diff --git a/.gitignore b/.gitignore index 0f7f8e7..61ba7ec 100644 --- a/.gitignore +++ b/.gitignore @@ -160,4 +160,7 @@ cython_debug/ *.csv *.ply -.idea/ \ No newline at end of file +.idea/ + +# Mac Spotlight +.DS_Store \ No newline at end of file diff --git a/README.md b/README.md index 354c88c..f6654b1 100644 --- a/README.md +++ b/README.md @@ -17,7 +17,9 @@ Above example data folder can be found under [docs/highbeam_example/](docs/highb > [!CAUTION] > Exposure control is [not supported on mac](https://github.com/TheMariday/marimapper/issues/51) > -> You can however adjust the exposure manually in third party tools or use the software that comes with your webcam +> You can however adjust the exposure manually in third party tools or use the software that comes +> with your webcam. [Camo](https://reincubate.com/camo/) (including its free tier) with iPhone +> is a viable route, [see more](docs/backends/PixelBlaze.md). ## Step 0: Install @@ -97,6 +99,8 @@ If your LED backend isn't supported, you need to write your own, - 🪨 Make sure that your camera is stable and won't move, try mounting it on a tripod if you can - 💡 Make sure there are no light sources in your cameras view, tape up power leds and notification lights +- 🤖 Experiment with available software and hardware controls like aperture, shutter speed, gamma, etc., the + goal being dimming the background and highlighting LED pixels - ✋ Make sure you can move your camera around without changing the layout of your leds, even a small nudge can throw off the reconstructor! @@ -154,6 +158,8 @@ If you want a lot more reading material, run `marimapper` with `-v` to put it in This will tell you pretty much everything marimapper is doing under the hood. Also good if you're just curious as to why *x* is taking so long! +See also [here](docs/backends/PixelBlaze.md) for some more example walk through of the process. + # Feedback I would really love to hear what you think and if you have any bugs or improvements, please raise them here or drop me a diff --git a/docs/backends/PixelBlaze.md b/docs/backends/PixelBlaze.md index d1d0ff3..270cf74 100644 --- a/docs/backends/PixelBlaze.md +++ b/docs/backends/PixelBlaze.md @@ -1,19 +1,83 @@ # PixelBlaze Backend Tutorial -To use PixelBlaze with marimapper you first need to upload a pattern file to your controller. +The Pixelblaze backend will both attempt auto-discovering a Pixelblaze on the network, +as well as automatically set and render the necessary patterns for the mapping processes. + +You can also manually supply the IP like with other backends, via the `--server` option +on various commands. + +## Overview: + +Test the Pixelblaze connection, you should see an LED blink: + +```bash +marimapper_check_backend pixelblaze +marimapper_check_backend pixelblaze --help +``` + +Run the mapping process, moving the camera a bit in between each time, *.csv files will be created. +Hopefully eventually a reconstruction window will appear, in addition to the camera / dector window. +Use `--device ` if you want to try different cameras connected +(i.e. built in to laptop, USB web cams, software apps): + +```bash +marimapper pixelblaze +marimapper pixelblaze --help +``` + +For any backend, we can summarize the results with the following command: +```bash +marimapper_results +``` + +If LEDs are logged missing, you can try marimapper args `--interpolation_max_error` and `--interpolation_max_fill`. + +Uploading a completed 3d scan: +```bash +marimapper_upload_mapping_to_pixelblaze --csv_file led_map_3d.csv +``` + +Or with results CLI, plus `pb` CLI: +```bash +( echo '[' ; marimapper_results \ + | tail -n+2 | cut -d, -f 2-4 \ + | awk '{print (NR==1 ? "[" : "],[" ) $0 }' ; \ + echo ']]' ) | pb map +``` + +### Exposure Settings Examples + +This tool comes with some mechanisms to adjust camera settings for optimal mapping, +however these don't always work across various hardware and platforms. + +If you're on a Mac and have an iPhone, you can try the free [Camo](http://reincubate.com/camo/). + +At first setup, things are often over exposed, especially in a daylit setting: +![Over exposing ourself](../images/over_exposing_ourself.png) + +One goal is to darken (or increase the contrast) of the background verses lit LEDs. +After experimenting with exposure settings like aperture, shutter speed, gamma, sharpness, etc., +we end up with an image that would make a bad family portrait, but great for a machine detecting +LED pixels: +![We're TWEAKING here](../images/now_we_are_straight_TWEAKING.png) + +### Manual Mapper File Alternative + +You can alternatively manually upload the mapper file. You can do this via the web UI by uploading [this file](https://github.com/TheMariday/marimapper/blob/main/marimapper/backends/pixelblaze/marimapper.epe) as a new pattern. Once this is done, run `marimapper_check_backend pixelblaze` to test it. It should cause LED 0 to blink. -By default, marimapper tools will use the address `4.3.2.1`, but this can be changed by using the `--server` argument. - Once you've checked your PixelBlaze setup is talking nicely with marimapper, you can go ahead and start mapping! Once you're done, you can upload your 3D map to pixelblaze by running `marimapper_upload_mapping_to_pixelblaze` in the same folder as your `led_map_3d.csv`. -Don't forget to add the `--server` argument if you've needed to change it in the previous steps +Don't forget to add the `--server` argument if you've needed to change it in the previous steps. + +### Happy Mappy! -Now you've learnt the PixelBlaze specifics, shoo! Back to the main README.md with you! \ No newline at end of file +Good luck! +Now you've learnt the PixelBlaze specifics, shoo! Back to the main [README.md](../../README.md) with you! \ No newline at end of file diff --git a/docs/backends/custom.md b/docs/backends/custom.md index 919eb62..be9a536 100644 --- a/docs/backends/custom.md +++ b/docs/backends/custom.md @@ -23,6 +23,12 @@ class Backend: # some_led_library.set_led(led_index, (255, 255, 255)) # else: # some_led_library.set_led(led_index, (0, 0, 0)) + + def set_leds(self, buffer: list[list[int]]) -> None: + # This method is meant to color code light up pixels based on detection success + # `buffer` is a list of pixels (by index), as 3-sized list of [red, green, blue], + # values 0 - 255. It is mostly optional to implement + raise AttributeError("Not yet implemented") ``` Fill out the blanks and check it by running `marimapper_check_backend custom my_backend.py` in the same directory diff --git a/docs/images/now_we_are_straight_TWEAKING.png b/docs/images/now_we_are_straight_TWEAKING.png new file mode 100644 index 0000000..e699ec0 Binary files /dev/null and b/docs/images/now_we_are_straight_TWEAKING.png differ diff --git a/docs/images/over_exposing_ourself.png b/docs/images/over_exposing_ourself.png new file mode 100644 index 0000000..57ae391 Binary files /dev/null and b/docs/images/over_exposing_ourself.png differ diff --git a/marimapper/backends/backend_writing_guide.md b/marimapper/backends/backend_writing_guide.md index 8206ba4..668e126 100644 --- a/marimapper/backends/backend_writing_guide.md +++ b/marimapper/backends/backend_writing_guide.md @@ -25,6 +25,9 @@ class MyBackend: def set_led(self, led_index: int, on: bool) -> None: pass + + def set_leds(self, buffer: list[list[int]]) -> None: + raise AttributeError("Not yet implemented") ``` The only thing you'll need to do extra is add the dependencies to the `pyproject.toml` file diff --git a/marimapper/backends/pixelblaze/pixelblaze_backend.py b/marimapper/backends/pixelblaze/pixelblaze_backend.py index 7c9aa74..bb5f6f2 100644 --- a/marimapper/backends/pixelblaze/pixelblaze_backend.py +++ b/marimapper/backends/pixelblaze/pixelblaze_backend.py @@ -1,4 +1,8 @@ +from __future__ import annotations + from multiprocessing import get_logger +import time +import socket # see https://github.com/TheMariday/marimapper/issues/78 # why this is a UserWarning and not a DepreciationWarning is beyond me... @@ -10,22 +14,81 @@ from ipaddress import ip_address from functools import partial +from pathlib import Path +from os import PathLike import argparse +MARIMAPPER_PATTERN = Path(__file__).parent / "marimapper.js" +RGB_PATTERN = Path(__file__).parent / "rgb.js" + logger = get_logger() +def check_pixelblaze_reachable(ip, timeout=0.5): + try: + sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + sock.settimeout(timeout) + result = sock.connect_ex((ip, 81)) + sock.close() + return result == 0 + except Exception: + return False + + +def discover_pixelblazes(timeout=3.0): + logger.info(f"Listening for PixelBlaze beacon packets ({timeout}s)...") + + enumerator = pixelblaze.PixelblazeEnumerator() + + time.sleep(timeout) + devices: list[str] = enumerator.getPixelblazeList() + enumerator.stop() + + logger.info(f"Found {len(devices)} PixelBlaze(s)") + return devices + + def pixelblaze_backend_factory(argparse_args: argparse.Namespace): return partial(Backend, argparse_args.server) def pixelblaze_backend_set_args(parser): - parser.add_argument("--server", default="4.3.2.1") + parser.add_argument( + "--server", + default="auto", + help='IP address of PixelBlaze (default: "auto" - discovers first PixelBlaze on network)', + ) class Backend: + _pattern_cache = {} # Class-level cache: source_code -> compiled bytecode + _last_rendered_pattern = "" def __init__(self, pixelblaze_ip: str): + self.pb = self.init_pixelblaze(pixelblaze_ip) + self.switch_to_mapper_pattern() + + def init_pixelblaze(self, pixelblaze_ip: str): + # Handle auto-discovery mode + if pixelblaze_ip.lower() == "auto": + logger.info("Auto-discovering PixelBlaze...") + + # First check Ad Hoc mode (fast) + logger.info("Checking for Ad Hoc mode (192.168.4.1)...") + if check_pixelblaze_reachable("192.168.4.1"): + pixelblaze_ip = "192.168.4.1" + logger.info("Found PixelBlaze in Ad Hoc mode at 192.168.4.1") + else: + # Try beacon scan on network + devices = discover_pixelblazes(timeout=3.0) + if devices: + pixelblaze_ip = devices[0] + logger.info(f"Found PixelBlaze at {pixelblaze_ip}") + else: + logger.error("No PixelBlazes found. Specify IP with --server") + raise RuntimeError("No PixelBlazes found on network") + + logger.info(f"PixelBlaze server: {pixelblaze_ip}") try: ip_address(pixelblaze_ip) @@ -34,19 +97,13 @@ def __init__(self, pixelblaze_ip: str): f"Pixelblaze backend failed to start due as {pixelblaze_ip} is not a valid IP address" ) - self.pb = pixelblaze.Pixelblaze(pixelblaze_ip) + return pixelblaze.Pixelblaze(pixelblaze_ip) + + def switch_to_mapper_pattern(self): try: - self.pb.setActivePatternByName( - "marimapper" - ) # Need to install marimapper.js to your pixelblaze - except TypeError as e: - if "'NoneType' has no len()" in str(e): - raise RuntimeError( - "Pixelblaze may have failed to find the effect 'marimapper'. " - "Have you uploaded marimapper.epe to your controller?" - ) - else: - raise e + self.render_pattern(MARIMAPPER_PATTERN) + except Exception: + self.load_existing_pattern(MARIMAPPER_PATTERN.stem) def get_led_count(self): pixel_count = self.pb.getPixelCount() @@ -56,11 +113,64 @@ def get_led_count(self): def set_led(self, led_index: int, on: bool): self.pb.setActiveVariables({"pixel_to_light": led_index, "turn_on": on}) + def set_leds(self, buffer: list[list[int]]): + """Set arbitrary pixel colors. Buffer format: [[r, g, b], ...] where index is position in list""" + + # If setting all black or empty, treat as "reset"... + if not buffer or all(rgb == [0, 0, 0] for rgb in buffer): + self.reset() + + try: + self.render_pattern(RGB_PATTERN) + + # Scale 0-255 to 0-1 and flatten to [r,g,b,r,g,b,...] format + colors = [] + for r, g, b in buffer: + colors.extend([r / 255.0, g / 255.0, b / 255.0]) + + # Send to pixelblaze + self.pb.setActiveVariables({"colors": colors}) + except Exception as e: + logger.error(f"Failed to set RGB pixels on PixelBlaze: {e}") + + def reset(self): + self.pb.setBrightnessSlider(1.0) + self.switch_to_mapper_pattern() + def set_map_coordinates(self, pixelmap: list): result = self.pb.setMapCoordinates(pixelmap) if result is False: raise RuntimeError("Pixelblaze Backend failed to upload map coordinates.") self.pb.wsSendJson({"mapperFit": 0}) - def set_current_map(self, pixelmap_name: str): - self.pb.setActivePatternByName(pixelmap_name) + def load_existing_pattern(self, pattern_name: str): + try: + self.pb.setActivePatternByName( + pattern_name + ) # Need to install marimapper.js to your pixelblaze + except TypeError as e: + if "'NoneType' has no len()" in str(e): + raise RuntimeError( + f"Pixelblaze may have failed to find the effect '{pattern_name}'. " + f"Have you uploaded {pattern_name}.epe to your controller?" + ) + else: + raise e + + def render_pattern(self, source_code: PathLike | str): + if self._last_rendered_pattern == source_code: + return + + """Sets current PixelBlaze renderer to this pattern source code, compiles and uses caching.""" + with open(Path(source_code), "r", encoding="utf-8-sig") as f: + source_code = f.read() + + # Check cache for compiled bytecode + if source_code in self._pattern_cache: + bytecode = self._pattern_cache[source_code] + else: + bytecode = self.pb.compilePattern(source_code) + self._pattern_cache[source_code] = bytecode + + self._last_rendered_pattern = source_code + self.pb.sendPatternToRenderer(bytecode) diff --git a/marimapper/backends/pixelblaze/rgb.js b/marimapper/backends/pixelblaze/rgb.js new file mode 100644 index 0000000..66b7587 --- /dev/null +++ b/marimapper/backends/pixelblaze/rgb.js @@ -0,0 +1,15 @@ +// Color array flat format: [r,g,b,r,g,b,...] for pixelCount pixels +export var colors = array(pixelCount * 3) + +export function render(index) { + var baseIdx = index * 3 + var r = colors[baseIdx] + var g = colors[baseIdx + 1] + var b = colors[baseIdx + 2] + + if (r || g || b) { + rgb(r, g, b) + } else { + rgb(0, 0, 0) + } +} diff --git a/marimapper/backends/pixelblaze/upload_map_to_pixelblaze.py b/marimapper/backends/pixelblaze/upload_map_to_pixelblaze.py index f69d006..f429c9d 100644 --- a/marimapper/backends/pixelblaze/upload_map_to_pixelblaze.py +++ b/marimapper/backends/pixelblaze/upload_map_to_pixelblaze.py @@ -48,6 +48,8 @@ def upload_map_to_pixelblaze(cli_args): f"Uploading coordinates to pixelblaze {cli_args.server if cli_args.server is not None else ''}" ) - led_backend = pixelblaze_backend.pixelblaze_backend_factory(cli_args) + led_backend: pixelblaze_backend.Backend = ( + pixelblaze_backend.pixelblaze_backend_factory(cli_args) + ) led_backend.set_map_coordinates(final_coordinate_list) logger.info("Finished") diff --git a/marimapper/detector.py b/marimapper/detector.py index 73c3529..ceb1e4c 100644 --- a/marimapper/detector.py +++ b/marimapper/detector.py @@ -3,17 +3,29 @@ import cv2 import time from typing import Optional +from dataclasses import dataclass import numpy as np from multiprocessing import get_logger from marimapper.camera import Camera from marimapper.timeout_controller import TimeoutController from marimapper.led import Point2D, LED2D +from marimapper.utils import window_config logger = get_logger() +@dataclass +class _Window: + name: str = "MariMapper - Detector" + camera_native_aspect_ratio: float = -1 + initial_height: int = -1 + + +_win = _Window() + + def contour_brightness(image: np.ndarray, contour: np.ndarray) -> int: """Calculate the sum of all pixels within a contour.""" mask = np.zeros(image.shape, dtype=np.uint8) @@ -88,8 +100,33 @@ def draw_led_detections(image: cv2.Mat, led_detection: Optional[Point2D]) -> np. return render_image +# If this is our first render and cv2.imshow(), make sure the window is created +def _init_win_if_needed(image: np.ndarray) -> None: + if _win.initial_height <= 0: + cam_h, cam_w = image.shape[:2] + cam_aspect_ratio = cam_w / cam_h + + x, y, _, target_win_height = window_config(_win.name, 320, 0, 960, 540) + target_win_width = int(target_win_height * cam_aspect_ratio) + cv2.namedWindow(_win.name, cv2.WINDOW_NORMAL) + cv2.resizeWindow(_win.name, target_win_width, target_win_height) + cv2.moveWindow(_win.name, x, y) + + _win.initial_height = target_win_height + _win.camera_native_aspect_ratio = cam_aspect_ratio + + def show_image(image: np.ndarray) -> None: - cv2.imshow("MariMapper - Detector", image) + _init_win_if_needed(image) + + # Resizing actually seems to perform better than not (more responsive too) + # We only need to resize the display image (not window), and can use the initial height, + # user movements are still respected + image_height = _win.initial_height + image_width = int(image_height * _win.camera_native_aspect_ratio) + display_image = cv2.resize(image, (image_width, image_height)) + + cv2.imshow(_win.name, display_image) key = cv2.waitKey(1) if key == 27: # esc diff --git a/marimapper/scripts/results_cli.py b/marimapper/scripts/results_cli.py new file mode 100644 index 0000000..40672ce --- /dev/null +++ b/marimapper/scripts/results_cli.py @@ -0,0 +1,111 @@ +import argparse +import sys +import os +import glob +import csv + + +def log(msg, **kwargs): + sys.stderr.write(str(msg) + "\n") + + +def scan_2d_indices(data_dir): + """Scan all 2D detection files in directory.""" + search_pattern = os.path.join(data_dir, "led_map_2d_*.csv") + files = glob.glob(search_pattern) + detection_log = {} + + for fname in files: + with open(fname, mode="r", newline="", encoding="utf-8") as f: + reader = csv.DictReader(f) + for row in reader: + idx = int(row["index"]) + if idx not in detection_log: + detection_log[idx] = [] + detection_log[idx].append(os.path.basename(fname)) + + return detection_log, files + + +def main(): + parser = argparse.ArgumentParser( + description="Summarize LED mapping results.\n\n" + "Shows mapping status (2D detections vs 3D calibration).\n" + "Outputs final 3D mapping as CSV to stdout (all logging goes to stderr).", + formatter_class=argparse.RawDescriptionHelpFormatter, + ) + + parser.add_argument( + "--dir", + "-d", + default=".", + help="Directory containing led_map_3d.csv and led_map_2d_*.csv files (default: current directory)", + ) + + args = parser.parse_args() + + # Validate directory + if not os.path.isdir(args.dir): + log(f"Error: Directory '{args.dir}' does not exist.") + sys.exit(1) + + # Check if required files exist + map_file_path = os.path.join(args.dir, "led_map_3d.csv") + if not os.path.exists(map_file_path): + log(f"Error: {map_file_path} not found") + sys.exit(1) + + # Load existing 3D map + existing_3d_indices = set() + map_rows = [] + map_fieldnames = [] + + with open(map_file_path, mode="r", newline="", encoding="utf-8") as f: + reader = csv.DictReader(f) + map_fieldnames = reader.fieldnames + for row in reader: + map_rows.append(row) + existing_3d_indices.add(int(row["index"])) + + # Scan 2D detections + data_2d_log, files_2d = scan_2d_indices(args.dir) + all_2d_indices = set(data_2d_log.keys()) + + # Infer expected total from max index found in either 2D or 3D data + if not all_2d_indices and not existing_3d_indices: + max_index = -1 + else: + max_val_2d = max(all_2d_indices) if all_2d_indices else -1 + max_val_3d = max(existing_3d_indices) if existing_3d_indices else -1 + max_index = max(max_val_2d, max_val_3d) + + expected_indices = set(range(max_index + 1)) + missing_indices = sorted(list(expected_indices - existing_3d_indices)) + + # Report status + log(f"2D Indices Found: {len(all_2d_indices)} across {len(files_2d)} scans") + log(f"Expected Total: {len(expected_indices)} (indices 0-{max_index})") + log(f"Total 3D Indices Mapped: {len(existing_3d_indices)}\n") + + if not missing_indices: + log("Status: COMPLETE") + else: + log(f"Status: INCOMPLETE ({len(missing_indices)} missing)") + log("(Try --interpolation_max_error and --interpolation_max_fill)\n") + + # Display missing indices table + idx_width, view_width = len("Index"), len("# Views") + rows = [(idx, len(data_2d_log.get(idx, []))) for idx in missing_indices] + log(f"{'Index':<{idx_width}} {'# Views':>{view_width}}") + for idx, count in rows: + log(f"{idx:<{idx_width}} {count:>{view_width}}") + log("") + + # Output final 3D mapping as CSV to stdout + writer = csv.DictWriter(sys.stdout, fieldnames=map_fieldnames) + writer.writeheader() + writer.writerows(map_rows) + + +if __name__ == "__main__": + main() diff --git a/marimapper/utils.py b/marimapper/utils.py index 52c1c01..96d92fb 100644 --- a/marimapper/utils.py +++ b/marimapper/utils.py @@ -1,5 +1,7 @@ import os import sys +import json +from pathlib import Path def get_user_confirmation(prompt): # pragma: no coverage @@ -49,3 +51,16 @@ def __exit__(self, *_): self.outnull_file.close() self.errnull_file.close() + + +# Look for stored window position and size settings, otherwise return supplied defaults +def window_config(name: str, x: int, y: int, w: int, h: int) -> list[int]: + try: + with open(Path.home() / ".config" / "marimapper.json", "r") as f: + data = json.load(f) + cfg = data["window"] and data["window"][name] + if cfg: + return [cfg["x"], cfg["y"], cfg["width"], cfg["height"]] + except Exception: + pass + return [x, y, w, h] diff --git a/marimapper/visualize_process.py b/marimapper/visualize_process.py index 3a51576..bcef410 100644 --- a/marimapper/visualize_process.py +++ b/marimapper/visualize_process.py @@ -3,6 +3,7 @@ from multiprocessing import get_logger, Process, Event from marimapper.queues import Queue3D from marimapper.led import LED3D, View, get_next, get_distance +from marimapper.utils import window_config import time logger = get_logger() @@ -68,14 +69,14 @@ def run(self): def initialise_visualiser__(self): logger.debug("Renderer3D process initialising visualiser") + window_name = "MariMapper" + x, y, w, h = window_config(window_name, 0, 0, 640, 640) self._vis = ( open3d.visualization.Visualizer() ) # This needs to be updated to O3DVisualizer self._vis.create_window( - window_name="MariMapper", - width=640, - height=640, + window_name=window_name, width=w, height=h, left=x, top=y ) view_ctl = ( diff --git a/pyproject.toml b/pyproject.toml index ae394a6..006a709 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -55,6 +55,7 @@ marimapper = "marimapper.scripts.scanner_cli:main" marimapper_check_camera = "marimapper.scripts.check_camera_cli:main" marimapper_check_backend ="marimapper.scripts.check_backend_cli:main" marimapper_upload_mapping_to_pixelblaze = "marimapper.scripts.upload_map_to_pixelblaze_cli:main" +marimapper_results = "marimapper.scripts.results_cli:main" [tool.coverage.run] diff --git a/uv.lock b/uv.lock new file mode 100644 index 0000000..ac1be47 --- /dev/null +++ b/uv.lock @@ -0,0 +1,2636 @@ +version = 1 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