kopia lustrzana https://github.com/adliechty/realWorldGcodeSender
filtering out zooming working
Tony
rodzic
f6eb05bc4d
commit
c89ea9ea73
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@ -31,12 +31,89 @@ global boxWidth
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global rightBoxRef
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global leftBoxRef
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global bedSize
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global bedViewSizePixels
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boxWidth = 1.25
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#These are distances from machine origin (0,0,0), right, back, upper corner.
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rightBoxRef = Point3D(2.0, -35.0, 1.0)
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leftBoxRef = Point3D(-37.0, -35.0, 1.0)
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bedSize = Point3D(-35.0, -35.0, -3.75)
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bedViewSizePixels = 1400
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#First ID is upper right, which is most positive Z and most positice Y
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# Z, Y
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global idToLocDict
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idToLocDict = {0 :[2,21],
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1 :[2,19],
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2 :[2,17],
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3 :[2,16],
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4 :[2,13],
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5 :[2,11],
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6 :[2, 9],
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7 :[2, 7],
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8 :[2, 5],
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9 :[2, 3],
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10:[2, 1],
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11:[1, 20],
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12:[1, 18],
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13:[1, 16],
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14:[1, 14],
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15:[1, 12],
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16:[1, 10],
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17:[1, 8],
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18:[1, 6],
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19:[1, 4],
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20:[1, 2],
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21:[1, 0],
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22:[0, 21],
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23:[0, 19],
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24:[0, 17],
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25:[0, 15],
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26:[0, 13],
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27:[0, 11],
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28:[0, 9],
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29:[0, 7],
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30:[0, 5],
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31:[0, 3],
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32:[0, 1],
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33:[0, 20],
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34:[0, 18],
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35:[0, 16],
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36:[0, 14],
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37:[0, 12],
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38:[0, 10],
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39:[0, 8],
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40:[0, 6],
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41:[0, 4],
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42:[0, 2],
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43:[0, 0],
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44:[1, 21],
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45:[1, 19],
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46:[1, 17],
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47:[1, 15],
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48:[1, 13],
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49:[1, 11],
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50:[1, 9],
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51:[1, 7],
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52:[1, 5],
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53:[1, 3],
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54:[1, 1],
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55:[2, 20],
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56:[2, 18],
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57:[2, 16],
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58:[2, 14],
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59:[2, 12],
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60:[2, 10],
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61:[2, 8],
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62:[2, 6],
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63:[2, 4],
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64:[2, 2],
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65:[2, 0]}
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global xOffset
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xOffset = 0
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@ -46,6 +123,8 @@ global rotation
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rotation = 0
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global cv2Overhead
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global matPlotImage
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global move
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move = False
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####################################################################################
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# Should put these in a shared libary
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@ -121,8 +200,12 @@ def overlaySvg(image, xOff = 0, yOff = 0):
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for path in paths:
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points = pathToPoints3D(path, 10)
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#offset is in inches, convert to mm, which is what svg is in
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offsetPoints(points, xOff * 25.4, yOff * 25.4)
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#First scale mm to inches
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scalePoints(points, 1 / 25.4, 1 / 25.4)
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#Then apply an offset in inches
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offsetPoints(points, xOff, yOff)
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#Then convert to pixel location
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scalePoints(points, bedViewSizePixels / bedSize.X, bedViewSizePixels / bedSize.Y)
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prevPoint = None
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for point in points:
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newPoint = (int(point.X), int(point.Y))
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@ -159,15 +242,22 @@ def updateYOffset(text):
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def updateRotation(text):
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rotation = float(rotation)
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def onmove(event):
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global move
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move = True
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def onclick(event):
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global move
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move = False
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def onrelease(event):
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global cv2Overhead
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global matPlotImage
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global xBox
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global yBox
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global xOffset
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global yOffset
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if event.y < 100:
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global move
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#If clicking outside region, or mouse moved since released then return
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if event.y < 100 or move == True:
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return
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#print(str(event.xdata) + " " + str(event.ydata))
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pixelsToOrigin = np.array([event.xdata, event.ydata])
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@ -176,8 +266,9 @@ def onclick(event):
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#print(" " + str(newPointIn[1][0]))
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print("pixelsToOrigin: " + str(pixelsToOrigin))
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xOffset = pixelsToOrigin[0] / 25.4
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yOffset = pixelsToOrigin[1] / 25.4
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xOffset = pixelsToOrigin[0] / bedViewSizePixels * bedSize.X
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yOffset = pixelsToOrigin[1] / bedViewSizePixels * bedSize.Y
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overlay = overlaySvg(cv2Overhead, xOffset, yOffset)
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matPlotImage.set_data(cv2.cvtColor(overlay, cv2.COLOR_BGR2RGB))
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matPlotImage.figure.canvas.draw()
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@ -195,74 +286,6 @@ def crop_half_vertically(img):
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right = img[:, width_cutoff:]
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return left, right
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#First ID is upper right, which is most positive Z and most positice Y
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# Z, Y
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idToLocDict = {0 :[2,21],
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1 :[2,19],
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2 :[2,17],
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3 :[2,16],
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4 :[2,13],
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5 :[2,11],
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6 :[2, 9],
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7 :[2, 7],
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8 :[2, 5],
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9 :[2, 3],
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10:[2, 1],
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11:[1, 20],
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12:[1, 18],
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13:[1, 16],
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14:[1, 14],
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15:[1, 12],
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16:[1, 10],
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17:[1, 8],
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18:[1, 6],
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19:[1, 4],
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20:[1, 2],
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21:[1, 0],
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22:[0, 21],
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23:[0, 19],
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24:[0, 17],
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25:[0, 15],
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26:[0, 13],
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27:[0, 11],
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28:[0, 9],
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29:[0, 7],
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30:[0, 5],
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31:[0, 3],
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32:[0, 1],
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33:[0, 20],
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34:[0, 18],
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35:[0, 16],
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36:[0, 14],
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37:[0, 12],
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38:[0, 10],
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39:[0, 8],
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40:[0, 6],
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41:[0, 4],
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42:[0, 2],
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43:[0, 0],
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44:[1, 21],
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45:[1, 19],
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46:[1, 17],
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47:[1, 15],
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48:[1, 13],
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49:[1, 11],
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50:[1, 9],
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51:[1, 7],
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52:[1, 5],
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53:[1, 3],
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54:[1, 1],
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55:[2, 20],
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56:[2, 18],
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57:[2, 16],
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58:[2, 14],
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59:[2, 12],
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60:[2, 10],
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61:[2, 8],
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62:[2, 6],
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63:[2, 4],
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64:[2, 2],
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65:[2, 0]}
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def sortBoxPoints(points, rightSide):
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#First sort by X
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@ -285,6 +308,7 @@ def sortBoxPoints(points, rightSide):
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def boxes_to_point_and_location_list(boxes, ids, image, rightSide = False):
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global boxWidth
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global idToLocDict
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pointList = []
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locations = []
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for box, ID in zip(boxes, ids):
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@ -392,6 +416,19 @@ def pixel_loc_at_cnc_bed(phyToPixel):
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cv2.perspectiveTransform(points.reshape(-1,1,2), phyToPixel)
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def display_4_lines(pixels, frame, flip=False):
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line1 = tuple(pixels[0][0].astype(np.int))
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line2 = tuple(pixels[1][0].astype(np.int))
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if flip:
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line3 = tuple(pixels[3][0].astype(np.int))
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line4 = tuple(pixels[2][0].astype(np.int))
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else:
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line3 = tuple(pixels[2][0].astype(np.int))
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line4 = tuple(pixels[3][0].astype(np.int))
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cv2.line(frame, line1,line2,(0,255,255),3)
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cv2.line(frame, line2,line3,(0,255,255),3)
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cv2.line(frame, line3,line4,(0,255,255),3)
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cv2.line(frame, line4,line1,(0,255,255),3)
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#############################################################################
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# Main
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#############################################################################
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@ -456,16 +493,9 @@ for i in range(0, 2):
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# Draw vertical box on left and right vertical region of CNC
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#############################################################
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refPointsAtBed[i], pixelsAtBed[i] = pixel_loc_at_cnc_bed(physicalToPixelLoc[i])
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display_4_lines(pixelsAtBed[i], frame)
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#out = cv2.perspectiveTransform(np.array([[32.8125*7,32.8125*1],[32.8125*8,32.8125*1],[32.8125*8,32.8125*2],[32.8125*7,32.8125*2]]).reshape(-1,1,2), backward)
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line1 = tuple(pixelsAtBed[i][0][0].astype(np.int))
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line2 = tuple(pixelsAtBed[i][1][0].astype(np.int))
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line3 = tuple(pixelsAtBed[i][2][0].astype(np.int))
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line4 = tuple(pixelsAtBed[i][3][0].astype(np.int))
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cv2.line(frame, line1,line2,(0,255,255),3)
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cv2.line(frame, line2,line3,(0,255,255),3)
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cv2.line(frame, line3,line4,(0,255,255),3)
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cv2.line(frame, line4,line1,(0,255,255),3)
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##########################################################################
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# Get forward and backward homography from bed location to pixel location
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@ -479,14 +509,7 @@ bedPixelToPhysicalLoc, status = cv2.findHomography(refPixels, bedPixelCorners
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# Draw box on CNC bed
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#############################################################
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pixels = cv2.perspectiveTransform(bedPixelCorners.reshape(-1,1,2), bedPhysicalToPixelLoc)
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line1 = tuple(pixels[0][0].astype(np.int))
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line2 = tuple(pixels[1][0].astype(np.int))
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line3 = tuple(pixels[3][0].astype(np.int))
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line4 = tuple(pixels[2][0].astype(np.int))
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cv2.line(frame, line1,line2,(0,255,255),3)
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cv2.line(frame, line2,line3,(0,255,255),3)
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cv2.line(frame, line3,line4,(0,255,255),3)
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cv2.line(frame, line4,line1,(0,255,255),3)
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display_4_lines(pixels, frame, flip=True)
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#############################################################
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# Display bed on original image
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@ -499,12 +522,13 @@ cv2.waitKey()
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# Warp perspective to perpendicular to bed view
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#############################################################
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cv2Overhead = cv2.warpPerspective(frame, bedPixelToPhysicalLoc, (frame.shape[1], frame.shape[0]))
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cv2Overhead = cv2.resize(cv2Overhead, (bedViewSizePixels, bedViewSizePixels))
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overlay = overlaySvg(cv2Overhead)
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fig, ax = plt.subplots()
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fig.tight_layout()
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plt.subplots_adjust(bottom=0.2)
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plt.axis([frame.shape[1],0, 0, frame.shape[0]])
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plt.axis([bedViewSizePixels,0, bedViewSizePixels, 0])
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matPlotImage = plt.imshow(cv2.cvtColor(overlay, cv2.COLOR_BGR2RGB))
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xAxes = plt.axes([0.2, 0.1, 0.2, 0.04])
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global xBox
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@ -521,6 +545,8 @@ rBox = TextBox(rAxes, "rotation (deg)", initial="0")
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rBox.on_submit(updateRotation)
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cid = fig.canvas.mpl_connect('button_press_event', onclick)
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cid = fig.canvas.mpl_connect('button_release_event', onrelease)
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cid = fig.canvas.mpl_connect('motion_notify_event', onmove)
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plt.show()
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