class EyeInHand:
def __init__(self, limb_name):
self.limb_name = limb_name
self.arm = Arm(limb_name)
self.available_tread = True
if limb_name == 'left':
self.other_limb_name = 'right'
else:
self.other_limb_name = 'left'
self.otherArm = Arm(self.other_limb_name)
#self.otherArm.tuck_arm()
self.cards = np.array([])
self.bridge = CvBridge()
self.cards = Cards()
#rospy.init_node(limb_name, anonymous=True)
self.display_pub = rospy.Publisher('/robot/xdisplay', Image)
head_camera = baxter_interface.CameraController('head_camera')
head_camera.close()
self.other_camera = baxter_interface.CameraController(
self.other_limb_name + '_hand_camera')
self.other_camera.close()
self.camera = baxter_interface.CameraController(self.limb_name +
'_hand_camera')
self.camera.open()
self.arm.calibrate()
resp = 'n'
while resp is not 'y':
resp = str(
raw_input(
'Please place the gripper arm at the center of the card holder, press "y" to continue: '
))
self.arm.go_home()
if self.available_tread:
cam_thread = threading.Thread(target=self.get_camera)
choices_thread = threading.Thread(target=self.pick_choices)
cam_thread.start()
choices_thread.start()
rospy.spin()
cv2.destroyAllWindows()
def get_camera(self):
self.available_tread = False
sub = rospy.Subscriber(
'/cameras/' + self.limb_name + '_hand_camera/image', Image,
self.callback, None, 1)
def callback(self, msg):
self.cards.img = self.bridge.imgmsg_to_cv2(msg)
cv2.imshow('main', self.cards.img)
cv2.waitKey(1)
self.corners, self.contours, self.hierarchy = self.cards.get_features(
(5, 5))
for iterations, corner in enumerate(self.corners):
card_img = self.cards.extract_card(corner)
self.cards.append(card_img)
cv2.imshow(str(iterations), card_img)
def pick_choices(self):
while not rospy.is_shutdown():
card_response = 100
while (card_response < 0
or card_response > 3) and not rospy.is_shutdown():
card_response = int(
input(
'please pick a card index, where the left most corner is 0 and the right most corner is 3: '
))
self.arm.choose_card(card_response)
if card_response < 0 or card_response > 3:
print(
'index out of range! please choose a number between 0 and 3!'
)
