def get_tfm_of_camera(ind1,ind2):
rgbd1_dir = '/home/sibi/sandbox/human_demos/hd_data/demos/sibi_demo/camera_#1'
rgbd2_dir = '/home/sibi/sandbox/human_demos/hd_data/demos/sibi_demo/camera_#2'
rgbs1fnames, depths1fnames, stamps1 = eu.get_rgbd_names_times(rgbd1_dir)
rgbs2fnames, depths2fnames, stamps2 = eu.get_rgbd_names_times(rgbd2_dir)
winname = 'abcd'
ar1, ar2 = None, None
rgb1 = cv2.imread(rgbs1fnames[ind1])
assert rgb1 is not None
depth1 = cv2.imread(depths1fnames[ind1],2)
assert depth1 is not None
cv2.imshow(winname,)
xyz1 = clouds.depth_to_xyz(depth1, asus_xtion_pro_f)
pc1 = ru.xyzrgb2pc(xyz1, rgb1, frame_id='', use_time_now=False)
ar_tfms1 = get_ar_marker_poses(pc1)
if ar_tfms1 and 1 in ar_tfms1:
blueprint("Got markers " + str(ar_tfms1.keys()) + " at time %f"%stamps1[ind1])
ar1 = ar_tfms1[1]
rgb2 = cv2.imread(rgbs2fnames[ind2])
assert rgb2 is not None
depth2 = cv2.imread(depths2fnames[ind2],2)
assert depth2 is not None
xyz2 = clouds.depth_to_xyz(depth2, asus_xtion_pro_f)
pc2 = ru.xyzrgb2pc(xyz2, rgb2, frame_id='', use_time_now=False)
ar_tfms2 = get_ar_marker_poses(pc2)
if ar_tfms2 and 1 in ar_tfms2:
blueprint("Got markers " + str(ar_tfms2.keys()) + " at time %f"%stamps1[ind2])
ar2 = ar_tfms2[1]
if ar1 is None or ar2 is None:
return None
return ar1.dot(nlg.inv(ar2))
def __init__(self, rgbd_dir, frame_id, freq, tstart=None, tend=None, delay=0, speed=1.0, verbose=False):
if rgbd_dir is None:
self.done = True
return
self.rgbd_dir = rgbd_dir
self.verbose = verbose
self.frame_id = frame_id
self.tstart = tstart
self.tend = tend
self.delay = delay
self.rgbs_fnames, self.depth_fnames, self.stamps = eu.get_rgbd_names_times(rgbd_dir)
self.index = 0
self.base_ts = self.get_stamp()
self.done = False
self.speed = speed
self.dt = self.speed/freq
self.t = -self.dt-self.delay if self.tstart==None else self.tstart-self.base_ts-self.dt-self.delay
self.ts = 0.0
self.num_seen = 1
def save_observations_rgbd(demo_type, demo_name, save_file=None):
"""
Extract data from all sensors and store into demo.data file.
"""
global setCalib
# Temp file to show that data is already being extracted
demo_dir = osp.join(demo_files_dir, demo_type, demo_name)
with open(osp.join(demo_dir, demo_names.extract_data_temp),'w') as fh: fh.write('Extracting...')
calib_file_path = osp.join(demo_dir, demo_names.calib_name)
bag_file = osp.join(demo_dir, demo_names.bag_name)
with open(osp.join(demo_dir, demo_names.camera_types_name)) as fh:
camera_types = yaml.load(fh)
with open(osp.join(demo_dir, demo_names.camera_models_name)) as fh:
camera_models = yaml.load(fh)
num_cameras = len(camera_types)
video_dirs = {}
for i in range(1, num_cameras + 1):
video_dirs[i] = osp.join(demo_dir, demo_names.video_dir%i)
c_frames = {}
for i in range(1, num_cameras + 1):
c_frames[i]= 'camera%i_link'%(i)
hydra_frame = 'hydra_base'
tfm_c1 = {i:None for i in range (1,num_cameras+1)}
tfm_c1[1] = np.eye(4)
tfm_c1_h = None
with open(calib_file_path,'r') as fh: calib_data = cPickle.load(fh)
bag = rosbag.Bag(bag_file)
for tfm in calib_data['transforms']:
if tfm['parent'] == c_frames[1] or tfm['parent'] == '/' + c_frames[1]:
if tfm['child'] == hydra_frame or tfm['child'] == '/' + hydra_frame:
tfm_c1_h = nlg.inv(tfm_link_rof).dot(tfm['tfm'])
else:
for i in range(2, num_cameras+1):
if tfm['child'] == c_frames[i] or tfm['child'] == '/' + c_frames[i]:
tfm_c1[i] = nlg.inv(tfm_link_rof).dot(tfm['tfm']).dot(tfm_link_rof)
if tfm_c1_h is None or not all([tfm_c1[s] != None for s in tfm_c1]):
redprint("Calibration does not have required transforms")
return
if not calib_data.get('grippers'):
redprint("Gripper not found.")
return
grippers = {}
data = {}
data['T_cam2hbase'] = tfm_c1_h
for lr,gdata in calib_data['grippers'].items():
gr = gripper_lite.GripperLite(lr, gdata['ar'], trans_marker_tooltip=gripper_trans_marker_tooltip[lr])
gr.reset_gripper(lr, gdata['tfms'], gdata['ar'], gdata['hydra'])
grippers[lr] = gr
data[lr] ={'hydra':[],
'pot_angles':[],
'T_tt2hy': gr.get_rel_transform('tool_tip', gr.hydra_marker)}
## place-holder for AR marker transforms:
for i in xrange(num_cameras):
data[lr]['camera%d'%(i+1)] = []
winname = 'cam_image'
cam_counts = []
for i in range(1,num_cameras+1):
if verbose:
yellowprint('Camera%i'%i)
if camera_types[i] == "rgbd":
rgb_fnames, depth_fnames, stamps = eu.get_rgbd_names_times(video_dirs[i])
else:
rgb_fnames, stamps = eu.get_rgbd_names_times(video_dirs[i], depth = False)
cam_count = len(stamps)
cam_counts.append(cam_count)
if camera_types[i] == "rgbd":
for ind in rgb_fnames:
rgb = cv2.imread(rgb_fnames[ind])
if displayImages:
cv2.imshow(winname, rgb)
cv2.waitKey(1)
assert rgb is not None
depth = cv2.imread(depth_fnames[ind],2)
assert depth is not None
xyz = clouds.depth_to_xyz(depth, asus_xtion_pro_f)
pc = ru.xyzrgb2pc(xyz, rgb, frame_id='', use_time_now=False)
ar_tfms = get_ar_marker_poses(pc,track=True)
if ar_tfms:
if verbose:
blueprint("Got markers " + str(ar_tfms.keys()) + " at time %f"%stamps[ind])
for lr,gr in grippers.items():
ar = gr.get_ar_marker()
if ar in ar_tfms:
tt_tfm = gr.get_tooltip_transform(ar, np.asarray(ar_tfms[ar]))
data[lr]['camera%i'%i].append((tfm_c1[i].dot(tt_tfm),stamps[ind]))
else:
# if setCalib is None:
# setCalib = rospy.ServiceProxy("setCalibInfo", SetCalibInfo)
# reqCalib.camera_model = camera_models[i]
# setCalib(reqCalib)
#
# if verbose:
# yellowprint("Changed camera calibration parameters to model %s"%camera_models[i])
for ind in rgb_fnames:
rgb = cv.LoadImage(rgb_fnames[ind])
if displayImages:
cv.ShowImage(winname, rgb)
cv.WaitKey(1)
assert rgb is not None
ar_tfms = get_ar_marker_poses(rgb,use_pc_service=False, model = camera_models[i], track=True)
if ar_tfms:
if verbose:
blueprint("Got markers " + str(ar_tfms.keys()) + " at time %f"%stamps[ind])
for lr,gr in grippers.items():
ar = gr.get_ar_marker()
if ar in ar_tfms:
tt_tfm = gr.get_tooltip_transform(ar, np.asarray(ar_tfms[ar]))
data[lr]['camera%i'%i].append((tfm_c1[i].dot(tt_tfm),stamps[ind]))
found_hydra_data = False
found_pot_data = False
# If hydra_only.data file already exists, don't do extra work.
hydra_data_file = osp.join(demo_dir, demo_names.hydra_data_name)
if osp.isfile(hydra_data_file):
yellowprint ("%s already exists for %s. Getting hydra data from this info."%(demo_names.hydra_data_name,demo_name))
with open(hydra_data_file,'r') as fh: hdata = cPickle.load(fh)
for lr in hdata:
if lr in 'lr':
if hdata[lr].get('hydra'):
data[lr]['hydra'] = hdata[lr]['hydra']
found_hydra_data = True
if hdata[lr].get('pot_angles'):
data[lr]['pot_angles'] = hdata[lr]['pot_angles']
found_pot_data = True
if not found_hydra_data:
if verbose:
yellowprint('Hydra')
lr_long = {'l':'left','r':'right'}
for (_, msg, _) in bag.read_messages(topics=['/tf']):
hyd_tfm = {}
found = ''
for tfm in msg.transforms:
if found in ['lr','rl']:
break
for lr in grippers:
if lr in found:
continue
elif tfm.header.frame_id == '/' + hydra_frame and tfm.child_frame_id == '/hydra_'+lr_long[lr]:
t,r = tfm.transform.translation, tfm.transform.rotation
trans = (t.x,t.y,t.z)
rot = (r.x, r.y, r.z, r.w)
hyd_tfm = tfm_c1_h.dot(conversions.trans_rot_to_hmat(trans, rot))
stamp = tfm.header.stamp.to_sec()
tt_tfm = grippers[lr].get_tooltip_transform(lr_long[lr], hyd_tfm)
data[lr]['hydra'].append((tt_tfm, stamp))
found += lr
if found and verbose:
blueprint("Got hydra readings %s at time %f"%(found,stamp))
if not found_pot_data:
if verbose:
yellowprint('Potentiometer readings')
for lr in grippers:
for (_, msg, ts) in bag.read_messages(topics=['/%s_pot_angle'%lr]):
angle = msg.data
stamp = ts.to_sec()
data[lr]['pot_angles'].append((angle, stamp))
if verbose:
blueprint("Got a %s potentiometer angle of %f at time %f"%(lr,angle, stamp))
if verbose:
for lr in 'lr':
yellowprint("Gripper %s:"%lr)
for i in range(num_cameras):
yellowprint("Found %i transforms out of %i rgb/rgbd images from camera%i"%(len(data[lr]['camera%i'%(i+1)]), cam_counts[i], i+1))
yellowprint("Found %i transforms from hydra"%len(data[lr]['hydra']))
yellowprint("Found %i potentiometer readings"%len(data[lr]['pot_angles']))
if save_file is None:
save_file = demo_names.data_name
save_filename = osp.join(demo_dir, save_file)
with open(save_filename, 'w') as sfh: cPickle.dump(data, sfh)
yellowprint("Saved %s."%demo_names.data_name)
os.remove(osp.join(demo_dir, demo_names.extract_data_temp))
def save_init_ar(demo_type, demo_name, ar_marker, save_in_data_dir=True):
"""
Extracts the initializing ar marker transform and stores it.
"""
# Temp file to show that data is already being extracted
global setCalib
demo_dir = osp.join(demo_files_dir, demo_type, demo_name)
calib_file_path = osp.join(demo_dir, demo_names.calib_name)
with open(osp.join(demo_dir, demo_names.camera_types_name)) as fh:
camera_types = yaml.load(fh)
with open(osp.join(demo_dir, demo_names.camera_models_name)) as fh:
camera_models = yaml.load(fh)
cameras = range(1,len(camera_types)+1)
c_frames = {}
for i in cameras:
c_frames[i]= 'camera%i_link'%(i)
video_dirs = {}
for i in cameras:
video_dirs[i] = osp.join(demo_dir, demo_names.video_dir%i)
tfm_c1 = {i:None for i in cameras}
tfm_c1[1] = np.eye(4)
with open(calib_file_path,'r') as fh: calib_data = cPickle.load(fh)
for tfm in calib_data['transforms']:
if tfm['parent'] == c_frames[1] or tfm['parent'] == '/' + c_frames[1]:
for i in cameras:
if tfm['child'] == c_frames[i] or tfm['child'] == '/' + c_frames[i]:
tfm_c1[i] = nlg.inv(tfm_link_rof).dot(tfm['tfm']).dot(tfm_link_rof)
if not all([tfm_c1[s] != None for s in tfm_c1]):
redprint("Calibration does not have required transforms")
return
# We want the ar marker transform from all the relevant cameras
data = {'tfms':{i:None for i in cameras}, 'marker':ar_marker}
for i in cameras:
if verbose:
yellowprint('Camera%i'%i)
if camera_types[i] == "rgbd":
rgb_fnames, depth_fnames, stamps = eu.get_rgbd_names_times(video_dirs[i])
else:
rgb_fnames, stamps = eu.get_rgbd_names_times(video_dirs[i], depth = False)
all_tfms = []
cam_count = 0
if camera_types[i] == "rgbd":
for ind in rgb_fnames:
rgb = cv2.imread(rgb_fnames[ind])
if displayImages:
cv2.imshow(winname, rgb)
cv2.waitKey(1)
assert rgb is not None
depth = cv2.imread(depth_fnames[ind],2)
assert depth is not None
xyz = clouds.depth_to_xyz(depth, asus_xtion_pro_f)
pc = ru.xyzrgb2pc(xyz, rgb, frame_id='', use_time_now=False)
ar_tfms = get_ar_marker_poses(pc,track=True)
if ar_tfms and ar_marker in ar_tfms:
all_tfms.append(tfm_c1[i].dot(ar_tfms[ar_marker]))
cam_count += 1
else:
if setCalib is None:
setCalib = rospy.ServiceProxy("setCalibInfo", SetCalibInfo)
reqCalib.camera_model = camera_models[i]
setCalib(reqCalib)
if verbose:
yellowprint("Changed camera calibration parameters to model %s"%camera_models[i])
for ind in rgb_fnames:
rgb = cv.LoadImage(rgb_fnames[ind])
if displayImages:
cv.ShowImage(winname, rgb)
cv.WaitKey(1)
assert rgb is not None
ar_tfms = get_ar_marker_poses(rgb,use_pc_service=False,track=True)
if ar_tfms and ar_marker in ar_tfms:
all_tfms.append(tfm_c1[i].dot(ar_tfms[ar_marker]))
cam_count += 1
if verbose:
blueprint ("Got %i values for AR Marker %i from camera %i."%(cam_count, ar_marker, i))
if cam_count > 0:
data['tfms'][i] = utils.avg_transform(all_tfms)
save_filename1 = osp.join(demo_dir, save_file)
with open(save_filename1, 'w') as sfh: cPickle.dump(data, sfh)
if save_in_data_dir:
save_filename2 = osp.join(ar_init_dir, ar_init_demo_name)
with open(save_filename2, 'w') as sfh: cPickle.dump(data, sfh)
yellowprint("Saved %s."%save_file)
