def __init__(self, my_tf, debug, nh):
"""Initialize ScanTheCodePerception class."""
self.image_cache = deque()
self.bridge = CvBridge()
self.nh = nh
self.last_cam_info = None
self.debug = debug
self.pers_points = []
self.model_tracker = ScanTheCodeModelTracker()
self.pinhole_cam = PinholeCameraModel()
self.my_tf = my_tf
# %%%%%%%%%%%%debug%%%%%%%%%%%%%%%%
self.count = 0
self.depths = []
def __init__(self, my_tf, debug, nh):
"""Initialize ScanTheCodePerception class."""
self.image_cache = deque()
self.bridge = CvBridge()
self.nh = nh
self.last_cam_info = None
self.debug = debug
self.pers_points = []
self.model_tracker = ScanTheCodeModelTracker()
self.pinhole_cam = PinholeCameraModel()
self.my_tf = my_tf
# %%%%%%%%%%%%debug%%%%%%%%%%%%%%%%
self.count = 0
self.depths = []
def __init__(self, my_tf, debug, nh):
"""Initialize ScanTheCodePerception class."""
self.image_cache = deque()
self.bridge = CvBridge()
self.nh = nh
self.last_cam_info = None
self.debug = debug
self.pers_points = []
self.model_tracker = ScanTheCodeModelTracker()
self.camera_model = PinholeCameraModel()
self.my_tf = my_tf
self.rect_finder = RectangleFinderClustering()
self.color_finder = ColorFinder()
self.count = 0
self.depths = []
class ScanTheCodePerception(object):
"""Class that handles ScanTheCodePerception."""
def __init__(self, my_tf, debug, nh):
"""Initialize ScanTheCodePerception class."""
self.image_cache = deque()
self.bridge = CvBridge()
self.nh = nh
self.last_cam_info = None
self.debug = debug
self.pers_points = []
self.model_tracker = ScanTheCodeModelTracker()
self.pinhole_cam = PinholeCameraModel()
self.my_tf = my_tf
# %%%%%%%%%%%%debug%%%%%%%%%%%%%%%%
self.count = 0
self.depths = []
def add_image(self, image):
"""Add an image to the image cache."""
if len(self.image_cache) > 20:
self.image_cache.popleft()
self.image_cache.append(image)
def update_info(self, info):
"""Update the camera calibration info."""
self.last_cam_info = info
def _convert_3d_2d(self, point):
K = self.last_cam_info.K
K = np.array(K).reshape(3, 3)
pl = point
pl = K.dot(pl)
if pl[2] == 0:
return (0, 0)
pl[0] /= pl[2]
pl[1] /= pl[2]
if pl[0] < 0:
pl[0] = 0
if pl[1] < 0:
pl[1] = 0
return (int(pl[0]), int(pl[1]))
@txros.util.cancellableInlineCallbacks
def _get_3d_points_stereo(self, points_3d_enu, time):
self.pers_points.extend(points_3d_enu)
max_num = 1000
if len(self.pers_points) > max_num:
self.pers_points = self.pers_points[len(self.pers_points) -
max_num:len(self.pers_points)]
points_3d = []
try:
print "waiting on tf"
trans = yield self.my_tf.get_transform("/stereo_left_cam", "/enu",
time)
except Exception as exp:
print exp
defer.returnValue(points_3d)
transformation = trans.as_matrix()
for point in self.pers_points:
p = [point.x, point.y, point.z, 1]
t_p = transformation.dot(p)
if t_p[3] < 1E-15:
raise ZeroDivisionError
t_p[0] /= t_p[3]
t_p[1] /= t_p[3]
t_p[2] /= t_p[3]
points_3d.append(t_p[0:3])
defer.returnValue(points_3d)
def _get_top_left_point(self, points_3d):
xmin = sys.maxint
zmin = -sys.maxint
ymin = sys.maxint
for i, point in enumerate(points_3d):
if point[1] < ymin:
xmin = point[0]
zmin = point[2]
ymin = point[1]
buff = .07
for i, point in enumerate(points_3d):
if (point[1] < ymin + buff and point[1] > ymin - buff
and point[0] < xmin):
xmin = point[0]
zmin = point[2]
ymin = point[1]
return xmin, ymin, zmin
def _get_points_in_range(self, axis, lower, upper, points):
in_range = []
idx = 0
if axis == 'y':
idx = 1
if axis == 'z':
idx = 2
for p in points:
if p[idx] > lower and p[idx] < upper:
in_range.append(p)
return in_range
def _get_depth(self, axis, points_3d):
idx = 0
if axis == 'y':
idx = 1
if axis == 'z':
idx = 2
min_val, max_val = sys.maxint, -sys.maxint
points_3d = np.array(points_3d)
my_points = points_3d[:, idx]
mean = np.mean(my_points)
std = 1.5 * np.std(my_points)
for p in my_points:
if abs(p - mean) > std:
# print p, mean
continue
if p < min_val:
min_val = p
if p > max_val:
max_val = p
return max_val - min_val
def _get_2d_points_stc(self, points_3d):
xmin, ymin, zmin = self._get_top_left_point(points_3d)
ymin -= .15
xmin -= .05
points_3d = [[xmin, ymin, zmin], [xmin + .8, ymin + .75, zmin],
[xmin, ymin + .75, zmin], [xmin + .8, ymin, zmin]]
points_2d = []
for i in range(0, len(points_3d)):
point = points_3d[i]
points_2d.append(self._convert_3d_2d(point))
return points_2d
def _get_rectangle(self, img, bounding_rect):
xmin, ymin, xmax, ymax = bounding_rect
roi = img[ymin:ymax, xmin:xmax]
r = RectangleFinder()
return r.get_rectangle(roi, self.debug)
def _get_bounding_rect(self, points_2d):
xmin = 1000
xmax = 0
ymin = 1000
ymax = 0
for i, point in enumerate(points_2d):
if (point[0] < xmin):
xmin = point[0]
if (point[0] > xmax):
xmax = point[0]
if (point[1] > ymax):
ymax = point[1]
if (point[1] < ymin):
ymin = point[1]
return xmin, ymin, xmax, ymax
def _get_closest_image(self, time):
min_img = None
min_diff = genpy.Duration(sys.maxint)
for img in self.image_cache:
diff = abs(time - img.header.stamp)
if diff < min_diff:
min_diff = diff
min_img = img
return min_img
@txros.util.cancellableInlineCallbacks
def search(self, scan_the_code):
"""Search for the colors in the scan the code object."""
if len(self.image_cache) == 0:
defer.returnValue((False, None))
image_ros = self._get_closest_image(scan_the_code.header.stamp)
try:
image = self.bridge.imgmsg_to_cv2(image_ros, "bgr8")
except CvBridgeError:
print "Trouble converting image"
defer.returnValue((False, None))
image_clone = image.copy()
points_3d = yield self._get_3d_points_stereo(scan_the_code.points,
image_ros.header.stamp)
for i in points_3d:
p = self._convert_3d_2d(i)
po = (int(p[0]), int(p[1]))
cv2.circle(image_clone, po, 2, (0, 255, 0), -1)
points_2d = self._get_2d_points_stc(points_3d)
self.debug.add_image(image_clone, "bounding_box", topic="bounding_box")
xmin, ymin, xmax, ymax = self._get_bounding_rect(points_2d)
xmin, ymin, xmax, ymax = int(xmin), int(ymin), int(xmax), int(ymax)
cv2.rectangle(image_clone, (xmin, ymin), (xmax, ymax), (255, 0, 0), 2)
h, w, r = image.shape
print ymin, ymax, xmin, xmax
if ymin == ymax or xmin == xmax or ymin < 0 or ymax > h or xmin < 0 or xmax > w:
defer.returnValue((False, None))
cv2.rectangle(image_clone, (xmin, ymin), (xmax, ymax), (255, 0, 0), 2)
self.debug.add_image(image_clone, "bounding_box", topic="bounding_box")
succ, rect = self._get_rectangle(image, (xmin, ymin, xmax, ymax))
if not succ:
defer.returnValue((False, None))
pnts = []
for p in rect:
p1 = p[0] + xmin
p2 = p[1] + ymin
pnts.append((int(p1), int(p2)))
self.mission_complete = self.model_tracker.update_model(
image, pnts, self.debug)
if (self.mission_complete):
print "MISSION COMPLETE"
defer.returnValue((True, self.model_tracker.colors))
else:
defer.returnValue((False, None))
yield True
@txros.util.cancellableInlineCallbacks
def correct_pose(self, scan_the_code):
"""Check to see if we are looking at the corner of scan the code."""
self.count += 1
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
if self.count == 100:
xs = np.arange(0, len(self.depths))
ys = self.depths
# plt.plot(xs, ys)
# plt.show()
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
points_3d = yield self._get_3d_points_stereo(scan_the_code.points,
self.nh.get_time())
xmin, ymin, zmin = self._get_top_left_point(points_3d)
points_oi = self._get_points_in_range('y', ymin - .1, ymin + .2,
points_3d)
if len(points_oi) == 0:
defer.returnValue(False)
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
image_ros = self._get_closest_image(scan_the_code.header.stamp)
while image_ros is None:
image_ros = self._get_closest_image(scan_the_code.header.stamp)
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
image_ros = self.bridge.imgmsg_to_cv2(image_ros, "bgr8").copy()
depth = self._get_depth('z', points_oi)
print "DEPTH: ", depth
self.depths.append(depth)
if depth > .3:
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
cv2.putText(image_ros, str(depth), (10, 30), 1, 2, (0, 0, 255))
self.debug.add_image(image_ros, "in_range", topic="in_range")
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
defer.returnValue(False)
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
cv2.putText(image_ros, str(depth), (10, 30), 1, 2, (0, 255, 0))
self.debug.add_image(image_ros, "in_range1", topic="in_range")
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
defer.returnValue(True)
class ScanTheCodePerception(object):
"""Class that handles ScanTheCodePerception."""
def __init__(self, my_tf, debug, nh):
"""Initialize ScanTheCodePerception class."""
self.image_cache = deque()
self.bridge = CvBridge()
self.nh = nh
self.last_cam_info = None
self.debug = debug
self.pers_points = []
self.model_tracker = ScanTheCodeModelTracker()
self.pinhole_cam = PinholeCameraModel()
self.my_tf = my_tf
# %%%%%%%%%%%%debug%%%%%%%%%%%%%%%%
self.count = 0
self.depths = []
def add_image(self, image):
"""Add an image to the image cache."""
if len(self.image_cache) > 20:
self.image_cache.popleft()
self.image_cache.append(image)
def update_info(self, info):
"""Update the camera calibration info."""
self.last_cam_info = info
def _convert_3d_2d(self, point):
K = self.last_cam_info.K
K = np.array(K).reshape(3, 3)
pl = point
pl = K.dot(pl)
if pl[2] == 0:
return (0, 0)
pl[0] /= pl[2]
pl[1] /= pl[2]
if pl[0] < 0:
pl[0] = 0
if pl[1] < 0:
pl[1] = 0
return(int(pl[0]), int(pl[1]))
@txros.util.cancellableInlineCallbacks
def _get_3d_points_stereo(self, points_3d_enu, time):
self.pers_points.extend(points_3d_enu)
max_num = 1000
if len(self.pers_points) > max_num:
self.pers_points = self.pers_points[len(self.pers_points) - max_num:len(self.pers_points)]
points_3d = []
try:
trans = yield self.my_tf.get_transform("/stereo_right_cam", "/enu", time)
except Exception as exp:
print exp
defer.returnValue(points_3d)
transformation = trans.as_matrix()
for point in self.pers_points:
p = [point.x, point.y, point.z, 1]
t_p = transformation.dot(p)
if t_p[3] < 1E-15:
raise ZeroDivisionError
t_p[0] /= t_p[3]
t_p[1] /= t_p[3]
t_p[2] /= t_p[3]
points_3d.append(t_p[0:3])
defer.returnValue(points_3d)
def _get_top_left_point(self, points_3d):
xmin = sys.maxint
zmin = -sys.maxint
ymin = sys.maxint
for i, point in enumerate(points_3d):
if point[1] < ymin:
xmin = point[0]
zmin = point[2]
ymin = point[1]
buff = .07
for i, point in enumerate(points_3d):
if(point[1] < ymin + buff and point[1] > ymin - buff and point[0] < xmin):
xmin = point[0]
zmin = point[2]
ymin = point[1]
return xmin, ymin, zmin
def _get_points_in_range(self, axis, lower, upper, points):
in_range = []
idx = 0
if axis == 'y':
idx = 1
if axis == 'z':
idx = 2
for p in points:
if p[idx] > lower and p[idx] < upper:
in_range.append(p)
return in_range
def _get_depth(self, axis, points_3d):
idx = 0
if axis == 'y':
idx = 1
if axis == 'z':
idx = 2
min_val, max_val = sys.maxint, -sys.maxint
points_3d = np.array(points_3d)
my_points = points_3d[:, idx]
mean = np.mean(my_points)
std = 1.5 * np.std(my_points)
for p in my_points:
if abs(p - mean) > std:
# print p, mean
continue
if p < min_val:
min_val = p
if p > max_val:
max_val = p
return max_val - min_val
def _get_2d_points_stc(self, points_3d):
xmin, ymin, zmin = self._get_top_left_point(points_3d)
ymin -= .15
xmin -= .05
points_3d = [[xmin, ymin, zmin], [xmin + .8, ymin + .75, zmin], [xmin, ymin + .75, zmin], [xmin + .8, ymin, zmin]]
points_2d = []
for i in range(0, len(points_3d)):
point = points_3d[i]
points_2d.append(self._convert_3d_2d(point))
return points_2d
def _get_rectangle(self, img, bounding_rect):
xmin, ymin, xmax, ymax = bounding_rect
roi = img[ymin:ymax, xmin:xmax]
r = RectangleFinder()
return r.get_rectangle(roi, self.debug)
def _get_bounding_rect(self, points_2d):
xmin = 1000
xmax = 0
ymin = 1000
ymax = 0
for i, point in enumerate(points_2d):
if(point[0] < xmin):
xmin = point[0]
if(point[0] > xmax):
xmax = point[0]
if(point[1] > ymax):
ymax = point[1]
if(point[1] < ymin):
ymin = point[1]
return xmin, ymin, xmax, ymax
def _get_closest_image(self, time):
min_img = None
min_diff = genpy.Duration(sys.maxint)
for img in self.image_cache:
diff = abs(time - img.header.stamp)
if diff < min_diff:
min_diff = diff
min_img = img
return min_img
@txros.util.cancellableInlineCallbacks
def search(self, scan_the_code):
"""Search for the colors in the scan the code object."""
if len(self.image_cache) == 0:
defer.returnValue((False, None))
image_ros = self._get_closest_image(scan_the_code.header.stamp)
try:
image = self.bridge.imgmsg_to_cv2(image_ros, "bgr8")
except CvBridgeError:
print "Trouble converting image"
defer.returnValue((False, None))
image_clone = image.copy()
points_3d = yield self._get_3d_points_stereo(scan_the_code.points, image_ros.header.stamp)
for i in points_3d:
p = self._convert_3d_2d(i)
po = (int(p[0]), int(p[1]))
cv2.circle(image_clone, po, 2, (0, 255, 0), -1)
points_2d = self._get_2d_points_stc(points_3d)
self.debug.add_image(image_clone, "bounding_box", topic="bounding_box")
xmin, ymin, xmax, ymax = self._get_bounding_rect(points_2d)
xmin, ymin, xmax, ymax = int(xmin), int(ymin), int(xmax), int(ymax)
cv2.rectangle(image_clone, (xmin, ymin), (xmax, ymax), (255, 0, 0), 2)
h, w, r = image.shape
if ymin == ymax or xmin == xmax or ymin < 0 or ymax > h or xmin < 0 or xmax > w:
defer.returnValue((False, None))
cv2.rectangle(image_clone, (xmin, ymin), (xmax, ymax), (255, 0, 0), 2)
self.debug.add_image(image_clone, "bounding_box", topic="bounding_box")
succ, rect = self._get_rectangle(image, (xmin, ymin, xmax, ymax))
if not succ:
defer.returnValue((False, None))
pnts = []
for p in rect:
p1 = p[0] + xmin
p2 = p[1] + ymin
pnts.append((int(p1), int(p2)))
self.mission_complete = self.model_tracker.update_model(image, pnts, self.debug)
if(self.mission_complete):
print "MISSION COMPLETE"
defer.returnValue((True, self.model_tracker.colors))
else:
defer.returnValue((False, None))
yield True
@txros.util.cancellableInlineCallbacks
def correct_pose(self, scan_the_code):
"""Check to see if we are looking at the corner of scan the code."""
self.count += 1
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
# if self.count == 100:
# xs = np.arange(0, len(self.depths))
# ys = self.depths
# plt.plot(xs, ys)
# plt.show()
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
points_3d = yield self._get_3d_points_stereo(scan_the_code.points, self.nh.get_time())
xmin, ymin, zmin = self._get_top_left_point(points_3d)
points_oi = self._get_points_in_range('y', ymin - .1, ymin + .2, points_3d)
if len(points_oi) == 0:
defer.returnValue(False)
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
image_ros = self._get_closest_image(scan_the_code.header.stamp)
count = 0
while image_ros is None:
yield self.nh.sleep(.5)
image_ros = self._get_closest_image(scan_the_code.header.stamp)
yield self.nh.sleep(.3)
count += 1
if count == 20:
defer.returnValue(False)
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
image_ros = self.bridge.imgmsg_to_cv2(image_ros, "bgr8").copy()
depth = self._get_depth('z', points_oi)
fprint("DEPTH: {}".format(depth), msg_color="green")
self.depths.append(depth)
if depth > .15:
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
cv2.putText(image_ros, str(depth), (10, 30), 1, 2, (0, 0, 255))
self.debug.add_image(image_ros, "in_range", topic="in_range")
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
defer.returnValue(False)
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
cv2.putText(image_ros, str(depth), (10, 30), 1, 2, (0, 255, 0))
self.debug.add_image(image_ros, "in_range1", topic="in_range")
# %%%%%%%%%%%%%%%%%%%%%%%%DEBUG
defer.returnValue(True)
