def __init__( self ):
scriptPath = os.path.dirname( __file__ )
self.cameraImagePixBuf = None
self.servoConfigDict = getArmServoConfig()
self.lastImageGray = None
self.opticalFlowX = None
self.opticalFlowY = None
self.wavingGripper = False
self.tryingToDetectGripper = False
self.gripperWaveStartTime = None
self.lastImage = None
self.curTestPosIdx = 0
self.locatingPositions = False
self.wristAngle = 0.0
# Connect to the robot via ROS
#rospy.init_node( 'GripperDetector', anonymous=True )
# TODO: Move arm to all dictionary
servoConfigList = [ self.servoConfigDict[ servoName ] for servoName in self.servoConfigDict ]
self.roboticArm = RoboticArm( gaffa_teleop.LynxmotionArmDescription.ARM_DH_PROXIMAL, servoConfigList )
self.cameraImageTopic = rospy.Subscriber( "/camera/image",
sensor_msgs.msg.Image, self.cameraImageCallback )
self.opticalFlowFilter = OpticalFlowFilter(
self.OPTICAL_FLOW_BLOCK_WIDTH, self.OPTICAL_FLOW_BLOCK_HEIGHT,
self.OPTICAL_FLOW_RANGE_WIDTH, self.OPTICAL_FLOW_RANGE_HEIGHT )
self.dataBuffersSetup = False
self.opticalFlowSampleIdx = None
self.inputSignalDetectedArray = None
self.gripperHistogram = None
self.gripperTrackWindow = None
self.imageIdx = 0
# Setup the GUI
builder = gtk.Builder()
builder.add_from_file( scriptPath + "/GUI/GripperDetector.glade" )
self.window = builder.get_object( "winMain" )
self.dwgCameraImage = builder.get_object( "dwgCameraImage" )
self.btnDetectGripper = builder.get_object( "btnDetectGripper" )
self.checkShowOpticalFlow = builder.get_object( "checkShowOpticalFlow" )
self.checkShowDetectedMotionBlocks = builder.get_object( "checkShowDetectedMotionBlocks" )
self.checkShowCAMShiftTracking = builder.get_object( "checkShowCAMShiftTracking" )
self.checkShowGripperProbability = builder.get_object( "checkShowGripperProbability" )
self.adjNumWaves = builder.get_object( "adjNumWaves" )
# Set default values
self.adjNumWaves.set_value( 3 )
builder.connect_signals( self )
updateLoop = self.update()
gobject.idle_add( updateLoop.next )
self.window.show()
def __init__(self):
scriptPath = os.path.dirname(__file__)
self.cameraImagePixBuf = None
self.servoConfigDict = getArmServoConfig()
self.wristAngle = 0.0
# Connect to the robot via ROS
# TODO: Move arm to all dictionary
servoConfigList = [
self.servoConfigDict[servoName]
for servoName in self.servoConfigDict
]
self.roboticArm = RoboticArm(
gaffa_teleop.LynxmotionArmDescription.ARM_DH_PROXIMAL,
servoConfigList)
self.cameraImageTopic = rospy.Subscriber("/camera/image",
sensor_msgs.msg.Image,
self.cameraImageCallback)
self.jointScreenHomography = JointScreenHomography(
self.CORNER_JOINT_ARRAYS, self.CORNER_SCREEN_POSITIONS,
self.roboticArm)
# Setup the GUI
builder = gtk.Builder()
builder.add_from_file(scriptPath + "/GUI/VideoTeleop.glade")
self.window = builder.get_object("winMain")
self.dwgCameraImage = builder.get_object("dwgCameraImage")
builder.connect_signals(self)
updateLoop = self.update()
gobject.idle_add(updateLoop.next)
self.window.show()
