added optimization for a sinusoidal wave

.gitignore

@@ -0,0 +1,2 @@
+Daten/*
+data/*

README.md

@@ -0,0 +1,32 @@
+# Run four cameras
+
+to compile use:
+
+```sh
+meson setup builddir
+meson compile -C builddir
+```
+
+then run the program with:
+
+```sh
+python3 viswrap.py
+```
+
+each argument needs to be passed with ```--sift``` as example
+
+# example
+
+Example for a flat water surface with 4 cameras:
+
+```sh
+python3 viswrap.py --solve --sift --lone 0.4 
+```
+
+# arguments
+
+| Argument   | Description                     | Type   |
+|------------|---------------------------------|--------|
+| `--sin`    | Enables sine processing         | Flag   |
+| `--lone`   | Sets the lone threshold value   | Float  |
+| `--solve`  | Enable the ceres solver         | Flag   |

WaveGen/Arduino/basicStepperDriver/basicStepperDriver.ino

@@ -0,0 +1,183 @@
+#include <Arduino.h>
+#include "BasicStepperDriver.h"
+
+// motor : https://www.omc-stepperonline.com/de/p-series-ip67-wasserdicht-nema-23-schrittmotor-5-0a-1-8nm-254-95oz-in-23ip67-20
+// stepper controller: https://www.omc-stepperonline.com/de/digitaler-schrittmotortreiber-1-0-4-2a-20-50vdc-fuer-nema-17-23-24-schrittmotor-dm542t
+
+// the motor has a 1.8 deg step so 200 steps
+#define MOTOR_STEPS 200
+
+// set a safty RPM
+#define SAFTY_RPM 600
+
+// step resolution on stepper controller set to 800 step/rev
+#define MICROSTEPS 4
+
+// All the wires needed for full functionality
+#define DIR 4
+#define STEP 3
+#define ENABLE 2
+
+//Uncomment line to use enable/disable functionality
+//#define SLEEP 13
+
+// set all value to default 
+float rpmVal = 60.0;  
+float timeVal = 0.0;  
+int angleVal = 0; 
+int start_delay = 0;
+
+unsigned long start_time = 0;
+
+// start bsic driver
+BasicStepperDriver stepper(MOTOR_STEPS, DIR, STEP, ENABLE);
+
+void setup() {
+
+   // enable serial
+   Serial.begin(9600);
+   while (!Serial) {;}  // Wait for serial port to connect
+   Serial.println("Found serial connection of wavegen");
+
+   stepper.begin(rpmVal, MICROSTEPS);
+   stepper.setEnableActiveState(LOW);
+
+   stepper.disable();
+
+}
+
+void loop(){
+
+   // parse the message from python
+   if (Serial.available() > 0) {
+
+      // read in line 
+      String input = Serial.readStringUntil('\n');
+      input.trim();
+
+      // Split command and value
+      int spaceIndex = input.indexOf(' ');
+      String command = input;
+      int value = 0;
+
+      // Split string into tokens
+      const int maxTokens = 10;
+      String tokens[maxTokens];
+      int tokenCount = 0;
+
+      // sort the messages
+      while (input.length() > 0 && tokenCount < maxTokens) {
+         int spaceIndex = input.indexOf(' ');
+         if (spaceIndex == -1) {
+
+            tokens[tokenCount++] = input;
+            break;
+
+         } else {
+
+            tokens[tokenCount++] = input.substring(0, spaceIndex);
+            input = input.substring(spaceIndex + 1);
+            input.trim();
+
+         }
+      }
+
+      // Parse name/value pairs
+      for (int i = 0; i < tokenCount - 1; i += 2) {
+      String name = tokens[i];
+      float value = tokens[i + 1].toFloat();
+
+         if (name == "a") {
+            angleVal = tokens[i + 1].toInt();
+            Serial.print("Set angle to ");
+            Serial.println(angleVal);
+
+         } else if (name == "t") {
+
+            // time in ms
+            timeVal = value;
+            Serial.print("Set time to ");
+            Serial.println(timeVal);
+
+         } else if (name == "rpm") {
+
+            if(value > SAFTY_RPM){
+               rpmVal = SAFTY_RPM;
+            }
+            else if(value != 0.0){
+               rpmVal = value;
+            }
+
+            // set the new rpm value
+            stepper.begin(rpmVal, MICROSTEPS);
+
+            Serial.print("Set rpm to ");
+            Serial.println(rpmVal);
+
+         } else if(name == "delay"){
+
+            start_delay = value;
+            Serial.print("Delay before start: ");
+            Serial.println(start_delay);
+
+         } else {
+
+            Serial.print("Unknown parameter: ");
+            Serial.println(name);
+         }
+      }
+
+      delay(start_delay * 1000); // in sec
+      Serial.println("Starting");      
+
+   }
+
+
+   if(angleVal != 0){
+      Serial.print("start rotation with angle and rpm: ");
+      Serial.print(angleVal);
+      Serial.print(" ");
+      Serial.println(rpmVal);
+
+      stepper.enable();
+      // if no rpm given the rotation speed is set to default
+      stepper.rotate(angleVal); 
+
+      stepper.disable();
+      angleVal = 0;
+      rpmVal = 60.0;
+
+      Serial.println("Finished");
+
+   }
+
+   // only set in rpm if the angle is 0 -> else do angular rotation
+   if(rpmVal != 60.0 && angleVal == 0){
+
+      Serial.print("rotating at rpm ");
+      Serial.println(rpmVal);
+
+      // set the new rpm value
+      stepper.setRPM(rpmVal);
+
+      if(start_time = 0){
+        start_time = millis();    
+      }
+
+      stepper.rotate(360);
+   }
+
+   if(timeVal != 0.0){
+      //Serial.println(millis() - start_time);
+      if(millis() - start_time > timeVal){
+         // set RPM and set time to 0
+         timeVal = 0.0;
+         rpmVal = 60.0;
+         stepper.disable();
+
+         Serial.println("Stopped motor due to time");
+         Serial.println("Finished");
+      }
+   }
+
+}

WaveGen/Arduino/libraries/StepperDriver/LICENSE

@@ -0,0 +1,22 @@
+The MIT License (MIT)
+
+Copyright (c) 2015 Laurentiu Badea
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+

WaveGen/Arduino/libraries/StepperDriver/Makefile

@@ -0,0 +1,57 @@
+# Default build architecture and board
+TARGET ?= arduino:avr:uno
+CORE = $(shell echo $(TARGET) | cut -d: -f1,2)
+
+# Where to save the Arduino support files, this should match what is in arduino-cli.yaml
+ARDUINO_DIR ?= .arduino
+
+default:
+	#################################################################################################
+	# Initial setup: make .arduino/arduino-cli setup
+	#
+	# Build all the examples: make all TARGET=adafruit:samd:adafruit_feather_m0
+	#
+	# Install more cores: make core TARGET=adafruit:samd:adafruit_feather_m0
+	# (edit arduino-cli.yaml and add repository if needed)
+	#################################################################################################
+
+# See https://arduino.github.io/arduino-cli/installation/
+ARDUINO_CLI_URL = https://downloads.arduino.cc/arduino-cli/arduino-cli_latest_Linux_64bit.tar.gz
+ARDUINO_CLI ?= $(ARDUINO_DIR)/arduino-cli --config-file arduino-cli.yaml
+EXAMPLES := $(shell ls examples)
+
+COMPILE = $(ARDUINO_CLI) compile --warnings all --fqbn $(TARGET)
+
+all: # Build all example sketches
+all: $(EXAMPLES:%=%.hex)
+	ls -l build
+
+%.hex: # Generic rule for compiling sketch to uploadable hex file
+%.hex: examples/% core
+	$(ARDUINO_CLI) compile --warnings all --fqbn $(TARGET) --output-dir build $<
+
+# Remove built objects
+clean:
+	rm -rfv build
+
+core: $(ARDUINO_DIR)/arduino-cli
+	$(ARDUINO_CLI) core install $(CORE)
+
+$(ARDUINO_DIR)/arduino-cli:  # Download and install arduino-cli
+$(ARDUINO_DIR)/arduino-cli:
+	mkdir -p $(ARDUINO_DIR)
+	cd $(ARDUINO_DIR)
+	curl -L -s $(ARDUINO_CLI_URL) \
+	| tar xfz - -C $(ARDUINO_DIR) arduino-cli
+	chmod 755 $@
+	$(ARDUINO_CLI) version
+
+setup: # Configure cores and libraries for arduino-cli (which it will download if missing)
+setup: $(ARDUINO_DIR)/arduino-cli
+	mkdir -p $(ARDUINO_DIR)/libraries
+	ln -sf $(CURDIR) $(ARDUINO_DIR)/libraries/
+	$(ARDUINO_CLI) config dump
+	$(ARDUINO_CLI) core update-index
+	$(ARDUINO_CLI) core list
+
+.PHONY: clean %.hex all setup