Checking in today's work.

The code is basically functional.  I wouldn't call it robust, but it does return generally correct results.
This commit is contained in:
Mike Abbott 2023-02-04 21:30:38 -07:00
parent 309e78056f
commit d3edd36d8e
7 changed files with 198 additions and 43 deletions

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@ -7,3 +7,6 @@ RUN pip3 install opencv-python-headless
# RUN pip3 install --upgrade pip setuptools wheel
# RUN pip3 install opencv-python
# RUN apt-get update && apt-get install ffmpeg libsm6 libxext6 -y
RUN apt-get update && apt-get install -y git
RUN pip3 install aiohttp requests
RUN apt-get update && apt-get install -y ffmpeg

2
.gitignore vendored
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@ -153,3 +153,5 @@ cython_debug/
frame_data/
.idea/
*.gif
*.mp4

5
convert.py Normal file
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@ -0,0 +1,5 @@
from glob import glob
import os
from pathlib import Path
for file_name in glob("sample_data/*"):
os.system(f"ffmpeg -i {file_name} gif/{Path(file_name).stem}.gif")

0
klipper/__init__.py Normal file
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79
klipper/gcode.py Normal file
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@ -0,0 +1,79 @@
# import asyncio
# import aiohttp
import requests
# HOST = 'fluiddpi.local'
HOST = 'http://192.168.1.64'
GCODE_ENDPOINT = '/printer/gcode/script'
OBJECTS_ENDPOINT = '/printer/objects/query'
# Helper function to automatically generate the coordinate strings
# for G0 commands.
def format_move(x: float = None, y: float = None, z: float = None, f: float = None):
def format_string(value, prefix):
return f" {prefix}{value}" if value is not None else ""
return "".join(format_string(value, prefix) for value, prefix in [(x, "x"), (y, "y"), (z, "z"), (f, "f")])
def move_absolute(x: float = None, y: float = None, z: float = None, f: float = None):
return send_gcode(f"""
G90
G0{format_move(x, y, z, f)}
""")
def move_relative(x: float = None, y: float = None, z: float = None, f: float = None):
return send_gcode(f"""
G91
G0{format_move(x, y, z, f)}
""")
# async def send_gcode(gcode: str):
# async with aiohttp.ClientSession() as session:
# json_data = {
# "script": gcode
# }
# async with session.post(HOST + GCODE_ENDPOINT, json=json_data) as resp:
# return await resp.json()
def send_gcode(gcode: str):
json_data = {
"script": gcode
}
resp = requests.post(HOST + GCODE_ENDPOINT, json=json_data)
return resp.json()
def home():
return send_gcode('G28')
def has_homed():
resp = requests.get(HOST + OBJECTS_ENDPOINT, params="toolhead")
result = resp.json()["result"]
return result["status"]["toolhead"]["homed_axes"] == "xyz"
def do_initialization_routine():
if not has_homed():
print("Homing")
home()
print("Quad Gantry Level")
send_gcode("QUAD_GANTRY_LEVEL")
print("Rehoming Z")
send_gcode("G28 Z")
def main():
do_initialization_routine()
print("Finished initializing")
# move_absolute(150, 150, 16, 1000000)
# move_absolute(10, 10, 20, 1000000)
# move_absolute(150, 150, 16, 1000000)
print("Done")
if __name__ == "__main__":
main()
# start at x=45, y=305, end at x=109 (leaving 8mm off the start and end for now)

111
main.py
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@ -1,55 +1,80 @@
import cv2
import numpy as np
from glob import glob
# result = cv2.imread("2023-01-16-213226.jpg")
ranking = []
video_data = cv2.VideoCapture("sample_video.mp4")
for video_file in sorted(glob("sample_data2/*")):
video_data = cv2.VideoCapture(video_file)
out = cv2.VideoWriter("out.avi", cv2.VideoWriter_fourcc('M','J','P','G'), 30, (400,400))
mid_y = 720//2
mid_x = 1280//2
frame_index = 0
video_std = []
while video_data.isOpened():
ret, frame = video_data.read()
if not ret:
break
frame = frame[mid_y-100:mid_y+100, mid_x+100:mid_x+300]
lowerb = np.array([0, 0, 120])
upperb = np.array([255, 255, 255])
red_line = cv2.inRange(frame, lowerb, upperb)
masked_video = cv2.bitwise_and(frame,frame,mask = red_line)
# cv2.imwrite("test.png", masked_video)
# exit()
# out.write(masked_video)
gray = cv2.cvtColor(masked_video, cv2.COLOR_BGR2GRAY)
gray = cv2.GaussianBlur(gray, (3, 3), 0)
gray = cv2.GaussianBlur(gray, (3, 3), 0)
gray = cv2.GaussianBlur(gray, (11, 11), 0)
gray = cv2.GaussianBlur(gray, (11, 11), 0)
frame_brightest_x = []
for line in gray:
# find the 4 brightest pixels
if line.max() > 0:
brightest_pixels = np.argsort(line)[-4:]
line_brightest_x = np.average(brightest_pixels)
frame_brightest_x.append(line_brightest_x)
gray = cv2.cvtColor(gray, cv2.COLOR_GRAY2BGR)
if len(frame_brightest_x) > 0:
# out.write(gray)
# cv2.imwrite(f"frame_data/{frame_index}.png", gray)
frame_std = np.std(frame_brightest_x)
# print(frame_index, frame_std)
video_std.append(frame_std)
frame_index += 1
# red_line = cv2.cvtColor(red_line, cv2.COLOR_GRAY2BGR)
# out.write(red_line)
# out.release()
print(video_file, np.std(video_std))
# if True:
# # if "line7.mp4" in video_file:
# break
ranking.append((video_file, np.std(video_std)))
print('\nSCORES\n')
[ print(x) for x in sorted(ranking, key=lambda x: x[1])]
out = cv2.VideoWriter("out.avi", cv2.VideoWriter_fourcc('M','J','P','G'), 14.97, (400,400))
mid_y = 2592//2
mid_x = 1944//2
frame_index = 0
while video_data.isOpened():
ret, frame = video_data.read()
if not ret:
break
frame = frame[mid_y-200:mid_y+200, mid_x+400:mid_x+800]
lowerb = np.array([0, 0, 150])
upperb = np.array([255, 255, 255])
red_line = cv2.inRange(frame, lowerb, upperb)
masked_video = cv2.bitwise_and(frame,frame,mask = red_line)
# out.write(masked_video)
gray = cv2.cvtColor(masked_video, cv2.COLOR_BGR2GRAY)
gray = cv2.GaussianBlur(gray, (11, 11), 0)
frame_brightest_x = []
for line in gray:
# find the 4 brightest pixels
if line.max() > 0:
brightest_pixels = np.argsort(line)[-4:]
line_brightest_x = np.average(brightest_pixels)
frame_brightest_x.append(line_brightest_x)
gray = cv2.cvtColor(gray, cv2.COLOR_GRAY2BGR)
if len(frame_brightest_x) > 0:
out.write(gray)
cv2.imwrite(f"frame_data/{frame_index}.png", gray)
print(frame_index, np.std(frame_brightest_x))
frame_index += 1
# red_line = cv2.cvtColor(red_line, cv2.COLOR_GRAY2BGR)
# out.write(red_line)
out.release()
# cv2.imwrite("test.png", frame)
# line starts on frame 12

41
record.py Normal file
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@ -0,0 +1,41 @@
from klipper.gcode import *
import subprocess
import time
ffmpeg_cmd = [
"ffmpeg",
"-f",
"v4l2",
"-framerate",
"30",
"-video_size",
"1280x720",
"-input_format",
"mjpeg",
"-i",
"/dev/video0",
]
# start at x=45, y=250, end at x=73 (leaving 8mm off the start and end for now)
def main():
send_gcode("STATUS_OFF")
send_gcode("LASER_ON")
move_absolute(40, 250, 17.86, 18000)
time.sleep(2)
for i in range(20):
# start recording
# with open('') as f:
with subprocess.Popen(ffmpeg_cmd + [f"sample_data2/line{i}.mp4"]) as ffmpeg:
# move_relative(64, f=600)
time.sleep(0.5)
print(move_relative(34, f=600))
time.sleep(5)
ffmpeg.terminate()
time.sleep(0.5)
# stop recording
print(move_relative(-34, 4, f=18000))
time.sleep(1)
if __name__=="__main__":
main()