class QrDetectionTests(unittest.TestCase):
def setUp(self):
rospack = rospkg.RosPack()
self.pkgDir = rospack.get_path('rapp_testing_tools')
self.ch = RappPlatformAPI()
def test_detect_qr(self):
imagepath = path.join(self.pkgDir, 'test_data', 'qr_code_rapp.jpg')
valid_results = {
'qr_centers': [{
'y': 165,
'x': 165
}],
'qr_messages': ['rapp project qr sample'],
'error': ''
}
response = self.ch.qrDetection(imagepath)
self.assertEqual(response, valid_results)
def test_detect_qr_erroneous(self):
response = self.ch.qrDetection('')
self.assertNotEqual(response['error'], u'')
response = self.ch.qrDetection(3)
self.assertNotEqual(response['error'], u'')
response = self.ch.qrDetection([])
self.assertNotEqual(response['error'], u'')
class QrDetectionTests(unittest.TestCase):
def setUp(self):
rospack = rospkg.RosPack()
self.pkgDir = rospack.get_path('rapp_testing_tools')
self.ch = RappPlatformAPI()
def test_detect_qr(self):
imagepath = path.join(self.pkgDir, 'test_data','qr_code_rapp.jpg')
valid_results = {
'qr_centers': [{'y': 165, 'x': 165}],
'qr_messages': ['rapp project qr sample'],
'error': ''
}
response = self.ch.qrDetection(imagepath)
self.assertEqual(response, valid_results)
def test_detect_qr_erroneous(self):
response = self.ch.qrDetection('')
self.assertNotEqual(response['error'], u'')
response = self.ch.qrDetection(3)
self.assertNotEqual(response['error'], u'')
response = self.ch.qrDetection([])
self.assertNotEqual(response['error'], u'')
def RappQrDetection(self, imageString, image):
path = imageORimageString(imageString, image) #path of saved image.
ch = RappPlatformAPI() ###############address = addr
response = ch.qrDetection(path) # Use the server's path of the image.
if not response.get('error') == "":
abort(500, response.get('error'))
return response
class NaoInterface:
def __init__(self):
self.rh = RappRobot()
self.ch = RappPlatformAPI()
rospy.Timer(rospy.Duration(0.1), self.sonarsCallback)
rospy.Timer(rospy.Duration(5), self.qrDetectionCallback)
#self.pub = rospy.Publisher('/inner/sonar_measurements', LaserScan, queue_size=1)
self.pub1 = rospy.Publisher('/inner/qr_detection', RfidSensorMeasurementMsg, queue_size=1)
self.s = rospy.Service('set_object', SetObject, self.setNewObjectCallback)
self.s1 = rospy.Service('get_objects', GetObjects, self.getObjectsCallback)
self.objects = {}
self.static_objects = []
def sonarsCallback(self, event):
sonars = self.rh.sensors.getSonarsMeasurements()['sonars']
laser_msg = LaserScan()
laser_msg.ranges.append(sonars['front_right'])
laser_msg.ranges.append(sonars['front_left'])
laser_msg.range_max = 1.00
laser_msg.angle_increment = 0.785398185253
laser_msg.angle_min = -0.392699092627
self.pub.publish(laser_msg)
def qrDetectionCallback(self, event):
print "QrDetection"
rospack = rospkg.RosPack()
img_path = rospack.get_path('nao_localization') + "/cfg/nao_capture.jpg"
self.rh.vision.capturePhoto("/home/nao/test.jpg", "front", "640x480")
print img_path
self.rh.utilities.moveFileToPC("/home/nao/test.jpg", img_path)
#svc = QrDetection(imageFilepath="/home/chrisa/test.jpg")
response = self.ch.qrDetection(img_path)
print response
print response['qr_messages']
if "Localization" in response['qr_messages']:
qr_msg = RfidSensorMeasurementMsg()
qr_msg.rfid_tags_ids.append(response['qr_messages'])
self.pub1.publish(qr_msg)
head_yaw = self.rh.humanoid_motion.getJointAngles(["HeadYaw"])['angles'][0]
print head_yaw
def setNewObjectCallback(self, req):
print "setNewObjectCallback"
print req
self.objects[req.object.message] = req.object
res = SetObjectResponse()
res.success = True
return res
def getObjectsCallback(self, req):
res = GetObjectsResponse()
if req.localization_type == "dynamic":
for i in range(0, len(self.objects)):
obj = ObjectMsg()
obj.x = self.objects.values()[i].x
obj.y = self.objects.values()[i].y
obj.message = self.objects.values()[i].message
obj.type = self.objects.values()[i].type
if req.object_type == self.objects.values()[i].type or req.object_type == "all" or req.object_type == "":
if obj.message in res.objects:
continue
res.objects.append(obj)
elif req.localization_type == "static":
for i in range(0, len(self.static_objects)):
obj = ObjectMsg()
obj.x = static_objects[i].x
obj.y = static_objects[i].y
obj.message = static_objects[i].message
obj.type = static_objects[i].type
res.objects.append(obj)
elif req.localization_type == "all":
for i in range(0, len(self.objects)):
obj = ObjectMsg()
obj.x = self.objects.values()[i].x
obj.y = self.objects.values()[i].y
obj.message = self.objects.values()[i].message
obj.type = self.objects.values()[i].type
if req.object_type == self.objects.values()[i].type or req.object_type == "all" or req.object_type == "":
if obj.message in res.objects:
continue
res.objects.append(obj)
for i in range(0, len(self.static_objects)):
obj = ObjectMsg()
obj.x = static_objects[i].x
obj.y = static_objects[i].y
obj.message = static_objects[i].message
obj.type = static_objects[i].type
res.objects.append(obj)
else:
print "No such type"
res.success = True
print res.objects
return res
rh.motion.disableMotors()
# Delay to stabilize the head
time.sleep(1)
image_name = "img_" + str(i * 3 + j) + ".jpg"
# Capture an image from the NAO cameras
rh.vision.capturePhoto("/home/nao/" + image_name, "front", "640x480")
# Get the photo to the PC
rh.utilities.moveFileToPC("/home/nao/" + image_name, \
home + image_name)
imageFilepath = home + image_name
# Get the responses
qr_resp = ch.qrDetection(imageFilepath)
face_resp = ch.faceDetection(imageFilepath, False)
obj_resp = ch.objectRecognitionCaffe(imageFilepath)
# Prints for debugging purposes
print str(global_counter) + ": " + str(qr_resp)
print str(global_counter) + ": " + str(face_resp)
print str(global_counter) + ": " + str(obj_resp)
print "\n"
# Store the objects and the respective head angles
# Store the unique QR codes
if len(qr_resp['qr_centers']) != 0:
# Transform Image-frame angles to NAO-frame
obj_frame_ang = pointToRads(
qr_resp['qr_centers'][0]['x'],
