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"glam",
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name = "toml_edit"
dependencies = [
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"toml_datetime",
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"memchr",
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dependencies = [
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"zerocopy-derive",
]
"quote",
"syn 2.0.77",
]
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[dependencies]
libc = "0.2.161"
rustfft = "6.2.0"
-show-image = "0.14.0"
+image = "0.25.4"
+show-image = {version = "0.14.0", features = ["image"]}
hound = "3.5.1"
cpal = "0.15.3"
rscam = "0.5.5"
use rustfft::algorithm::Radix4;
use rustfft::{Fft, FftDirection};
use rustfft::num_complex::Complex;
-use show_image::{ImageView, ImageInfo, create_window};
+use show_image::{ImageView, ImageInfo, create_window, event};
use hound;
use cpal::{StreamConfig, BufferSize, SampleRate};
use cpal::traits::{DeviceTrait, HostTrait, StreamTrait};
use std::sync::mpsc;
use std::sync::mpsc::Sender;
use rscam::{Camera, Config};
+use image::ImageReader;
const WINDOW_SIZE: usize = 128;
const CHUNK_SIZE: usize = 72;
const SPECTOGRAM_AREA: usize = WINDOW_SIZE * CHUNK_SIZE;
+// configuration of the camera used
const IMAGE_WIDTH: usize = 1920;
const IMAGE_HEIGHT: usize = 1080;
const IMAGE_AREA: usize = IMAGE_WIDTH * IMAGE_HEIGHT * 3;
const FPS: usize = 30;
+// maximum and minimum pixel values of angle and amplitude. could be confined to
+// improve performance for quiet sounds.
const AMPLITUDE_MAX: f32 = 255.0;
const AMPLITUDE_MIN: f32 = 0.0;
const AMPLITUDE_REL: f32 = AMPLITUDE_MAX - AMPLITUDE_MIN;
const ANGLE_MIN: f32 = 0.0;
const ANGLE_REL: f32 = ANGLE_MAX - ANGLE_MIN;
-const VOLUME_MAX: f32 = 100.0; // 60 - 65
+// because of the opposingly logarithmic properties of both noise error and volume
+// this maximum value is important. -40 to 100 may not work under real conditions,
+// and -40 to 65 or even lower may produce better results.
+const VOLUME_MAX: f32 = 65.0; // 60 - 65
const VOLUME_MIN: f32 = -40.0;
const VOLUME_REL: f32 = VOLUME_MAX - VOLUME_MIN;
+const DEBUG_MODE: bool = true;
+
extern "C" {
fn GetHomography(camera_ptr: usize, homography_ptr: usize);
fn ApplyHomography(camera_ptr: usize, buffer_ptr: usize, homography_ptr: usize);
}
fn calibrate (&mut self) {
- println!("Getting homography... unsafe!");
+ // rscam gives and empty image if its not prompted a couple times
+ for _i in 0..10 {
+ self.camera_buffer = self.camera.capture().unwrap()[..].try_into().expect("Image is wrong size");
+ }
+
+ // enter unsafe and get the homography array
unsafe {
GetHomography(self.camera_buffer.as_ptr() as usize, self.homography.as_ptr() as usize);
}
- println!("Homography: {:?}", self.homography)
}
fn from_buffer (&mut self, buffer: &Vec<Complex<f32>>) -> () {
#[show_image::main]
fn main () -> Result<(), Box<dyn std::error::Error>> {
-
+ // pregenerate the fft transformers
let forward_transform = Radix4::<f32>::new(WINDOW_SIZE, FftDirection::Forward);
let inverse_transform = Radix4::<f32>::new(WINDOW_SIZE, FftDirection::Inverse);
let scratch_size = forward_transform.get_inplace_scratch_len();
+ // preallocate complex space for the ffts
let mut buffer = vec![Complex{re: 0f32, im: 0f32}; SPECTOGRAM_AREA];
let mut scratch = vec![Complex{re: 0f32, im: 0f32}; scratch_size];
+ // setup communication between the main thread and the audio thread
let (tx, rx) = mpsc::channel();
let sample_buffer = Arc::new(Mutex::new([0i16; 2*SPECTOGRAM_AREA]));
let mut samples = SampleBuffer::new(sample_buffer.clone(), tx);
- let window = create_window("image", Default::default())?;
-
- let homography = [0f64; 9];
+ // setup homography space and get ready for the calibration
+ let homography = [0f64; 9]; // homography is a 3x3 matrix of 64-bit floats
let mut image_array = ImageArray::new(homography);
+
+ // create the debug window
+ let debug_window = create_window("Debug", Default::default())?;
+
+ // create window for displaying images and display calibration image
+ let display_window = create_window("Display", Default::default())?;
+ let calibration_image = ImageReader::open("calibration.jpg")?.decode()?;
+ display_window.set_image("Display", calibration_image)?;
+
+ // wait for the user to press a key before continuing
+ for event in display_window.event_channel()? {
+ if let event::WindowEvent::KeyboardInput(event) = event {
+ if event.input.key_code == Some(event::VirtualKeyCode::Return) && event.input.state.is_pressed() {
+ break;
+ }
+ }
+ }
+
+ // calibrate camera
image_array.calibrate();
+ // open audio file
let mut reader = hound::WavReader::open("/home/will/Downloads/Adducci - Around the Horn.wav").unwrap();
let file_rate = reader.spec().sample_rate;
+ // setup audio output and build output stream
let host = cpal::default_host();
let device = host.default_output_device().expect("No output device available");
},
None
).unwrap();
- stream.play().expect("Stream pay failed");
+ stream.play().expect("Stream play failed");
+ // begin looping though the samples until the buffer is full of complex audio with an imag element of 0
let mut i = 0;
for sample in reader.samples::<i16>() {
if i == SPECTOGRAM_AREA {
+ // transform and do power scaling
forward_transform.process_with_scratch(&mut buffer, &mut scratch);
for x in buffer.iter_mut() {
*x *= 1f32 / WINDOW_SIZE as f32;
}
image_array.from_buffer(&mut buffer);
+ // show the image on screen
let image = ImageView::new(ImageInfo::rgb8(WINDOW_SIZE as u32, CHUNK_SIZE as u32), &image_array.data);
- window.set_image ("image", image)?;
+ display_window.set_image ("image", image)?;
+ // capture and transform camera view to image
image_array.from_camera();
- image_array.to_buffer(&mut buffer);
+ // make and display debug image
+ if DEBUG_MODE {
+ let debug_image = ImageView::new(ImageInfo::rgb8(WINDOW_SIZE as u32, CHUNK_SIZE as u32), &image_array.data);
+ debug_window.set_image("Debug", debug_image)?;
+ }
+ // convert image to audio
+ image_array.to_buffer(&mut buffer);
inverse_transform.process_with_scratch(&mut *buffer, &mut scratch);
+ // when a "true" is receved by rx, get lock for sample buffer and fill the last half with the audio
if rx.recv().unwrap() {
let mut write_buffer = sample_buffer.lock().unwrap();
for (i, x) in write_buffer[SPECTOGRAM_AREA..].iter_mut().enumerate() {
Ok(t) => t,
Err(_) => 0i16
};
+ // if buffer is not full convert value and add to buffer
buffer[i] = Complex{re: value as f32, im: 0f32};
i += 1;
}
// g++ ./perspective.cpp -I/usr/share/include/opencv4/ -lopencv_core -lopencv_calib3d -lopencv_highgui -lopencv_xfeatures2d -lopencv_features2d -lopencv_imgproc -lopencv_videoio -lopencv_imgcodecs -lopencv_features2d -o perspective.a
//
-#include "/usr/local/include/opencv4/opencv2/core.hpp"
-#include "/usr/local/include/opencv4/opencv2/highgui.hpp"
-#include "/usr/local/include/opencv4/opencv2/xfeatures2d.hpp"
-#include "/usr/local/include/opencv4/opencv2/calib3d.hpp"
-#include "/usr/local/include/opencv4/opencv2/imgproc.hpp"
-#include <cstring>
-#include <opencv4/opencv2/core/hal/interface.h>
+#include "opencv4/opencv2/core.hpp"
+#include "opencv4/opencv2/highgui.hpp"
+#include "opencv4/opencv2/xfeatures2d.hpp"
+#include "opencv4/opencv2/calib3d.hpp"
+#include "opencv4/opencv2/imgproc.hpp"
using namespace cv;
using namespace cv::xfeatures2d;
const size_t IMAGE_WIDTH = 1920;
const size_t IMAGE_HEIGHT = 1080;
-// Mat get_frame()
-// {
-// VideoCapture cap;
-// Mat frame;
-//
-// int device = 0;
-// int api = CAP_V4L;
-// cap.open(device, api);
-//
-// cap.read(frame);
-// resize(frame, frame, DSIZE_AREA, INTER_LINEAR);
-// return frame;
-// }
-
-// int main()
-// {
-// Mat img1 = imread( samples::findFile("box.jpg"), IMREAD_GRAYSCALE );
-// Mat img2 = imread( samples::findFile("box_in_scene.jpg"), IMREAD_GRAYSCALE );
-//
-// // detect keypoints and compute descriptors
-// int minHessian = 400;
-// Ptr<SURF> detector = SURF::create( minHessian );
-//
-// std::vector<KeyPoint> keypoints1, keypoints2;
-// Mat descriptors1, descriptors2;
-// detector->detectAndCompute( img1, noArray(), keypoints1, descriptors1 );
-// detector->detectAndCompute( img2, noArray(), keypoints2, descriptors2 );
-//
-// // match descriptors
-// Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create(DescriptorMatcher::FLANNBASED);
-// std::vector< std::vector<DMatch> > knn_matches;
-//
-// matcher->knnMatch( descriptors1, descriptors2, knn_matches, 2 );
-//
-// // filter matches by the ratio test
-// const float ratio_thresh = 0.7f;
-// std::vector<DMatch> good_matches;
-// for (size_t i = 0; i < knn_matches.size(); i++)
-// {
-// if (knn_matches[i][0].distance < ratio_thresh * knn_matches[i][1].distance)
-// {
-// good_matches.push_back(knn_matches[i][0]);
-// }
-// }
-//
-// // get the source and destination points
-// std::vector<Point2f> source_points, dst_points;
-// for (size_t i = 0; i < good_matches.size(); i++)
-// {
-// Point2f s_point = keypoints2[good_matches[i].trainIdx].pt;
-// Point2f d_point = keypoints1[good_matches[i].queryIdx].pt;
-// source_points.push_back(s_point);
-// dst_points.push_back(d_point);
-// }
-//
-// // perform homography
-// double ransac_thresh = 5.0f;
-// Mat homography = findHomography(source_points, dst_points, RANSAC, ransac_thresh);
-//
-// const double* h_ptr = homography.ptr<double>(0);
-// for(int i = 0; i < 9; i++)
-// {
-// std::cout << std::max(h_ptr[i], 0.) << "\n";
-// }
-// }
-
extern "C"
{
void GetHomography(uint8_t *camera_ptr, double *homography_ptr)
{
- Mat capture(IMAGE_HEIGHT, IMAGE_WIDTH, CV_8UC3, camera_ptr), img2;
+ try
+ {
+ Mat img1 = imread( samples::findFile("calibration.jpg")/*, IMREAD_GRAYSCALE */);
+ Mat img2(IMAGE_HEIGHT, IMAGE_WIDTH, CV_8UC3, camera_ptr);
- Mat img1 = imread( samples::findFile("calibration.jpg"), IMREAD_GRAYSCALE );
- cv::cvtColor(capture, img2, COLOR_RGB2GRAY);;
+ // detect keypoints and compute descriptors
+ int minHessian = 400;
+ Ptr<SURF> detector = SURF::create( minHessian );
- // detect keypoints and compute descriptors
- int minHessian = 400;
- Ptr<SURF> detector = SURF::create( minHessian );
+ std::vector<KeyPoint> keypoints1, keypoints2;
+ Mat descriptors1, descriptors2;
+ detector->detectAndCompute( img1, noArray(), keypoints1, descriptors1 );
+ detector->detectAndCompute( img2, noArray(), keypoints2, descriptors2 );
- std::vector<KeyPoint> keypoints1, keypoints2;
- Mat descriptors1, descriptors2;
- detector->detectAndCompute( img1, noArray(), keypoints1, descriptors1 );
- detector->detectAndCompute( img2, noArray(), keypoints2, descriptors2 );
+ // match descriptors
+ Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create(DescriptorMatcher::FLANNBASED);
+ std::vector< std::vector<DMatch> > knn_matches;
- // match descriptors
- Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create(DescriptorMatcher::FLANNBASED);
- std::vector< std::vector<DMatch> > knn_matches;
+ matcher->knnMatch( descriptors1, descriptors2, knn_matches, 2 );
- matcher->knnMatch( descriptors1, descriptors2, knn_matches, 2 );
+ // filter matches by the ratio test
+ const float ratio_thresh = 0.7f;
+ std::vector<DMatch> good_matches;
+ for (size_t i = 0; i < knn_matches.size(); i++)
+ {
+ if (knn_matches[i][0].distance < ratio_thresh * knn_matches[i][1].distance)
+ {
+ good_matches.push_back(knn_matches[i][0]);
+ }
+ }
- // filter matches by the ratio test
- const float ratio_thresh = 0.7f;
- std::vector<DMatch> good_matches;
- for (size_t i = 0; i < knn_matches.size(); i++)
- {
- if (knn_matches[i][0].distance < ratio_thresh * knn_matches[i][1].distance)
+ // get the source and destination points
+ std::vector<Point2f> source_points, dst_points;
+ for (size_t i = 0; i < good_matches.size(); i++)
{
- good_matches.push_back(knn_matches[i][0]);
+ Point2f s_point = keypoints2[good_matches[i].trainIdx].pt;
+ Point2f d_point = keypoints1[good_matches[i].queryIdx].pt;
+ source_points.push_back(s_point);
+ dst_points.push_back(d_point);
}
- }
- // get the source and destination points
- std::vector<Point2f> source_points, dst_points;
- for (size_t i = 0; i < good_matches.size(); i++)
+ // perform homography
+ double ransac_thresh = 5.0f;
+ Mat homography = findHomography(source_points, dst_points, RANSAC, ransac_thresh);
+
+ // copy the result to the homography location
+ const double* result_ptr = homography.ptr<double>(0);
+ std::memcpy(homography_ptr, result_ptr, 72); // size of [f64; 9]
+ }
+ catch (const std::exception &e) // handle exceptions for rust
{
- Point2f s_point = keypoints2[good_matches[i].trainIdx].pt;
- Point2f d_point = keypoints1[good_matches[i].queryIdx].pt;
- source_points.push_back(s_point);
- dst_points.push_back(d_point);
+ std::cout << "Exception " << e.what() << std::endl;
}
-
- // perform homography
- double ransac_thresh = 5.0f;
- Mat homography = findHomography(source_points, dst_points, RANSAC, ransac_thresh);
-
- // copy the result to the homography location
- // it should be possible to just point the result of findHomography at the pointer location
- const double* result_ptr = homography.ptr<double>(0);
- std::memcpy(homography_ptr, result_ptr, 72); // size of [f64; 9]
}
- void ApplyHomography(uint8_t *camera_ptr, uint8_t *buffer_ptr, double *homography_ptr)
- {
- Mat capture(IMAGE_HEIGHT, IMAGE_WIDTH, CV_8UC3, camera_ptr);
- Mat buffer(CHUNK_SIZE, WINDOW_SIZE, CV_8UC3, buffer_ptr);
- Mat homography(3, 3, CV_64F, homography_ptr);
+ void ApplyHomography(uint8_t *camera_ptr, uint8_t *buffer_ptr, double *homography_ptr)
+ {
+ Mat capture(IMAGE_HEIGHT, IMAGE_WIDTH, CV_8UC3, camera_ptr);
+ Mat buffer(CHUNK_SIZE, WINDOW_SIZE, CV_8UC3, buffer_ptr);
+ Mat homography(3, 3, CV_64F, homography_ptr);
- warpPerspective(capture, buffer, homography, buffer.size());
- }
+ warpPerspective(capture, capture, homography, capture.size());
+ resize(capture, buffer, buffer.size());
+ }
}
projects / rust_fft / commitdiff
