From 1cd48650fd6d0f65104e7a7e8288cd632e7a24ca Mon Sep 17 00:00:00 2001
From: zick2 <34427350+zick2@users.noreply.github.com>
Date: Sun, 10 Sep 2023 09:23:53 -0500
Subject: [PATCH 01/19] example 16
---
trpl_examples/16_digital_IO/README.md | 5 +++
trpl_examples/16_digital_IO/digital_io.py | 41 +++++++++++++++++++++++
2 files changed, 46 insertions(+)
create mode 100644 trpl_examples/16_digital_IO/README.md
create mode 100644 trpl_examples/16_digital_IO/digital_io.py
diff --git a/trpl_examples/16_digital_IO/README.md b/trpl_examples/16_digital_IO/README.md
new file mode 100644
index 0000000..c791715
--- /dev/null
+++ b/trpl_examples/16_digital_IO/README.md
@@ -0,0 +1,5 @@
+# Example 16: Digital input and output (Digital I/O)
+This example will be demonstrating how to get signals from input and output pins, by controlling a gripper using a proximity switch. You can find these output pins on one of the sides of the robot cabinet. Check the current status of the pins by going to the status tab in the software UI and look at the Digital I/O section to the right.
+
+### Learn more about the Tormach Robot Programming Language (TRPL):
+https://tormach.atlassian.net/wiki/spaces/ROBO/pages/1930690719/Tormach+Robot+Programming+Language
diff --git a/trpl_examples/16_digital_IO/digital_io.py b/trpl_examples/16_digital_IO/digital_io.py
new file mode 100644
index 0000000..f3dd3e4
--- /dev/null
+++ b/trpl_examples/16_digital_IO/digital_io.py
@@ -0,0 +1,41 @@
+
+
+# Example 16: Digital input and output (Digital I/O)
+# This example will be demonstrating how to get signals from input and output pins,
+# by controlling a gripper using a proximity switch.
+# You can find these output pins on one of the sides of the robot cabinet,
+# or go to the status tab in the software UI and look at the Digital I/O section to the right.
+
+# These pins make it easy to interact with external devices like buttons or grippers.
+
+
+
+from robot_command.rpl import *
+
+
+set_units("mm", "deg") # set units
+
+# Setting up global variables for the pins
+GRIPPER_PIN = 7
+PROX_SWITCH_PIN = 5
+
+# Before we start opening and closing the gripper we need to set it in a known state.
+set_digital_out(GRIPPER_PIN, False) # Close gripper
+
+#***************************************************************
+# NOTE: For this program you will need a button and grippers
+#**************************************************************
+
+notify("In this program, you will be opening and closing a gripper using a proximity switch.\n\nClick \"OK\" to continue if you have the gripper connected to output pin 7 and proximity switch conected to input pin 5 located on the robot cabinet.\n\nTo trigger the proximity switch put the proximity switch papendiculer to any metal surface.", warning=True)
+
+
+# The main function runs in a loop
+def main():
+ input_pin_state = get_digital_in(PROX_SWITCH_PIN) # Get the current state of the proximity switch.
+
+ # The proximity switch state will be "False" when its in contact with a metal object.
+ if input_pin_state is False: # If we detect a metal object
+ set_digital_out(GRIPPER_PIN, True) # Open gripper
+ sleep(2) # Wait 2 seconds
+
+ set_digital_out(GRIPPER_PIN, False) # Close gripper
From 4462f9a4384f5eff6522a1810cd92a9a9466e3b6 Mon Sep 17 00:00:00 2001
From: zick2 <34427350+zick2@users.noreply.github.com>
Date: Fri, 15 Sep 2023 10:44:40 -0500
Subject: [PATCH 02/19] Fixing errors on startup (Locating image file issue)
---
.../custom_ui.py | 25 +-
.../custom_ui.py~ | 723 ++++++++++++++++++
.../non_mirror_pathsMap_extract.json | 2 +-
.../pathsMap_extract.json | 2 +-
.../image_path_extractor_pathpilot/sect.png | Bin 0 -> 4293 bytes
.../svg_pathsMap_extract.svg | 25 +-
6 files changed, 761 insertions(+), 16 deletions(-)
create mode 100644 trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py~
create mode 100644 trpl_examples/projects/image_path_extractor_pathpilot/sect.png
diff --git a/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py b/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py
index 01d0624..e14992b 100644
--- a/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py
+++ b/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py
@@ -51,7 +51,8 @@
#MIN_PATH_LENGTH = 20
SAFE_HEIGHT = 50
-DEFAULT_IMAGE = "tormach.png"
+#DEFAULT_IMAGE = "sect.png"
+DEFAULT_IMAGE = "./assets/tormach.png"
curr_width = 0
curr_height = 0
@@ -388,7 +389,6 @@ def break_down_long_paths(path_list, path_lengh=MAX_THRESHOLD):
return final_paths_list
def init_setup():
- notify("Setting frames")
# The default tool frame has it's "z" axis pointing down, for what we are going to do we need it to be pointing up.
# So we create a new tool frame with a name "tool_frame1" (you can give it any name you want) and
# rotate it 180degs so that the "z" axis points up.
@@ -396,12 +396,12 @@ def init_setup():
change_tool_frame("drawing_tool_frame1") # We make sure we are using it
# user frame
- if get_user_frame(USER_FRAME):
- change_user_frame(USER_FRAME)
- movej(p[0,0,SAFE_HEIGHT,0,0,0])
- else
- notify("It seems the expected user frame is not created.\nPlease create a user frame and name it \""+str(USER_FRAME)+"\"", error=True)
-
+ try:
+ if get_user_frame(USER_FRAME):
+ change_user_frame(USER_FRAME)
+ movej(p[0,0,SAFE_HEIGHT,0,0,0])
+ except:
+ notify("User frame \""+str(USER_FRAME)+"\" Not Found\n"+ "\nPlease create a user frame called \""+str(USER_FRAME)+"\"", error=True)
def start(_paths):
#notify("Starting")
@@ -578,9 +578,14 @@ def handle_drawing():
def preview_file(image_path=DEFAULT_IMAGE):
+ init_setup()
global image
- image = cv2.imread(image_path)
- render_image_to_preview(image)
+ try:
+ image = cv2.imread(image_path)
+ #log(str(image))
+ render_image_to_preview(image)
+ except:
+ log("Initial Preview: Image access issue")
preview_file()
diff --git a/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py~ b/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py~
new file mode 100644
index 0000000..05ee96c
--- /dev/null
+++ b/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py~
@@ -0,0 +1,723 @@
+from robot_command.rpl import *
+import rospy
+import base64
+import json
+
+import os
+import time
+
+
+try:
+ import cv2
+ import numpy as np
+ from svgpathtools import svg2paths #, Path, Line, QuadraticBezier, CubicBezier, Arc,
+except:
+ set_param("installing_packages", True)
+ notify("Installing packages!")
+ rospy.logwarn("INST-start:: "+str(time.strftime("%H:%M:%S", time.localtime())))
+ # Install packages that are not available
+ import sh
+ with sh.sudo:
+ sh.pip3.install("opencv-python")
+ #sh.pip3.install("cv2") # Not working ERROR: Could not find a version that satisfies the requirement cv2 (from versions: none) ERROR: No matching distribution found for cv2
+ #sh.pip3.install("numpy")
+ sh.pip3.install("svgpathtools")
+ import cv2
+ from svgpathtools import svg2paths #, Path, Line, QuadraticBezier, CubicBezier, Arc,
+ rospy.logwarn("INST-end:: "+str(time.strftime("%H:%M:%S", time.localtime())))
+ set_param("installing_packages", False)
+
+
+set_units("mm", "deg")
+
+USER_FRAME = "drawing_user_frame"
+
+SUPPORTED_VIEW_FILE_EXT = [".json", ".png", ".jpeg", ".jpg", ".svg"]
+
+
+
+#MAX_WIDTH = 500
+MAX_WIDTH = 1500
+MIN_WIDTH = 150
+
+INIT_THRESHOLD_1 = 50
+INIT_THRESHOLD_2 = 50
+MAX_THRESHOLD = 500
+MIN_THRESHOLD = 1
+
+
+NUM_BATCH_LENGTH = 3
+MAX_PATH_LENGTH = 100 # points in a path (Too many points might crush the system)
+#MIN_PATH_LENGTH = 20
+
+SAFE_HEIGHT = 50
+#DEFAULT_IMAGE = "sect.png"
+DEFAULT_IMAGE = "./assets/tormach.png"
+
+curr_width = 0
+curr_height = 0
+temp_image = None
+image = None
+
+paths_map = []
+
+view_files = {"files":[]}
+
+test_json = { "files": [{
+ "name": "test1",
+ "path": "/test",
+ "isFolder": "true",
+ "ext": "none"
+ },
+ {
+ "name": "test2",
+ "path": "/test/b.png",
+ "isFolder": "false",
+ "ext": ".png"
+ },
+ {
+ "name": "test2",
+ "path": "/test/c.png",
+ "isFolder": "false",
+ "ext": ".png"
+ }
+ ]
+}
+
+
+set_param("test_file_list", test_json)
+set_param("view_files", view_files)
+
+def log( msg, type="warning"):
+ if type == "warning":
+ rospy.logwarn(msg)
+ if type == "error":
+ rospy.logerr(msg)
+
+log("****REMINDER*******\DON'T FORGET TO SETUP A USER FRAME")
+#--------------------------------------------------------------------------------------
+'''
+*************Extractor************
+extract():
+ *image
+ *canny_threshold1
+ *canny_threshold2
+'''
+def extract(_image, canny_threshold1=INIT_THRESHOLD_1, canny_threshold2=INIT_THRESHOLD_2 ):
+ log("Getting ready to extract...")
+
+ if len(_image) <= 0:
+ log("extract(): Image issues")
+ return
+
+ def cv_contour_list_to_pathsList(contourList):
+ newList = []
+ list = contourList
+ for item in list:
+ tempList = []
+ for point in item:
+ newPoint = (float(point[0][0]), float(point[0][1]))
+ # print(newPoint)
+ tempList.append(newPoint)
+ if len(tempList) > 3:
+ newList.append(tempList)
+ return newList
+
+ # Mirror the image horizontally
+ _image = cv2.flip(_image, 1)
+
+ # Canny Edge Detection
+ img_blur = _image
+ img_blur = cv2.GaussianBlur(_image, (5, 5), 0)
+
+
+ img_gray = cv2.Canny(image=img_blur, threshold1=canny_threshold1, threshold2=canny_threshold2)
+
+ # apply binary thresholding
+ ret, thresh = cv2.threshold(img_gray, 150, 255, cv2.THRESH_BINARY)
+
+ # visualize the binary image
+ # cv2.imshow('Binary image', thresh)
+ # cv2.waitKey(0)
+ # cv2.imwrite('image_thres1.jpg', thresh)
+ # cv2.destroyAllWindows()
+
+ # detect the contours on the binary image using cv2.CHAIN_APPROX_NONE
+ contours, _ = cv2.findContours(image=thresh, mode=cv2.RETR_TREE, method=cv2.CHAIN_APPROX_SIMPLE)
+
+ #----------
+ non_mirror_img = cv2.flip(thresh, 1)
+ non_mirror_contours, _ = cv2.findContours(image=non_mirror_img, mode=cv2.RETR_TREE, method=cv2.CHAIN_APPROX_SIMPLE)
+
+ final_paths = cv_contour_list_to_pathsList(contours)
+ non_mirror_final_paths = cv_contour_list_to_pathsList(non_mirror_contours)
+
+ log("Extract Done!!")
+
+ image_copy = _image.copy()
+
+ # draw contours on the copy image
+ image_copy = cv2.drawContours(image=image_copy, contours=contours, contourIdx=-1, color=(0, 255, 0), thickness=1, lineType=cv2.LINE_AA)
+
+ # Mirror the image horizontally
+ image_copy = cv2.flip(image_copy, 1)
+
+ return image_copy, final_paths, non_mirror_final_paths
+#--------End of Extractor--------------------------------------------------------------------
+
+
+def extract_svg_paths(file_path, path_steps=1000, scale=1):
+ paths, attributes = svg2paths(file_path) # Getting paths and attributes
+ _paths = [] # final paths
+ path_count = 0;
+ for path in paths:
+ path_count += 1
+ set_param("svg_reader_status", str(path_count)+"/"+str(len(paths)))
+ path_points = []
+ for i in range(0, path_steps + 1): # loop frome 0 to path_steps + 1
+ p = i / path_steps # Remapping 0 - path_steps(100) to 0.0 to 1.0
+ complex_point = path.point(p) # path.point(p) returns point at 0.0 <= p <= 1.0
+ path_points.append((complex_point.real * scale, complex_point.imag * scale)) # Adding extracted points to path_point[] list
+ _paths.append(path_points) # Adding collected path points to c_paths[] list
+ return _paths
+
+
+
+
+
+#*******************************
+# Support/Common functions
+#*****************************
+
+#log(get_param("extructReq"))
+
+def split_file_path(file_path="/"):
+ final_list = ["/"]
+ split_path = list(filter(None, file_path.split("/")))
+ if len(split_path):
+ final_list = final_list + split_path
+
+ return final_list
+
+def join_file_path_from_list(list):
+ joined_path = ""
+ for i in range(len(list)):
+ if (i > 0 and i < len(list)-1):
+ joined_path += list[i] +"/"
+ else:
+ joined_path += list[i]
+ return joined_path
+
+def back_trace_file_path(file_path):
+ split_path = split_file_path(file_path)
+ length = len(split_path)
+ final_file_path = ""
+ if len(split_path) > 1:
+ if split_path[length-1] == "/":
+ split_path.pop(length-2)
+ final_file_path = join_file_path_from_list(split_path)
+ else:
+ split_path.pop()
+ final_file_path = join_file_path_from_list(split_path)
+ else:
+ final_file_path = split_path[0]
+ return final_file_path
+
+
+
+def pathsList_to_cv_image(paths):
+ img = np.zeros((1000, 1000, 3), np.uint8)
+ for path in paths:
+ # convert the path to a NumPy array of integers
+ path = np.array(path, np.int32)
+ # draw the path on the image
+ cv2.polylines(img, [path], True, (0, 255, 0), thickness=2)
+ # cv2.imshow('image', img)
+ return img
+
+def get_existing_pathsList_JSON(file_path="pathsMap_extract.json"):
+ with open(file_path, "r") as openFile:
+ json_data = json.load(openFile)
+ return json_data["paths"]
+
+
+def cv_image_to_base64(image):
+ # Convert the image to JPEG format
+ _, buffer = cv2.imencode('.jpg', image)
+ # Encode the JPEG buffer as base64
+ base64_image = base64.b64encode(buffer).decode('utf-8')
+ return base64_image
+
+
+def scale_cv_image_WH(_image, scale_w=1):
+ if _image is None:
+ log("[scale_cv_image()] Image is None ")
+ return
+ height, width, _ = _image.shape
+ _ratio = width/height
+ if (width > height):
+ _ratio = height/width
+
+ if width > height:
+ new_w = scale_w
+ new_h = int(new_w*_ratio)
+ else:
+ new_h = scale_w
+ new_w = int(new_h*_ratio)
+
+ #log("W:H - "+str(width)+", "+str(height)+" RS: "+str(new_w)+", "+str(new_h)+" ratio:"+ str(_ratio))
+ #self.set_image_width_height_labels(new_w, new_h)
+
+ _image = cv2.resize(image, ( new_w, new_h), interpolation=cv2.INTER_AREA)
+ return _image
+
+
+def save_pathsList_to_JSON_file(pathsList, file_path="pathsMap_extract.json"):
+ json_data = {
+ "paths": pathsList
+ }
+ # Save data to JSON file
+ # file_path = "pathsMap_extract.json"
+ with open(file_path, "w") as outfile:
+ json.dump(json_data, outfile)
+ # outfile.write(json_data)
+ log("pathsList Saved to JSON")
+
+
+def convert_paths_to_svg(paths, file_path):
+ svg_content = '\n'
+ svg_content += ''
+
+ with open(file_path, 'w') as svg_file:
+ svg_file.write(svg_content)
+
+ log(f'SVG file saved to: {file_path}')
+
+
+def save_metadata(_final_paths, _non_mirror_final_paths):
+ save_pathsList_to_JSON_file(_final_paths)
+ save_pathsList_to_JSON_file(_non_mirror_final_paths, "non_mirror_pathsMap_extract.json")
+ convert_paths_to_svg(_non_mirror_final_paths, "svg_pathsMap_extract.svg")
+
+
+
+def isSupportedByView(item):
+ for i in SUPPORTED_VIEW_FILE_EXT:
+ if i in item.lower():
+ return True
+ return False
+
+
+def supported_view_file(list):
+ final_list = []
+
+ for p in list:
+ if isSupportedByView(p):
+ final_list.append(p)
+ if "." not in p:
+ final_list.append(p)
+ return final_list
+
+
+
+def get_files(dir_path=""):
+ directory_path = dir_path
+ if directory_path is "":
+ directory_path = os.getcwd() # current directory
+ set_param("current_file_metadata", directory_path)
+
+ # Get a list of files in the directory
+ #log(directory_path)
+ file_name_list = os.listdir(directory_path)
+ #log(str(file_name_list))
+ file_name_list = supported_view_file(file_name_list) # get supported files only
+
+ if file_name_list:
+ #Get the full path for each file
+ absolute_file_path_list = [os.path.join(directory_path, file_name) for file_name in file_name_list]
+
+ #Print the list of files
+ #for file_name in absolute_file_path_list:
+ #log(file_name)
+ return file_name_list, absolute_file_path_list, directory_path
+ else:
+ log("No supported files")
+ return [], [], []
+
+
+# Get file extension of supported file only
+def getFileExt(fileName):
+ for ext in SUPPORTED_VIEW_FILE_EXT:
+ if ext in fileName.lower():
+ return ext
+ return None
+
+
+def isFile(fileName):
+ if "." in fileName:
+ return True
+ return False
+#--------------------------------------------------------------------------------------------
+
+# Split array into smaller chunks recursivelly (Divide and conquer)
+def divco(list, batch_length=NUM_BATCH_LENGTH):
+ if len(list) <= batch_length:
+ return [list]
+ else:
+ mid = len(list) // 2
+ left = list[:mid]
+ right = list[mid:]
+ return divco(left) + divco(right)
+
+# Split array into smaller chunks
+def divco2(list, chunk_size=50):
+ split_arr = [list[i:i + chunk_size] for i in range(0, len(list), chunk_size)]
+ return split_arr
+
+def break_down_long_paths(path_list, path_lengh=MAX_THRESHOLD):
+ final_paths_list = []
+ # For every path break it into chunks and add the chunks in final array
+ for path in path_list:
+ split_path_list = divco2(path, path_lengh)
+ final_paths_list += split_path_list
+ return final_paths_list
+
+def init_setup():
+ # The default tool frame has it's "z" axis pointing down, for what we are going to do we need it to be pointing up.
+ # So we create a new tool frame with a name "tool_frame1" (you can give it any name you want) and
+ # rotate it 180degs so that the "z" axis points up.
+ set_tool_frame("drawing_tool_frame1", orientation=p[0,0,0,180,0,0])
+ change_tool_frame("drawing_tool_frame1") # We make sure we are using it
+
+ # user frame
+ try:
+ if get_user_frame(USER_FRAME):
+ change_user_frame(USER_FRAME)
+ movej(p[0,0,SAFE_HEIGHT,0,0,0])
+ except:
+ notify("User frame \""+str(USER_FRAME)+"\" Not Found\n"+ ".\nPlease create a user frame called \""+str(USER_FRAME)+"\"", error=True)
+
+def start(_paths):
+ #notify("Starting")
+ try:
+ if not _paths:
+ notify("No c_paths")
+ exit()
+ x = 0
+ y = 0
+ set_path_blending(True, 0)
+ for _path in _paths: # for every path in c_paths[] list
+ try:
+ if not _path:
+ notify("No c_path")
+ exit()
+
+ for point in _path:
+ if(point):
+ #log(point)
+ x = point[0]
+ y = point[1]
+ movel(Pose(x, y))
+ movel(Pose(x, y, SAFE_HEIGHT))
+ #notify("Point: "+str(point), warning=True)
+ except:
+ log("Inner issue")
+ log(_path)
+ sync()
+ set_path_blending(False)
+ except:
+ log("Something is wrong")
+ log(_paths)
+
+
+def blend_n_run(batches):
+ #pass
+ #notify(str(batches[0][0][0]))
+ #batch = [[(0,0), (0,100), (0,200), (0, 300)], [(0,0), (0,100), (0,200), (0, 300)]]
+ #start(batch) # Go through one batch
+ for batch in batches:
+ start(batch)
+
+
+#***************************
+# Program functions
+#***************************
+def render_image_to_preview(img):
+ if not len(img):
+ log("render_image_to_preview: image issues")
+ return
+ global temp_image
+ temp_image = scale_cv_image_WH(img,MIN_WIDTH)
+ curr_height, curr_width, _ = temp_image.shape
+ # Convert the image to base64 string
+ base64_image = cv_image_to_base64(temp_image)
+ set_param("image_view", base64_image)
+
+
+def handle_files(dir_path=""):
+ file_names, absolute_paths, _ = get_files(dir_path) # Get supported files only
+ if len(file_names):
+ meta = []
+ for i in range(len(file_names)):
+ obj = {
+ "name": file_names[i],
+ "path": absolute_paths[i],
+ "isFile": isFile(file_names[i]),
+ }
+ #log(str(obj))
+ meta.append(obj)
+ global view_files
+ view_files = {"files": meta}
+ set_param("view_files", view_files) # file explorer list
+ #for file_name in file_names:
+ # log(file_name)
+
+
+def handle_path_extraction(t1=INIT_THRESHOLD_1, t2=INIT_THRESHOLD_2):
+ set_param("extracting_paths", True)
+ img, final_paths, non_mirror_final_paths = extract(temp_image, canny_threshold1=t1, canny_threshold2=t2)
+ img = cv_image_to_base64(img)
+ set_param("image_view", img)
+ global paths_map
+ paths_map = final_paths
+
+ save_metadata(final_paths,non_mirror_final_paths)
+
+ set_param("extracting_paths", False)
+
+
+
+def handle_image_scale(w_scale):
+ global temp_image
+ temp_image = scale_cv_image_WH(image, w_scale)
+ str_img = cv_image_to_base64(temp_image)
+ set_param("image_view", str_img)
+
+
+def handle_thresholding(t1, t2):
+ set_param("extracting_paths", True)
+ img, paths_list, _ = extract(temp_image, canny_threshold1=t1, canny_threshold2=t2)
+ img = cv_image_to_base64(img)
+ global paths_map
+ paths_map = paths_list
+ set_param("image_view", img)
+ set_param("extracting_paths", False)
+
+
+def handle_json_file_request(file_path):
+ # get path from file
+ _paths_map = get_existing_pathsList_JSON(file_path)
+ # convert json paths to image
+ global image
+ image = pathsList_to_cv_image(_paths_map)
+ global paths_map
+ paths_map = _paths_map
+ # render image
+ render_image_to_preview(image)
+
+def handle_svg_file_request(file_path):
+ set_param("reading_svg_file", True)
+ # get path from file
+ _paths_map = extract_svg_paths(file_path)
+ global image
+ image = pathsList_to_cv_image(_paths_map)
+ global paths_map
+ paths_map = _paths_map
+ # render image
+ render_image_to_preview(image)
+ set_param("reading_svg_file", False)
+
+def handle_folder_request(dir_path):
+ handle_files(dir_path)
+
+def handle_current_file_request(file_path):
+ if os.path.isdir(file_path):
+ # handle folder
+ handle_folder_request(file_path)
+ set_param("file_view_render_req", True)
+ else:
+ if ".json" in file_path.lower():
+ # handle json
+ set_param("image_path_mode", "JSON") # IMG, JSON, SVG
+ handle_json_file_request(file_path)
+ elif ".svg" in file_path.lower():
+ # handle svg
+ set_param("image_path_mode", "SVG") # IMG, JSON, SVG
+ handle_svg_file_request(file_path)
+ else:
+ # hanlde image
+ set_param("image_path_mode", "IMG") # IMG, JSON, SVG
+ preview_file(file_path)
+ set_param("is_file_view_visible", False)
+ set_param("is_image_preview_visible", True)
+
+
+def handle_file_path_back_trace(file_path):
+ log("Input: "+str(file_path))
+ b_traced_path = back_trace_file_path(file_path)
+ set_param("current_file_metadata", b_traced_path)
+ log("Output: "+str(b_traced_path))
+
+ handle_current_file_request(b_traced_path)
+
+def handle_drawing():
+ init_setup()
+ if len(paths_map):
+ map_list = break_down_long_paths(paths_map, MAX_PATH_LENGTH)
+ batches = divco(map_list)
+ blend_n_run(batches)
+ else:
+ notify("No extracted paths found", warning=True)
+ set_param("is_drawing", False)
+
+
+def preview_file(image_path=DEFAULT_IMAGE):
+ init_setup()
+ global image
+ try:
+ image = cv2.imread(image_path)
+ #log(str(image))
+ render_image_to_preview(image)
+ except:
+ log("Initial Preview: Image access issue")
+
+preview_file()
+
+def request_handler():
+ # extruction request
+ if get_param("extract_req"):
+ set_param("extract_req", False)
+ thresh1 = get_param("threshold1_value")
+ thresh2 = get_param("threshold2_value")
+ #log("extract_req")
+ #notify("extract_req")
+ # Do something ...
+ handle_path_extraction(thresh1, thresh2)
+
+ # import image request
+ if get_param("imp_img_req"):
+ set_param("imp_img_req", False)
+ log("imp_img_req")
+ handle_files()
+ set_param("file_view_render_req", True)
+
+ set_param("is_file_view_visible", True)
+ set_param("is_image_preview_visible", False)
+ #notify("imp_img_req")
+ # Do something ...
+
+ if get_param("current_file_req"):
+ set_param("current_file_req", False)
+ file_path = get_param("current_file_metadata")
+ log("File Req: "+file_path)
+ handle_current_file_request(file_path)
+
+ # import JSON request
+ if get_param("imp_json_req"):
+ set_param("imp_json_req", False)
+ log("imp_json_req")
+
+ #notify("imp_json_req")
+ # Do something ...
+
+ # show JSON view request
+ if get_param("json_view_req"):
+ set_param("json_view_req", False)
+ log("json_view_req")
+ #notify("json_view_req")
+ # Do something ...
+
+ # Image scalling request
+ if get_param("width_req"):
+ set_param("width_req", False)
+ slider_value = get_param("width_scale")
+ w_scale = int(slider_value)
+ #log("SL_V: "+str(slider_value))
+ handle_image_scale(w_scale)
+ #log("width scale: "+str(w_scale))
+ # Do something ...
+
+ #Threshold requests
+ if get_param("threshold1_req") or get_param("threshold2_req"):
+ thresh1 = get_param("threshold1_value")
+ thresh2 = get_param("threshold2_value")
+ #NOTE: Don't do path extraction with live thresholding, it will slow down and lag
+ #handle_thresholding(thresh1, thresh2)
+
+ if get_param("back_trace_req"):
+ set_param("back_trace_req", False)
+ log("back_trace_req")
+ file_path = get_param("current_file_metadata")
+ handle_file_path_back_trace(file_path)
+
+ if get_param("draw_req"):
+ set_param("draw_req", False)
+ set_param("is_drawing", True)
+ handle_drawing()
+
+
+def main():
+ # Requests
+ set_param("extract_req", False)
+ set_param("imp_img_req", False)
+ set_param("imp_json_req", False)
+ set_param("json_view_req", False)
+
+ set_param("threshold1_req", False)
+ set_param("threshold2_req", False)
+
+ set_param("width_req", False)
+ set_param("height_req", False)
+
+ set_param("current_file_req", False)
+ set_param("file_view_render_req", True)
+
+ set_param("back_trace_req", False)
+
+ set_param("draw_req", False)
+
+
+ # vars
+ set_param("max_threshold", MAX_THRESHOLD)
+ set_param("min_threshold", MIN_THRESHOLD)
+
+ set_param("width_scale", 0)
+ set_param("height_scale", 0)
+
+ set_param("min_width", MIN_WIDTH)
+ set_param("max_width", MAX_WIDTH)
+
+ set_param("threshold1_value",INIT_THRESHOLD_1)
+ set_param("threshold2_value", INIT_THRESHOLD_2)
+
+ set_param("init_threshold1", INIT_THRESHOLD_1)
+ set_param("init_threshold2", INIT_THRESHOLD_2)
+
+ set_param("extracting_paths", False)
+
+ set_param("current_file_metadata", "")
+ set_param("is_file_view_visible", False)
+ set_param("is_image_preview_visible", True)
+
+ set_param("is_drawing", False )
+ set_param("e_stop", False)
+
+ set_param("reading_svg_file", False)
+
+ set_param("image_path_mode", "IMG") # IMG, JSON, SVG
+
+ # vars
+ #set_param("image", "")
+ #set_param("is_json_view", False)
+
+ while True:
+ request_handler()
+ sleep(0.2)
+ exit()
+
diff --git a/trpl_examples/projects/image_path_extractor_pathpilot/non_mirror_pathsMap_extract.json b/trpl_examples/projects/image_path_extractor_pathpilot/non_mirror_pathsMap_extract.json
index bdb6bc8..78e4104 100644
--- a/trpl_examples/projects/image_path_extractor_pathpilot/non_mirror_pathsMap_extract.json
+++ b/trpl_examples/projects/image_path_extractor_pathpilot/non_mirror_pathsMap_extract.json
@@ -1 +1 @@
-{"paths": [[[7.0, 5.0], [6.0, 6.0], [6.0, 139.0], [7.0, 140.0], [7.0, 141.0], [142.0, 141.0], [143.0, 140.0], [143.0, 6.0], [142.0, 5.0]], [[8.0, 5.0], [141.0, 5.0], [143.0, 7.0], [143.0, 139.0], [141.0, 141.0], [8.0, 141.0], [6.0, 139.0], [6.0, 7.0]], [[9.0, 8.0], [9.0, 138.0], [140.0, 138.0], [140.0, 8.0]], [[9.0, 9.0], [10.0, 8.0], [139.0, 8.0], [140.0, 9.0], [140.0, 137.0], [139.0, 138.0], [10.0, 138.0], [9.0, 137.0]]]}
\ No newline at end of file
+{"paths": [[[121.0, 12.0], [120.0, 13.0], [118.0, 13.0], [117.0, 14.0], [117.0, 20.0], [118.0, 21.0], [118.0, 23.0], [117.0, 24.0], [115.0, 22.0], [115.0, 20.0], [114.0, 19.0], [114.0, 18.0], [113.0, 17.0], [113.0, 16.0], [112.0, 15.0], [112.0, 14.0], [111.0, 13.0], [106.0, 13.0], [104.0, 15.0], [104.0, 16.0], [103.0, 17.0], [103.0, 18.0], [101.0, 20.0], [101.0, 23.0], [100.0, 24.0], [99.0, 24.0], [98.0, 23.0], [98.0, 22.0], [99.0, 21.0], [99.0, 15.0], [98.0, 14.0], [98.0, 13.0], [93.0, 13.0], [92.0, 14.0], [92.0, 15.0], [89.0, 18.0], [87.0, 16.0], [87.0, 15.0], [85.0, 13.0], [80.0, 13.0], [80.0, 24.0], [81.0, 24.0], [82.0, 23.0], [83.0, 23.0], [83.0, 18.0], [84.0, 17.0], [85.0, 18.0], [85.0, 20.0], [87.0, 22.0], [87.0, 23.0], [88.0, 24.0], [89.0, 24.0], [90.0, 23.0], [91.0, 23.0], [92.0, 22.0], [92.0, 21.0], [93.0, 20.0], [93.0, 18.0], [93.0, 19.0], [92.0, 20.0], [92.0, 21.0], [89.0, 24.0], [86.0, 21.0], [86.0, 20.0], [85.0, 19.0], [85.0, 18.0], [84.0, 17.0], [83.0, 17.0], [83.0, 22.0], [81.0, 24.0], [80.0, 23.0], [80.0, 14.0], [81.0, 13.0], [84.0, 13.0], [87.0, 16.0], [87.0, 17.0], [88.0, 18.0], [89.0, 18.0], [90.0, 19.0], [90.0, 18.0], [92.0, 16.0], [92.0, 15.0], [94.0, 13.0], [97.0, 13.0], [99.0, 15.0], [99.0, 21.0], [98.0, 22.0], [98.0, 23.0], [97.0, 24.0], [95.0, 22.0], [95.0, 19.0], [96.0, 18.0], [95.0, 18.0], [95.0, 23.0], [96.0, 24.0], [97.0, 24.0], [98.0, 23.0], [99.0, 24.0], [102.0, 24.0], [103.0, 23.0], [104.0, 23.0], [105.0, 22.0], [111.0, 22.0], [113.0, 24.0], [117.0, 24.0], [118.0, 23.0], [119.0, 23.0], [120.0, 24.0], [130.0, 24.0], [131.0, 23.0], [133.0, 23.0], [134.0, 24.0], [136.0, 24.0], [137.0, 23.0], [137.0, 21.0], [138.0, 20.0], [142.0, 20.0], [144.0, 22.0], [144.0, 24.0], [145.0, 24.0], [146.0, 23.0], [147.0, 23.0], [147.0, 13.0], [144.0, 13.0], [144.0, 14.0], [142.0, 16.0], [138.0, 16.0], [137.0, 15.0], [137.0, 14.0], [136.0, 13.0], [134.0, 13.0], [133.0, 14.0], [132.0, 13.0], [131.0, 14.0], [130.0, 13.0], [128.0, 13.0], [127.0, 12.0]], [[134.0, 14.0], [135.0, 13.0], [137.0, 15.0], [137.0, 16.0], [143.0, 16.0], [143.0, 15.0], [145.0, 13.0], [146.0, 13.0], [147.0, 14.0], [147.0, 22.0], [145.0, 24.0], [144.0, 23.0], [144.0, 22.0], [143.0, 21.0], [143.0, 20.0], [137.0, 20.0], [137.0, 22.0], [135.0, 24.0], [133.0, 22.0], [134.0, 21.0], [133.0, 20.0], [133.0, 17.0], [134.0, 16.0]], [[131.0, 14.0], [132.0, 13.0], [134.0, 15.0], [134.0, 16.0], [133.0, 17.0], [133.0, 20.0], [134.0, 21.0], [132.0, 23.0], [131.0, 22.0], [131.0, 20.0], [128.0, 20.0], [127.0, 21.0], [122.0, 21.0], [121.0, 20.0], [121.0, 17.0], [122.0, 16.0], [131.0, 16.0]], [[107.0, 13.0], [110.0, 13.0], [112.0, 15.0], [112.0, 16.0], [113.0, 17.0], [113.0, 18.0], [114.0, 19.0], [114.0, 20.0], [115.0, 21.0], [115.0, 22.0], [116.0, 23.0], [115.0, 24.0], [114.0, 24.0], [112.0, 22.0], [104.0, 22.0], [102.0, 24.0], [101.0, 23.0], [101.0, 21.0], [103.0, 19.0], [103.0, 18.0], [104.0, 17.0], [104.0, 16.0]], [[107.0, 16.0], [107.0, 19.0], [109.0, 19.0], [110.0, 18.0], [110.0, 17.0], [109.0, 16.0]], [[107.0, 17.0], [108.0, 16.0], [110.0, 18.0], [109.0, 19.0], [108.0, 19.0], [107.0, 18.0]], [[120.0, 13.0], [121.0, 12.0], [127.0, 12.0], [128.0, 13.0], [129.0, 13.0], [131.0, 15.0], [130.0, 16.0], [121.0, 16.0], [121.0, 21.0], [128.0, 21.0], [129.0, 20.0], [130.0, 20.0], [131.0, 21.0], [131.0, 22.0], [129.0, 24.0], [120.0, 24.0], [118.0, 22.0], [118.0, 21.0], [117.0, 20.0], [117.0, 15.0], [119.0, 13.0]], [[66.0, 12.0], [65.0, 13.0], [64.0, 13.0], [64.0, 24.0], [65.0, 24.0], [66.0, 23.0], [67.0, 23.0], [69.0, 21.0], [72.0, 21.0], [75.0, 24.0], [77.0, 24.0], [77.0, 13.0], [75.0, 13.0], [74.0, 12.0]], [[66.0, 12.0], [74.0, 12.0], [75.0, 13.0], [76.0, 13.0], [77.0, 14.0], [77.0, 23.0], [76.0, 24.0], [73.0, 21.0], [68.0, 21.0], [65.0, 24.0], [64.0, 23.0], [64.0, 14.0]], [[68.0, 15.0], [68.0, 16.0], [67.0, 17.0], [67.0, 18.0], [74.0, 18.0], [74.0, 16.0], [73.0, 15.0]], [[69.0, 15.0], [72.0, 15.0], [74.0, 17.0], [73.0, 18.0], [68.0, 18.0], [67.0, 17.0]], [[34.0, 12.0], [33.0, 13.0], [32.0, 13.0], [32.0, 15.0], [34.0, 15.0], [35.0, 16.0], [36.0, 16.0], [37.0, 17.0], [37.0, 23.0], [38.0, 23.0], [39.0, 24.0], [40.0, 24.0], [40.0, 18.0], [43.0, 15.0], [44.0, 15.0], [46.0, 17.0], [46.0, 20.0], [47.0, 21.0], [47.0, 23.0], [48.0, 24.0], [59.0, 24.0], [60.0, 23.0], [61.0, 23.0], [61.0, 22.0], [62.0, 21.0], [61.0, 20.0], [62.0, 19.0], [62.0, 17.0], [61.0, 16.0], [61.0, 13.0], [59.0, 13.0], [58.0, 12.0], [50.0, 12.0], [49.0, 13.0], [48.0, 13.0], [47.0, 14.0], [46.0, 13.0], [45.0, 13.0], [44.0, 12.0]], [[46.0, 13.0], [47.0, 14.0], [47.0, 15.0], [46.0, 16.0], [45.0, 16.0], [44.0, 15.0]], [[50.0, 12.0], [58.0, 12.0], [59.0, 13.0], [60.0, 13.0], [61.0, 14.0], [61.0, 16.0], [62.0, 17.0], [62.0, 19.0], [61.0, 20.0], [61.0, 22.0], [59.0, 24.0], [49.0, 24.0], [47.0, 22.0], [47.0, 21.0], [46.0, 20.0], [46.0, 16.0]], [[51.0, 15.0], [50.0, 16.0], [50.0, 20.0], [51.0, 21.0], [57.0, 21.0], [58.0, 20.0], [58.0, 16.0], [57.0, 15.0]], [[52.0, 15.0], [56.0, 15.0], [58.0, 17.0], [58.0, 19.0], [56.0, 21.0], [52.0, 21.0], [50.0, 19.0], [50.0, 17.0]], [[34.0, 12.0], [43.0, 12.0], [45.0, 14.0], [44.0, 15.0], [43.0, 15.0], [42.0, 16.0], [41.0, 16.0], [41.0, 17.0], [40.0, 18.0], [40.0, 23.0], [39.0, 24.0], [37.0, 22.0], [37.0, 16.0], [35.0, 16.0], [34.0, 15.0], [33.0, 15.0], [32.0, 14.0]], [[7.0, 7.0], [6.0, 8.0], [5.0, 8.0], [3.0, 10.0], [3.0, 11.0], [2.0, 12.0], [2.0, 24.0], [3.0, 25.0], [3.0, 26.0], [4.0, 27.0], [4.0, 28.0], [6.0, 28.0], [7.0, 29.0], [21.0, 29.0], [24.0, 26.0], [24.0, 24.0], [25.0, 23.0], [25.0, 13.0], [24.0, 12.0], [24.0, 10.0], [22.0, 8.0], [21.0, 8.0], [20.0, 7.0]], [[7.0, 7.0], [20.0, 7.0], [24.0, 11.0], [24.0, 12.0], [25.0, 13.0], [25.0, 23.0], [24.0, 24.0], [24.0, 25.0], [20.0, 29.0], [7.0, 29.0], [6.0, 28.0], [5.0, 28.0], [4.0, 27.0], [4.0, 26.0], [2.0, 24.0], [2.0, 12.0]], [[6.0, 12.0], [5.0, 13.0], [6.0, 14.0], [5.0, 15.0], [6.0, 16.0], [9.0, 16.0], [11.0, 18.0], [11.0, 25.0], [12.0, 25.0], [13.0, 26.0], [14.0, 25.0], [15.0, 25.0], [15.0, 24.0], [16.0, 23.0], [16.0, 17.0], [17.0, 16.0], [19.0, 16.0], [20.0, 15.0], [21.0, 15.0], [21.0, 12.0]], [[6.0, 13.0], [7.0, 12.0], [20.0, 12.0], [21.0, 13.0], [21.0, 14.0], [19.0, 16.0], [16.0, 16.0], [16.0, 23.0], [13.0, 26.0], [11.0, 24.0], [11.0, 17.0], [10.0, 16.0], [7.0, 16.0], [6.0, 15.0]]]}
\ No newline at end of file
diff --git a/trpl_examples/projects/image_path_extractor_pathpilot/pathsMap_extract.json b/trpl_examples/projects/image_path_extractor_pathpilot/pathsMap_extract.json
index b2f3347..f363556 100644
--- a/trpl_examples/projects/image_path_extractor_pathpilot/pathsMap_extract.json
+++ b/trpl_examples/projects/image_path_extractor_pathpilot/pathsMap_extract.json
@@ -1 +1 @@
-{"paths": [[[7.0, 5.0], [6.0, 6.0], [6.0, 140.0], [7.0, 141.0], [142.0, 141.0], [142.0, 140.0], [143.0, 139.0], [143.0, 6.0], [142.0, 5.0]], [[8.0, 5.0], [141.0, 5.0], [143.0, 7.0], [143.0, 139.0], [141.0, 141.0], [8.0, 141.0], [6.0, 139.0], [6.0, 7.0]], [[9.0, 8.0], [9.0, 138.0], [140.0, 138.0], [140.0, 8.0]], [[9.0, 9.0], [10.0, 8.0], [139.0, 8.0], [140.0, 9.0], [140.0, 137.0], [139.0, 138.0], [10.0, 138.0], [9.0, 137.0]]]}
\ No newline at end of file
+{"paths": [[[91.0, 12.0], [90.0, 13.0], [88.0, 13.0], [88.0, 16.0], [87.0, 17.0], [87.0, 19.0], [88.0, 20.0], [87.0, 21.0], [88.0, 22.0], [88.0, 23.0], [89.0, 23.0], [90.0, 24.0], [101.0, 24.0], [102.0, 23.0], [102.0, 21.0], [103.0, 20.0], [103.0, 17.0], [105.0, 15.0], [106.0, 15.0], [109.0, 18.0], [109.0, 24.0], [110.0, 24.0], [111.0, 23.0], [112.0, 23.0], [112.0, 17.0], [113.0, 16.0], [114.0, 16.0], [115.0, 15.0], [117.0, 15.0], [117.0, 13.0], [116.0, 13.0], [115.0, 12.0], [105.0, 12.0], [104.0, 13.0], [103.0, 13.0], [102.0, 14.0], [101.0, 13.0], [100.0, 13.0], [99.0, 12.0]], [[102.0, 14.0], [103.0, 13.0], [105.0, 15.0], [104.0, 16.0], [103.0, 16.0], [102.0, 15.0]], [[106.0, 12.0], [115.0, 12.0], [117.0, 14.0], [116.0, 15.0], [115.0, 15.0], [114.0, 16.0], [112.0, 16.0], [112.0, 22.0], [110.0, 24.0], [109.0, 23.0], [109.0, 18.0], [108.0, 17.0], [108.0, 16.0], [107.0, 16.0], [106.0, 15.0], [105.0, 15.0], [104.0, 14.0]], [[90.0, 13.0], [91.0, 12.0], [99.0, 12.0], [103.0, 16.0], [103.0, 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diff --git a/trpl_examples/projects/image_path_extractor_pathpilot/sect.png b/trpl_examples/projects/image_path_extractor_pathpilot/sect.png
new file mode 100644
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diff --git a/trpl_examples/projects/image_path_extractor_pathpilot/svg_pathsMap_extract.svg b/trpl_examples/projects/image_path_extractor_pathpilot/svg_pathsMap_extract.svg
index 81880f6..d2e37bd 100644
--- a/trpl_examples/projects/image_path_extractor_pathpilot/svg_pathsMap_extract.svg
+++ b/trpl_examples/projects/image_path_extractor_pathpilot/svg_pathsMap_extract.svg
@@ -1,7 +1,24 @@
\ No newline at end of file
From f8ea9768f8ee664b80b63102f9e28006fc3c02e7 Mon Sep 17 00:00:00 2001
From: zick2 <34427350+zick2@users.noreply.github.com>
Date: Sun, 24 Sep 2023 17:29:29 -0500
Subject: [PATCH 03/19] added smoother
---
.../image_path_extractor_pathpilot/common.py | 22 ++++++++++-
.../custom_ui.py | 37 +++++++++++++++++--
2 files changed, 54 insertions(+), 5 deletions(-)
diff --git a/trpl_examples/projects/image_path_extractor_pathpilot/common.py b/trpl_examples/projects/image_path_extractor_pathpilot/common.py
index 6da07f9..f30aa8b 100644
--- a/trpl_examples/projects/image_path_extractor_pathpilot/common.py
+++ b/trpl_examples/projects/image_path_extractor_pathpilot/common.py
@@ -2,6 +2,7 @@
import cv2
import json
+
def cv_contour_list_to_pathsList(contourList):
newList = []
list = contourList
@@ -56,4 +57,23 @@ def cv_strict_resize(img, _desired_width=150, _desired_height=150):
new_height = _desired_height
new_width = int(new_height * aspect_ratio)
print("new W:H", new_width, new_height)
- return cv2.resize(img, (new_width, new_height), interpolation=cv2.INTER_AREA)
\ No newline at end of file
+ return cv2.resize(img, (new_width, new_height), interpolation=cv2.INTER_AREA)
+
+def b_spline(waypoints):
+ if not waypoints:
+ return []
+
+ waypoints = np.array(waypoints)
+ x = []
+ y = []
+
+ x = waypoints[:, 0]
+ y = waypoints[:, 1]
+
+
+ tck, _ = interpolate.splprep([x, y])
+ u = np.linspace(0, 1, num=200)
+ _x, _y = interpolate.splev(u, tck)
+ smooth = np.dstack((_x, _y))
+ # print(smooth)
+ return smooth[0]
\ No newline at end of file
diff --git a/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py b/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py
index e14992b..3f228b7 100644
--- a/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py
+++ b/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py
@@ -7,10 +7,13 @@
import time
+
try:
import cv2
import numpy as np
- from svgpathtools import svg2paths #, Path, Line, QuadraticBezier, CubicBezier, Arc,
+ from svgpathtools import svg2paths #, Path, Line, QuadraticBezier, CubicBezier, Arc,
+
+ import scipy.interpolate as interpolate
except:
set_param("installing_packages", True)
notify("Installing packages!")
@@ -22,8 +25,11 @@
#sh.pip3.install("cv2") # Not working ERROR: Could not find a version that satisfies the requirement cv2 (from versions: none) ERROR: No matching distribution found for cv2
#sh.pip3.install("numpy")
sh.pip3.install("svgpathtools")
+ sh.pip3.install("scipy")
import cv2
- from svgpathtools import svg2paths #, Path, Line, QuadraticBezier, CubicBezier, Arc,
+ from svgpathtools import svg2paths #, Path, Line, QuadraticBezier, CubicBezier, Arc,
+ import scipy.interpolate as interpolate
+
rospy.logwarn("INST-end:: "+str(time.strftime("%H:%M:%S", time.localtime())))
set_param("installing_packages", False)
@@ -47,7 +53,7 @@
NUM_BATCH_LENGTH = 3
-MAX_PATH_LENGTH = 100 # points in a path (Too many points might crush the system)
+MAX_PATH_LENGTH = 100 # points in a path (Too many points might crush the program)
#MIN_PATH_LENGTH = 20
SAFE_HEIGHT = 50
@@ -106,7 +112,7 @@ def log( msg, type="warning"):
def extract(_image, canny_threshold1=INIT_THRESHOLD_1, canny_threshold2=INIT_THRESHOLD_2 ):
log("Getting ready to extract...")
- if len(_image) <= 0:
+ if len(_image) <= 0:
log("extract(): Image issues")
return
@@ -152,6 +158,8 @@ def cv_contour_list_to_pathsList(contourList):
final_paths = cv_contour_list_to_pathsList(contours)
non_mirror_final_paths = cv_contour_list_to_pathsList(non_mirror_contours)
+ #TODO: run smoothing function on paths
+
log("Extract Done!!")
image_copy = _image.copy()
@@ -365,6 +373,27 @@ def isFile(fileName):
return False
#--------------------------------------------------------------------------------------------
+
+def b_spline_path_smoother(waypoints):
+ if not waypoints:
+ return []
+
+ waypoints = np.array(waypoints)
+ x = []
+ y = []
+
+ x = waypoints[:, 0]
+ y = waypoints[:, 1]
+
+
+ tck, _ = interpolate.splprep([x, y])
+ u = np.linspace(0, 1, num=200)
+ _x, _y = interpolate.splev(u, tck)
+ smooth = np.dstack((_x, _y))
+ # print(smooth)
+ return smooth[0]
+
+
# Split array into smaller chunks recursivelly (Divide and conquer)
def divco(list, batch_length=NUM_BATCH_LENGTH):
if len(list) <= batch_length:
From a2ffd77420b346d30af008bde09c6b75d450f262 Mon Sep 17 00:00:00 2001
From: zick2 <34427350+zick2@users.noreply.github.com>
Date: Sun, 24 Sep 2023 17:51:05 -0500
Subject: [PATCH 04/19] Update custom_ui.py
---
.../image_path_extractor_pathpilot/custom_ui.py | 15 +++++++++++++--
1 file changed, 13 insertions(+), 2 deletions(-)
diff --git a/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py b/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py
index 3f228b7..892b63f 100644
--- a/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py
+++ b/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py
@@ -158,7 +158,7 @@ def cv_contour_list_to_pathsList(contourList):
final_paths = cv_contour_list_to_pathsList(contours)
non_mirror_final_paths = cv_contour_list_to_pathsList(non_mirror_contours)
- #TODO: run smoothing function on paths
+
log("Extract Done!!")
@@ -393,6 +393,13 @@ def b_spline_path_smoother(waypoints):
# print(smooth)
return smooth[0]
+def smooth_all_paths(paths):
+ final = []
+ for path in paths:
+ smooth = b_spline_path_smoother(path)
+ final.append(smooth)
+ return final
+
# Split array into smaller chunks recursivelly (Divide and conquer)
def divco(list, batch_length=NUM_BATCH_LENGTH):
@@ -511,6 +518,10 @@ def handle_files(dir_path=""):
def handle_path_extraction(t1=INIT_THRESHOLD_1, t2=INIT_THRESHOLD_2):
set_param("extracting_paths", True)
img, final_paths, non_mirror_final_paths = extract(temp_image, canny_threshold1=t1, canny_threshold2=t2)
+
+ # Apply b-spline path smoother
+ final_paths = smooth_all_paths(final_paths)
+
img = cv_image_to_base64(img)
set_param("image_view", img)
global paths_map
@@ -619,7 +630,7 @@ def preview_file(image_path=DEFAULT_IMAGE):
preview_file()
def request_handler():
- # extruction request
+ # extraction request
if get_param("extract_req"):
set_param("extract_req", False)
thresh1 = get_param("threshold1_value")
From 4c5a86ad0f2379c415db8dea896a61d5175425a8 Mon Sep 17 00:00:00 2001
From: Sadiq Wanyaka
Date: Sun, 24 Sep 2023 18:41:20 -0500
Subject: [PATCH 05/19] smooth fuction refactor
---
.../custom_ui.py | 17 ++---
.../custom_ui.py~ | 68 +++++++++++++++----
.../pathsMap_extract.json | 2 +-
3 files changed, 64 insertions(+), 23 deletions(-)
diff --git a/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py b/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py
index 892b63f..a431c84 100644
--- a/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py
+++ b/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py
@@ -391,6 +391,7 @@ def b_spline_path_smoother(waypoints):
_x, _y = interpolate.splev(u, tck)
smooth = np.dstack((_x, _y))
# print(smooth)
+ smooth = smooth.tolist()
return smooth[0]
def smooth_all_paths(paths):
@@ -450,7 +451,7 @@ def start(_paths):
set_path_blending(True, 0)
for _path in _paths: # for every path in c_paths[] list
try:
- if not _path:
+ if not len(_path):
notify("No c_path")
exit()
@@ -462,14 +463,14 @@ def start(_paths):
movel(Pose(x, y))
movel(Pose(x, y, SAFE_HEIGHT))
#notify("Point: "+str(point), warning=True)
- except:
- log("Inner issue")
- log(_path)
+ except Exception as e:
+ log("Inner issue:"+str(e))
+ #log(_path)
sync()
set_path_blending(False)
- except:
- log("Something is wrong")
- log(_paths)
+ except Exception as e:
+ log("Something is wrong: "+str(e))
+ #log(_paths)
def blend_n_run(batches):
@@ -527,7 +528,7 @@ def handle_path_extraction(t1=INIT_THRESHOLD_1, t2=INIT_THRESHOLD_2):
global paths_map
paths_map = final_paths
- save_metadata(final_paths,non_mirror_final_paths)
+ #save_metadata(final_paths,non_mirror_final_paths)
set_param("extracting_paths", False)
diff --git a/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py~ b/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py~
index 05ee96c..90e604b 100644
--- a/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py~
+++ b/trpl_examples/projects/image_path_extractor_pathpilot/custom_ui.py~
@@ -7,10 +7,13 @@ import os
import time
+
try:
import cv2
import numpy as np
- from svgpathtools import svg2paths #, Path, Line, QuadraticBezier, CubicBezier, Arc,
+ from svgpathtools import svg2paths #, Path, Line, QuadraticBezier, CubicBezier, Arc,
+
+ import scipy.interpolate as interpolate
except:
set_param("installing_packages", True)
notify("Installing packages!")
@@ -22,8 +25,11 @@ except:
#sh.pip3.install("cv2") # Not working ERROR: Could not find a version that satisfies the requirement cv2 (from versions: none) ERROR: No matching distribution found for cv2
#sh.pip3.install("numpy")
sh.pip3.install("svgpathtools")
+ sh.pip3.install("scipy")
import cv2
- from svgpathtools import svg2paths #, Path, Line, QuadraticBezier, CubicBezier, Arc,
+ from svgpathtools import svg2paths #, Path, Line, QuadraticBezier, CubicBezier, Arc,
+ import scipy.interpolate as interpolate
+
rospy.logwarn("INST-end:: "+str(time.strftime("%H:%M:%S", time.localtime())))
set_param("installing_packages", False)
@@ -47,7 +53,7 @@ MIN_THRESHOLD = 1
NUM_BATCH_LENGTH = 3
-MAX_PATH_LENGTH = 100 # points in a path (Too many points might crush the system)
+MAX_PATH_LENGTH = 100 # points in a path (Too many points might crush the program)
#MIN_PATH_LENGTH = 20
SAFE_HEIGHT = 50
@@ -106,7 +112,7 @@ extract():
def extract(_image, canny_threshold1=INIT_THRESHOLD_1, canny_threshold2=INIT_THRESHOLD_2 ):
log("Getting ready to extract...")
- if len(_image) <= 0:
+ if len(_image) <= 0:
log("extract(): Image issues")
return
@@ -152,6 +158,8 @@ def extract(_image, canny_threshold1=INIT_THRESHOLD_1, canny_threshold2=INIT_THR
final_paths = cv_contour_list_to_pathsList(contours)
non_mirror_final_paths = cv_contour_list_to_pathsList(non_mirror_contours)
+
+
log("Extract Done!!")
image_copy = _image.copy()
@@ -365,6 +373,34 @@ def isFile(fileName):
return False
#--------------------------------------------------------------------------------------------
+
+def b_spline_path_smoother(waypoints):
+ if not waypoints:
+ return []
+
+ waypoints = np.array(waypoints)
+ x = []
+ y = []
+
+ x = waypoints[:, 0]
+ y = waypoints[:, 1]
+
+
+ tck, _ = interpolate.splprep([x, y])
+ u = np.linspace(0, 1, num=200)
+ _x, _y = interpolate.splev(u, tck)
+ smooth = np.dstack((_x, _y))
+ # print(smooth)
+ return smooth[0]
+
+def smooth_all_paths(paths):
+ final = []
+ for path in paths:
+ smooth = b_spline_path_smoother(path)
+ final.append(smooth)
+ return final
+
+
# Split array into smaller chunks recursivelly (Divide and conquer)
def divco(list, batch_length=NUM_BATCH_LENGTH):
if len(list) <= batch_length:
@@ -401,7 +437,7 @@ def init_setup():
change_user_frame(USER_FRAME)
movej(p[0,0,SAFE_HEIGHT,0,0,0])
except:
- notify("User frame \""+str(USER_FRAME)+"\" Not Found\n"+ ".\nPlease create a user frame called \""+str(USER_FRAME)+"\"", error=True)
+ notify("User frame \""+str(USER_FRAME)+"\" Not Found\n"+ "\nPlease create a user frame called \""+str(USER_FRAME)+"\"", error=True)
def start(_paths):
#notify("Starting")
@@ -414,7 +450,7 @@ def start(_paths):
set_path_blending(True, 0)
for _path in _paths: # for every path in c_paths[] list
try:
- if not _path:
+ if not len(_path):
notify("No c_path")
exit()
@@ -426,14 +462,14 @@ def start(_paths):
movel(Pose(x, y))
movel(Pose(x, y, SAFE_HEIGHT))
#notify("Point: "+str(point), warning=True)
- except:
- log("Inner issue")
- log(_path)
+ except Exception as e:
+ log("Inner issue:"+str(e))
+ #log(_path)
sync()
set_path_blending(False)
- except:
- log("Something is wrong")
- log(_paths)
+ except Exception as e:
+ log("Something is wrong: "+str(e))
+ #log(_paths)
def blend_n_run(batches):
@@ -482,12 +518,16 @@ def handle_files(dir_path=""):
def handle_path_extraction(t1=INIT_THRESHOLD_1, t2=INIT_THRESHOLD_2):
set_param("extracting_paths", True)
img, final_paths, non_mirror_final_paths = extract(temp_image, canny_threshold1=t1, canny_threshold2=t2)
+
+ # Apply b-spline path smoother
+ final_paths = smooth_all_paths(final_paths)
+
img = cv_image_to_base64(img)
set_param("image_view", img)
global paths_map
paths_map = final_paths
- save_metadata(final_paths,non_mirror_final_paths)
+ #save_metadata(final_paths,non_mirror_final_paths)
set_param("extracting_paths", False)
@@ -590,7 +630,7 @@ def preview_file(image_path=DEFAULT_IMAGE):
preview_file()
def request_handler():
- # extruction request
+ # extraction request
if get_param("extract_req"):
set_param("extract_req", False)
thresh1 = get_param("threshold1_value")
diff --git a/trpl_examples/projects/image_path_extractor_pathpilot/pathsMap_extract.json b/trpl_examples/projects/image_path_extractor_pathpilot/pathsMap_extract.json
index f363556..b63c732 100644
--- a/trpl_examples/projects/image_path_extractor_pathpilot/pathsMap_extract.json
+++ b/trpl_examples/projects/image_path_extractor_pathpilot/pathsMap_extract.json
@@ -1 +1 @@
-{"paths": [[[91.0, 12.0], [90.0, 13.0], [88.0, 13.0], [88.0, 16.0], [87.0, 17.0], [87.0, 19.0], [88.0, 20.0], [87.0, 21.0], [88.0, 22.0], [88.0, 23.0], [89.0, 23.0], [90.0, 24.0], [101.0, 24.0], [102.0, 23.0], [102.0, 21.0], [103.0, 20.0], [103.0, 17.0], [105.0, 15.0], [106.0, 15.0], [109.0, 18.0], [109.0, 24.0], [110.0, 24.0], [111.0, 23.0], [112.0, 23.0], [112.0, 17.0], [113.0, 16.0], [114.0, 16.0], [115.0, 15.0], [117.0, 15.0], [117.0, 13.0], [116.0, 13.0], [115.0, 12.0], [105.0, 12.0], [104.0, 13.0], [103.0, 13.0], [102.0, 14.0], [101.0, 13.0], [100.0, 13.0], [99.0, 12.0]], [[102.0, 14.0], [103.0, 13.0], [105.0, 15.0], [104.0, 16.0], [103.0, 16.0], [102.0, 15.0]], [[106.0, 12.0], [115.0, 12.0], [117.0, 14.0], [116.0, 15.0], [115.0, 15.0], [114.0, 16.0], [112.0, 16.0], [112.0, 22.0], [110.0, 24.0], [109.0, 23.0], [109.0, 18.0], [108.0, 17.0], [108.0, 16.0], [107.0, 16.0], [106.0, 15.0], [105.0, 15.0], [104.0, 14.0]], [[90.0, 13.0], [91.0, 12.0], [99.0, 12.0], [103.0, 16.0], [103.0, 20.0], [102.0, 21.0], [102.0, 22.0], [100.0, 24.0], [90.0, 24.0], [88.0, 22.0], [88.0, 20.0], [87.0, 19.0], [87.0, 17.0], [88.0, 16.0], [88.0, 14.0], [89.0, 13.0]], [[92.0, 15.0], [91.0, 16.0], [91.0, 20.0], [92.0, 21.0], [98.0, 21.0], [99.0, 20.0], [99.0, 16.0], [98.0, 15.0]], [[93.0, 15.0], [97.0, 15.0], [99.0, 17.0], [99.0, 19.0], [97.0, 21.0], [93.0, 21.0], [91.0, 19.0], [91.0, 17.0]], [[75.0, 12.0], [74.0, 13.0], [72.0, 13.0], [72.0, 24.0], [74.0, 24.0], [77.0, 21.0], [80.0, 21.0], [82.0, 23.0], [83.0, 23.0], [84.0, 24.0], [85.0, 24.0], [85.0, 13.0], [84.0, 13.0], [83.0, 12.0]], [[74.0, 13.0], [75.0, 12.0], [83.0, 12.0], [85.0, 14.0], [85.0, 23.0], [84.0, 24.0], [81.0, 21.0], [76.0, 21.0], [73.0, 24.0], [72.0, 23.0], [72.0, 14.0], [73.0, 13.0]], [[76.0, 15.0], [75.0, 16.0], [75.0, 18.0], [82.0, 18.0], [82.0, 17.0], [81.0, 16.0], [81.0, 15.0]], [[77.0, 15.0], [80.0, 15.0], [82.0, 17.0], [81.0, 18.0], [76.0, 18.0], [75.0, 17.0]], [[22.0, 12.0], [21.0, 13.0], [19.0, 13.0], [18.0, 14.0], [17.0, 13.0], [16.0, 14.0], [15.0, 13.0], [13.0, 13.0], [12.0, 14.0], [12.0, 15.0], [11.0, 16.0], [7.0, 16.0], [5.0, 14.0], [5.0, 13.0], [2.0, 13.0], [2.0, 23.0], [3.0, 23.0], [4.0, 24.0], [5.0, 24.0], [5.0, 22.0], [7.0, 20.0], [11.0, 20.0], [12.0, 21.0], [12.0, 23.0], [13.0, 24.0], [15.0, 24.0], [16.0, 23.0], [18.0, 23.0], [19.0, 24.0], [29.0, 24.0], [30.0, 23.0], [31.0, 23.0], [32.0, 24.0], [36.0, 24.0], [38.0, 22.0], [44.0, 22.0], [45.0, 23.0], [46.0, 23.0], [47.0, 24.0], [50.0, 24.0], [51.0, 23.0], [52.0, 24.0], [53.0, 24.0], [54.0, 23.0], [54.0, 18.0], [53.0, 18.0], [54.0, 19.0], [54.0, 22.0], [52.0, 24.0], [51.0, 23.0], [51.0, 22.0], [50.0, 21.0], [50.0, 15.0], [52.0, 13.0], [55.0, 13.0], [57.0, 15.0], [57.0, 16.0], [59.0, 18.0], [59.0, 19.0], [60.0, 18.0], [61.0, 18.0], [62.0, 17.0], [62.0, 16.0], [65.0, 13.0], [68.0, 13.0], [69.0, 14.0], [69.0, 23.0], [68.0, 24.0], [66.0, 22.0], [66.0, 17.0], [65.0, 17.0], [64.0, 18.0], [64.0, 19.0], [63.0, 20.0], [63.0, 21.0], [60.0, 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From e7a3f5e6e967897e7e881a4085c6369c44f157bb Mon Sep 17 00:00:00 2001
From: Sadiq Wanyaka
Date: Sat, 30 Sep 2023 11:34:13 -0500
Subject: [PATCH 06/19] Refactor
---
.../assets/1200.jpg | Bin 0 -> 109978 bytes
.../assets/cat_test.png | Bin 0 -> 1180125 bytes
.../custom_ui.py | 2 +-
.../custom_ui.py~ | 3 ++-
4 files changed, 3 insertions(+), 2 deletions(-)
create mode 100644 trpl_examples/projects/image_path_extractor_pathpilot/assets/1200.jpg
create mode 100644 trpl_examples/projects/image_path_extractor_pathpilot/assets/cat_test.png
diff --git a/trpl_examples/projects/image_path_extractor_pathpilot/assets/1200.jpg b/trpl_examples/projects/image_path_extractor_pathpilot/assets/1200.jpg
new file mode 100644
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