output roughness, more parameters configurable (cropping etc.)

conf.json

 {
     "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
 }
  

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