+upperleft.y)/2);
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return boxcenter;
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}
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public int getPixelNumber() {
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return this.boxpixels.size();
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}
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public boolean isInside(Box pbox) {
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int pixelsinside=0; //for counting pixels of pbox inside this box
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PVector pboxsize=pbox.getBoxSize();
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PVector pboxcenter=pbox.getBoxCenter();
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float pboxX1 = pboxcenter.x-pboxsize.x/2;
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float pboxX2 = pboxcenter.x+pboxsize.x/2;
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float pboxY1 = pboxcenter.y-pboxsize.y/2;
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float pboxY2 = pboxcenter.y+pboxsize.y/2;
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for (PVector pix : boxpixels) {
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if (pix.x>pboxX1 && pix.x<pboxX2 && pix.y>pboxY1 && pix.y<pboxY2) { //is inside
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pixelsinside++;
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}
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}
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return pixelsinside>0;
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}
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public void merge(Box mergebox) { //merge pixels from mergebox inside this box
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boxpixels.addAll(mergebox.getPixels());
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}
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public float getConfidence() {
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return confidence;
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}
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public void setConfidence(float pconf) {
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confidence=pconf;
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}
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}
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void colorBox(int id)
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{
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//sPort.write("B,"+str(id)+","+str(0)+","+int(red(c))+","+int(green(c))+","+int(blue(c))+"\n");
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String writeserial="px="+str(id)+"\n";
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sPort.write(writeserial);
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delay(50);
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}
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void colorAllOff()
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{
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String writeserial="px="+str(-1)+"\n"; //value outside range doesnt show
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sPort.write(writeserial);
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println("writeserial="+writeserial);
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delay(50);
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}
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void sendHeights(){
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float pixelscale=PIXELDISTANCE_CM/getMeanDist();
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println("pixelscale="+pixelscale);
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float minHeightValue=10000;
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float maxHeightValue=0;
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for (int i=0;i<boxes.size();i++) {
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Box box=boxes.get(i);
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PVector boxcenter=box.getBoxCenter();
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minHeightValue=min(pixelscale*boxcenter.y,minHeightValue);
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maxHeightValue=max(pixelscale*boxcenter.y,maxHeightValue);
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}
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println("minHeightValue="+minHeightValue+", maxHeightValue="+maxHeightValue);
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if(maxHeightValue-minHeightValue>=255) {
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println("WARNING. Too much height difference!");
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}
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println("clear Heightmap");
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String writeserial="clear\n";
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sPort.write(writeserial);
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delay(200);
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for (int i=0;i<boxes.size();i++) {
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Box box=boxes.get(i);
|
||||
PVector boxcenter=box.getBoxCenter();
|
||||
float conf=box.getConfidence();
|
||||
//boxconfig[i]=+";"+(boxcenter.x/cam.width)+";"+(boxcenter.y/cam.height)+";"+(boxsize.x/cam.width)+";"+(boxsize.y/cam.height);
|
||||
float pixelvalue = pixelscale*boxcenter.y-minHeightValue; //0 to 255
|
||||
|
||||
pixelvalue=constrain(int(pixelvalue),0,255);
|
||||
|
||||
if (conf>0.5) {
|
||||
writeserial="setpx="+box.getBoxID()+","+int(pixelvalue)+"\n";
|
||||
sPort.write(writeserial);
|
||||
}
|
||||
}
|
||||
println("send");
|
||||
}
|
||||
|
||||
void calculateConfidences() {
|
||||
for (int i=0;i<boxes.size();i++) {
|
||||
Box box=boxes.get(i);
|
||||
int boxid=box.getBoxID();
|
||||
PVector boxcenter=box.getBoxCenter();
|
||||
PVector boxsize=box.getBoxSize();
|
||||
float boxarea = boxsize.x * boxsize.y;
|
||||
|
||||
//calculate distance to neighboring boxes
|
||||
int prevBoxi=-1;
|
||||
int nextBoxi=-1;
|
||||
for (int j=0;j<boxes.size();j++) {
|
||||
if (boxes.get(j).getBoxID()<boxid) { //found
|
||||
if (prevBoxi<0 || boxes.get(j).getBoxID()>boxes.get(prevBoxi).getBoxID()) { //new one closer to boxid
|
||||
prevBoxi=j;
|
||||
}
|
||||
}
|
||||
if (boxes.get(j).getBoxID()>boxid) { //found
|
||||
if (nextBoxi<0 || boxes.get(j).getBoxID()<boxes.get(nextBoxi).getBoxID()) { //new one closer to boxid
|
||||
nextBoxi=j;
|
||||
}
|
||||
}
|
||||
}
|
||||
float prevdist=0;
|
||||
if (prevBoxi>=0) {
|
||||
PVector prevboxcenter=boxes.get(prevBoxi).getBoxCenter();
|
||||
prevdist=dist(prevboxcenter.x,prevboxcenter.y,boxcenter.x,boxcenter.y);
|
||||
int boxsteps = boxid-boxes.get(prevBoxi).getBoxID(); //1 if previous box found. greater if boxes missing in between
|
||||
prevdist*=boxsteps;
|
||||
}
|
||||
float nextdist=0;
|
||||
if (nextBoxi>=0) {
|
||||
PVector nextboxcenter=boxes.get(nextBoxi).getBoxCenter();
|
||||
nextdist=dist(nextboxcenter.x,nextboxcenter.y,boxcenter.x,boxcenter.y);
|
||||
int boxsteps = boxes.get(nextBoxi).getBoxID()-boxid; //1 if previous box found. greater if boxes missing in between
|
||||
prevdist*=boxsteps;
|
||||
}
|
||||
float maxdist=max(prevdist,nextdist); //maximum distance to neighbor if one exists
|
||||
maxdist/=cam.width;
|
||||
|
||||
float confidence=constrain(map(maxdist, 0.05, 0.5, 1.0,0.1), 0.1,1.0);
|
||||
|
||||
|
||||
confidence*=constrain(map(boxarea, 1000, 10000, 1.0,0.5), 0.5,1.0);
|
||||
|
||||
box.setConfidence(confidence);
|
||||
println(boxid+":"+"maxdist="+maxdist+", area="+boxarea+", confidence="+confidence);
|
||||
}
|
||||
}
|
||||
|
||||
float getMeanDist() { //run after confidences have been calculated
|
||||
float meandist=0;
|
||||
int meancount=0;
|
||||
for (int i=0;i<boxes.size();i++) {
|
||||
Box box=boxes.get(i);
|
||||
float mindist=-1;
|
||||
if (box.getConfidence()>0.5) { //confidence high enough
|
||||
int boxid=box.getBoxID();
|
||||
PVector boxcenter=box.getBoxCenter();
|
||||
PVector boxsize=box.getBoxSize();
|
||||
|
||||
//calculate distance to neighboring boxes
|
||||
int prevBoxi=-1;
|
||||
int nextBoxi=-1;
|
||||
for (int j=0;j<boxes.size();j++) {
|
||||
if (boxes.get(j).getBoxID()<boxid) { //found
|
||||
if (prevBoxi<0 || boxes.get(j).getBoxID()>boxes.get(prevBoxi).getBoxID()) { //new one closer to boxid
|
||||
prevBoxi=j;
|
||||
}
|
||||
}
|
||||
if (boxes.get(j).getBoxID()>boxid) { //found
|
||||
if (nextBoxi<0 || boxes.get(j).getBoxID()<boxes.get(nextBoxi).getBoxID()) { //new one closer to boxid
|
||||
nextBoxi=j;
|
||||
}
|
||||
}
|
||||
}
|
||||
float prevdist=0;
|
||||
if (prevBoxi>=0) {
|
||||
PVector prevboxcenter=boxes.get(prevBoxi).getBoxCenter();
|
||||
prevdist=dist(prevboxcenter.x,prevboxcenter.y,boxcenter.x,boxcenter.y);
|
||||
int boxsteps = boxid-boxes.get(prevBoxi).getBoxID(); //1 if previous box found. greater if boxes missing in between
|
||||
prevdist*=boxsteps;
|
||||
}
|
||||
float nextdist=0;
|
||||
if (nextBoxi>=0) {
|
||||
PVector nextboxcenter=boxes.get(nextBoxi).getBoxCenter();
|
||||
nextdist=dist(nextboxcenter.x,nextboxcenter.y,boxcenter.x,boxcenter.y);
|
||||
int boxsteps = boxes.get(nextBoxi).getBoxID()-boxid; //1 if previous box found. greater if boxes missing in between
|
||||
prevdist*=boxsteps;
|
||||
}
|
||||
mindist=max(prevdist,nextdist); //maximum distance to neighbor if one exists
|
||||
}
|
||||
|
||||
if (mindist>0){
|
||||
meancount++;
|
||||
meandist+=mindist;
|
||||
}
|
||||
|
||||
} //end for all boxes
|
||||
return meandist/meancount;
|
||||
}
|
||||
|
||||
void saveToEEPROM() {
|
||||
String writeserial="save\n";
|
||||
sPort.write(writeserial);
|
||||
delay(500);
|
||||
println("send save to eeprom");
|
||||
}
|
||||
Loading…
Reference in New Issue