From be65da18bb04ace88085470d4afc60dc298664bb Mon Sep 17 00:00:00 2001
From: dronus <paul.geisler@web.de>
Date: Sun, 22 Aug 2021 20:45:05 +0200
Subject: [PATCH] output roughness, more parameters configurable (cropping
etc.)
---
conf.json | 6 +++++-
linescan.py | 18 +++++++++---------
2 files changed, 14 insertions(+), 10 deletions(-)
diff --git a/conf.json b/conf.json
index 2872a9a..1b19946 100644
--- a/conf.json
+++ b/conf.json
@@ -1,6 +1,8 @@
{
"camera_warmup_time": 2.5,
"resolution": [640, 480],
+ "y_min":300,
+ "y_max":465,
"fps": 40,
"shutter_milliseconds":6,
"contrast_limit":3.0,
@@ -9,7 +11,9 @@
"removed_top_bins":3,
"pitch_min":0,
"pitch_step":1,
+ "laser_threshold":165,
"height_scale":5,
- "width_scale" :0.5
+ "width_scale" :0.5,
+ "roughness_scale":5.0
}
diff --git a/linescan.py b/linescan.py
index 68e50af..010efd6 100755
--- a/linescan.py
+++ b/linescan.py
@@ -66,12 +66,12 @@ while True:
# crop down to some rectangular bar used for processing
# cropped_frame=frame[100:280,0:640]
- cropped_frame=frame[0:480,0:640]
+ cropped_frame=frame[conf['y_min']:conf['y_max'],5:-5]
# histogram output
- # crop single line for color histogram output
- line_frame=cropped_frame[140:141,5:635]
+ # crop single line near bottom for color histogram output
+ line_frame=cropped_frame[-2:-1,:]
# compute b/w histogram
line_frame = cv2.cvtColor(line_frame, cv2.COLOR_BGR2GRAY)
histogram=np.zeros(histogram_steps,dtype=np.uint16)
@@ -93,10 +93,8 @@ while True:
# gather depth data from a laser line projection
gray=cv2.cvtColor(cropped_frame, cv2.COLOR_BGR2GRAY)
grad_y = cv2.Sobel(gray, cv2.CV_8U, 0, 2, ksize=5, scale=-.1, delta=0, borderType=cv2.BORDER_DEFAULT)
- _, laser = cv2.threshold(grad_y, 165, 255, cv2.THRESH_BINARY)
+ _, laser = cv2.threshold(grad_y, conf['laser_threshold'], 255, cv2.THRESH_BINARY)
weights=np.arange(laser.shape[0],dtype=float)
- laser[0:400][0:640]=0
- laser[478:480][0:640]=0
weighted=np.tensordot(laser,weights,[[0],[0]])
count =np.sum (laser.astype(float),0)
@@ -108,16 +106,18 @@ while True:
baseline=np.percentile(depths,95)
depths=depths[depths<baseline-2]
- depth_min =np.min(depths)
+ depth_min =np.percentile(depths,5)
depth_mean =np.mean(depths)
depth_width =np.sum(depths>0)
depth_height=baseline-depth_mean
+ depth_roughness=np.std(depths)
- print("baseline "+str(baseline)+" min "+str(depth_min)+" mean "+str(depth_mean)+" width "+str(depth_width)+" height "+str(depth_height))
+ print("baseline "+str(baseline)+" min "+str(depth_min)+" mean "+str(depth_mean)+" width "+str(depth_width)+" height "+str(depth_height)+" roughness "+str(depth_roughness))
# send out mean width and height of the scanned pieces by MIDI CC 64 and 65.
midi_output_queue.append(((0xB<<4), 64, int(depth_height*conf['height_scale'])))
midi_output_queue.append(((0xB<<4), 65, int(depth_width *conf['width_scale' ])))
+ midi_output_queue.append(((0xB<<4), 66, int(depth_roughness *conf['roughness_scale' ])))
# impaint max to laser image (preview)
laser[int(baseline+1)][:]=100
@@ -127,7 +127,7 @@ while True:
cv2.imshow("laser", laser)
# if the `q` key is pressed, break from the lop
- key = cv2.waitKey(1) & 0xFF
+ key = cv2.waitKey(10) & 0xFF
if key == ord("q"):
break
--
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