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updating main #4

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updating main #4

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55 changes: 45 additions & 10 deletions src/main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -165,7 +165,7 @@ async def stream_camera(self, client: OakCameraClient) -> None:
await asyncio.sleep(0.01)

response_stream = None

dim = None # Will hold rgb image dimensions
while True:
# check the state of the service
state = await client.get_state()
Expand Down Expand Up @@ -217,12 +217,47 @@ async def stream_camera(self, client: OakCameraClient) -> None:
getattr(frame, view_name).image_data
)

# Set RGB dimensions
if view_name == "rgb" and dim is None:
width = int(img.shape[1]) # * scale_percent / 100)
height = int(img.shape[0]) # * scale_percent / 100)
dim = (width, height)
print("image dim: ", dim)

# Trying to get a depth map:
# if view_name == "disparity":
# disp_img = img[:,:,0] # because there are too many channels
# base_line = 2.0 * calibration.camera_data[2].extrinsics.spec_translation.x # in cm
# focal_length_pix = calibration.camera_data[2].intrinsic_matrix[0] # focal length in pixels
# depth = focal_length_pix * base_line / (img + 1.0*10e-8)
if view_name == "disparity":
disp_img = img[:, :, 0] # because there are too many channels
base_line = (
2.0
* calibration.camera_data[2].extrinsics.spec_translation.x
) # in cm
focal_length_pix = calibration.camera_data[2].intrinsic_matrix[
0
] # focal length in pixels
depth = np.clip(
focal_length_pix
* base_line
/ (100.0 * (disp_img + 1.0 * 10e-8)),
None,
10.0,
) # clip depths > 10m
# Get the dimensions of the image
height, width = depth.shape

# Calculate the center point of the image
center_x = int(width / 2)
center_y = int(height / 2)
print("center is [{}, {}]".format(center_x, center_y))
rescaled_array = cv2.normalize(
depth, None, 0, 255, cv2.NORM_MINMAX, cv2.CV_8U
)
# Define color map
colormap = cv2.COLORMAP_JET

# Apply the color map to the depth image
colored_depth = cv2.applyColorMap(rescaled_array, colormap)
cv2.imshow("depth", colored_depth)
cv2.waitKey(10)
# # trying to compute the depth above, pretty sure the image part is wrong

# New trial testing the rvecs and tvecs outputted:
Expand All @@ -232,10 +267,10 @@ async def stream_camera(self, client: OakCameraClient) -> None:
frame_markers, corners, ids, mtx, dist
) # did not need to equal rvecs and t but could use later
img = frame_markers
# cv2.resize(img, (0, 0), fx=0.5, fy=0.5) # other attempt
cv2.resize(
img, (100, 50)
) # trying to make the image show up bigger in kivy

# # Scale up images for consistent viewing
# if int(img.shape[1]) != dim[0]: # If img width is different, make it the same
# img = cv2.resize(img, dim, interpolation=cv2.INTER_AREA)

texture = Texture.create(
size=(img.shape[1], img.shape[0]), icolorfmt="bgr"
Expand Down