def nextPathIndex(self):
self.pathIndex += 1
if (self.pathIndex >= len(self.path)):
## End of the path
position = Point(self.pose[0], self.pose[1], 0)
q = tf.transformations.quaternion_from_euler(0, 0, self.pose[2])
orientation = Quaternion(q[0], q[1], q[2], q[3])
finalPose = Pose(position, orientation)
self.server.set_succeeded(FollowPathResult(finalPose))
cmd = Twist(Vector3(0, 0, 0), Vector3(0, 0, 0)) ## Stop
self.wheel_cmd_publisher.publish(cmd)
self.done = True
rospy.loginfo('Success')
return
targetPose = self.path[self.pathIndex]
prevPose = self.path[self.pathIndex - 1]
p1 = np.array([prevPose.position.x, prevPose.position.y])
p2 = np.array([targetPose.position.x, targetPose.position.y])
self.pathLine = Line(p1, p2)
self.endLine = Line(p2, p2 + self.pathLine.normal())
if (self.pathLine.length() < EPSILON):
self.nextPathIndex()
return
headingErr = self.getHeadingError()
if (abs(headingErr) > math.pi / 2):
self.direction = -1
else:
self.direction = 1
def init_line(self):
"""更新line"""
self.line = Line(self.width, self.height,
self.input_path) # 用于使用utils中的算法
self.line.get_canvas(self.work_input_cv)
self.tool_dist_etr.delete(0, tk.END)
self.tool_dist_etr.insert(0, str(self.line.focal_length))
self.tool_dist_lb3.config(text='1')
def smoothen_over_time(lane_lines):
"""
Smooth the lane line inference over a window of frames and returns the average lines.
"""
avg_left_lane = np.zeros((len(lane_lines), 4))
avg_right_lane = np.zeros((len(lane_lines), 4))
for t in range(0, len(lane_lines)):
avg_left_lane[t] += lane_lines[t][0].get_coords()
avg_right_lane[t] += lane_lines[t][1].get_coords()
return Line(*np.mean(avg_left_lane, axis=0)), Line(
*np.mean(avg_right_lane, axis=0))
def get_lane_lines(image, solid_lines=True):
gray = grayscale(image)
blur_img = gaussian_blur(gray, 5)
y, x = image.shape[:2]
edges = canny(gray, 255 * 1 / 3.0, 255)
roi = region_of_interest(edges)
detected_lines = hough_lines(img=roi,
rho=2,
theta=np.pi / 180,
threshold=1,
min_line_len=15,
max_line_gap=5)
detected_lines = [
Line(l[0][0], l[0][1], l[0][2], l[0][3]) for l in detected_lines
]
if solid_lines:
candidate_lines = []
for line in detected_lines:
# consider only lines having slope btwn 30 and 60
if 0.5 <= np.abs(line.slope) <= 1.2:
candidate_lines.append(line)
lane_lines = compute_lane_from_candidates(candidate_lines, gray.shape)
else:
lane_lines = detected_lines
return lane_lines
def findBookBoundaries(image):
"""
Finds all lines that could be book boundaries using Canny Edge Detection and Hough Line Transform
"""
img_grey = cv.cvtColor(image, cv.COLOR_BGR2GRAY)
img_downsampled = None
img_downsampled = cv.pyrDown(
img_grey, img_downsampled) # Downsample - scale factor 2
img_canny_edge = cv.Canny(img_downsampled, 50, 50)
hough_lines = cv.HoughLines(image=img_canny_edge,
rho=1,
theta=np.pi / 180,
threshold=100)
if hough_lines is None:
return []
boundary_lines = []
for hough_line in hough_lines:
rho = hough_line[0][0]
theta = hough_line[0][1]
# Keep only lines that are vertical or almost vertical
if abs(theta) < np.pi / 20 or abs(theta) > 19 * np.pi / 20:
boundary_lines.append(
Line(theta, 2 * rho)
) # Rho is multiplied by 2 as the image used for detecting the lines is downsampled
return boundary_lines
def findTarget(self):
v_heading = np.array(
[math.cos(self.robot_theta),
math.sin(self.robot_theta)])
v = np.array(
[math.cos(self.pallet_theta),
math.sin(self.pallet_theta)])
if (np.dot(v, v_heading) > 0):
self.target_position = self.pallet_position - (v * ALIGN_DISTANCE)
self.target_theta = self.pallet_theta
self.target_line = Line(self.target_position,
self.target_position - v)
else:
self.target_position = self.pallet_position + (v * ALIGN_DISTANCE)
self.target_theta = (self.pallet_theta + math.pi)
self.target_line = Line(self.target_position,
self.target_position + v)
def get_all_next_slps(self, slp):
all_next_slps = set()
for i in range(len(slp)):
for j in range(len(slp)):
next_slps = [
slp.deepcopy() for _ in range(2 if self.monotone else 3)
]
next_slps[0].add(Line(i, j, '*'))
next_slps[1].add(Line(i, j, '+'))
if not self.monotone:
next_slps[2].add(Line(i, j, '-'))
# filter out negative slps and slps with multiple lines of the same value
next_slps = {
slp
for slp in next_slps
if slp.value > 0 and slp.value not in slp.values[:-1]
}
all_next_slps.update(next_slps)
return all_next_slps
def is_aligned_to(self, target):
dir_line = Line.from_points(self.back, self.front)
is_front_closer = self.back.dist_to(target) > self.front.dist_to(
target)
print 'is front closer: {}'.format(is_front_closer)
print '\n\nDIRLINE CONTAINS TARGET: {}\n\n'.format(
dir_line.contains(target))
return dir_line.contains(target) and is_front_closer
def compute_lane_from_candidates(lines, img_shape):
"""
Left lane = positive gradients/slope
Right Lane = negative gradients/slope
Below we are separating the left and right lane
"""
pos_line = [l for l in lines if l.slope > 0]
neg_line = [l for l in lines if l.slope < 0]
neg_bias = np.median([l.bias for l in neg_line]).astype(int)
neg_slope = np.median([l.slope for l in neg_line])
x1, y1 = 0, neg_bias
x2, y2 = -np.int32(np.round(neg_bias / neg_slope)), 0
left_lane = Line(x1, y1, x2, y2)
right_bias = np.median([l.bias for l in pos_line]).astype(int)
right_slope = np.median([l.slope for l in pos_line])
x1, y1 = 0, right_bias
x2, y2 = np.int32(np.round(
(img_shape[0] - right_bias) / right_slope)), img_shape[0]
right_lane = Line(x1, y1, x2, y2)
return left_lane, right_lane
def findTarget(self):
pos = self.targetPose.position
self.pallet_position = np.array([pos.x, pos.y])
q = self.targetPose.orientation
euler = tf.transformations.euler_from_quaternion([q.x, q.y, q.z, q.w])
self.pallet_theta = euler[2]
v_heading = np.array(
[math.cos(self.robot_theta),
math.sin(self.robot_theta)])
v = np.array(
[math.cos(self.pallet_theta),
math.sin(self.pallet_theta)])
if (np.dot(v, v_heading) > 0):
self.target_position = self.pallet_position - (v * ALIGN_DISTANCE)
self.target_theta = self.pallet_theta
self.target_line = Line(self.target_position,
self.target_position - v)
else:
self.target_position = self.pallet_position + (v * ALIGN_DISTANCE)
self.target_theta = (self.pallet_theta + math.pi)
self.target_line = Line(self.target_position,
self.target_position + v)
def find_initial_guess(self, coordinates, robots_pose):
"""Find the initial guess using a montecarlo-based approach.
Argument:
coordinates (float[]): points coordinatesn
"""
# Get the box size
box_params = rospy.get_param('box')
box_length = box_params['length']
box_width = box_params['width']
max_length = max(box_length, box_width)
# Get info on the uncertainty area
rospy.wait_for_service('uncertainty_area_get_info')
info = rospy.ServiceProxy('uncertainty_area_get_info',
GetUncertaintyAreaInfo)
try:
response = info(0)
except rospy.ServiceException:
pass
unc_area = BoxGeometry(2 * max_length, max_length,\
[response.pose[0], response.pose[1]],\
response.pose[2])
# Robot that found the box
discoverer_id = response.discoverer_id
discoverer_pose = robots_pose[discoverer_id]
# Evaluate the segment between the two other robot
indexes = [0, 1, 2]
indexes.remove(discoverer_id)
poses = [robots_pose[i] for i in indexes]
segment_between = Segment([poses[0][0],poses[0][1]],\
[poses[1][0],poses[1][1]])
half_way = np.array(segment_between.point(0.5))
segment_length = segment_between.length()
# Find the length of the side on which the other robots are attached
robot_radius = float(rospy.get_param('robot_radius'))
effective_length = segment_length - 2 * robot_radius
side_length = box_width
if abs(effective_length - box_width) < abs(effective_length -
box_length):
side_length = box_length
# Find an uncertainty area for the center of the box
direction = np.array(
[np.cos(discoverer_pose[2]),
np.sin(discoverer_pose[2])])
line_half_way = Line(half_way.tolist(),
(half_way + direction).tolist())
side0 = Line(unc_area.vertex(0), unc_area.vertex(1))
intersection = line_half_way.intersect(side0)
center_guess = (np.array(intersection) +
(side_length / 2) * direction).tolist()
theta_guess = discoverer_pose[2]
if side_length == box_width:
theta_guess -= np.pi / 2
# Estimate the initial guess
min_value = float('inf')
random.seed()
theta = angle_normalization(theta_guess)
for i in range(10000):
x_c = random.gauss(center_guess[0], 0.01)
y_c = random.gauss(center_guess[1], 0.01)
estimated_state = [x_c, y_c, theta]
new_value = self.__loss_function(estimated_state, coordinates)
min_value = min(min_value, new_value)
if new_value == min_value:
self._state = estimated_state
print estimated_state
print center_guess
print theta_guess
from utils import Line
from moviepy.editor import VideoFileClip
if __name__ == '__main__':
line = Line()
raw_clip = VideoFileClip('project_video.mp4')
processed_clip = raw_clip.fl_image(line.process_pipeline)
processed_clip.write_videofile('processed_project_video.mp4', audio=False)
def test_line_length():
from utils import Line
points = [0, 0, 3, 4]
line = Line(points)
length = line.get_length()
assert length == 5.0
args=(monthly, f2_label.set)).start()
except Exception as e:
f2_label.set('')
return
f2_lock = threading.Lock()
f2_btn = tk.StringVar(value='转换')
tk.Button(window, textvariable=f2_btn, command=do_pivottable).pack()
f2_label = tk.StringVar()
tk.Label(window, textvariable=f2_label).pack()
ttk.Separator(window, orient='horizontal').pack(fill=tk.X)
# Author info
with Line(window) as l:
tk.Label(l, text='项目地址：').pack(side='left')
url = tk.Label(l, text='https://github.com/lshpku/rabbiter')
url.pack(side='left')
def open_url(event):
webbrowser.open('https://github.com/lshpku/rabbiter')
url.bind("<Button-1>", open_url)
window.mainloop()
## Where start_second and end_second are integer values representing the start and end of the subclip
## You may also uncomment the following line for a subclip of the first 5 seconds
##clip1 = VideoFileClip("test_videos/solidWhiteRight.mp4").subclip(0,5)
video_fn = 'project_video.mp4'
# video_fn = 'challenge_video.mp4'
# video_fn = 'harder_challenge_video.mp4'
video_output_path = os.path.join(video_output_dir, video_fn)
# clip1 = VideoFileClip(os.path.join('../', video_fn)).subclip(0,2)
clip1 = VideoFileClip(os.path.join('../', video_fn))
white_clip = clip1.fl_image(
process_image) # NOTE: this function expects color images!!
white_clip.write_videofile(video_output_path, audio=False)
if __name__ == '__main__':
lane_left, lane_right = Line(buffer_len=20), Line(buffer_len=20)
frame_idx = -1
nwindows = 9
margin = 100
minpix = 50
thresh_gradx = (20, 100)
thresh_grady = (20, 100)
thresh_mag = (30, 100)
thresh_dir = (0.7, 1.3)
thresh_s_channel = (170, 255)
# Define conversions in x and y from pixels space to meters
ym_per_pix = 30 / 720 # meters per pixel in y dimension
xm_per_pix = 3.7 / 700 # meters per pixel in x dimension
ret, mtx, dist, rvecs, tvecs = calibrate(is_save=False)
main()
def __init__(self, minimized=False):
self.minimized = minimized
if not self.minimized:
self.lines = [Line("DUMMY", "LINE", '+')]
self.values = [1]
self.value = 1
for argument in range(2):
if argument == 0:
lines = []
with open(join(label_path, label_file)) as f:
data = f.readlines()[0].split(' ')
nums = int(data[0])
stastic[nums] += 1
total_nums += nums
if int(nums) == 0:
print("Warning: image has no semantic line : %s" % (filename))
for i in range(nums):
y1, x1 = check(int(data[i*4+2]), int(data[i*4+1]), H, W)
y2, x2 = check(int(data[i*4+4]), int(data[i*4+3]), H, W)
line = Line([y1, x1, y2, x2])
angle = line.angle()
angle_stastic[int((angle / np.pi + 0.5) * 180)] += 1
total_lines += 1
line.rescale(scale_H, scale_W)
lines.append(line)
annotation = LineAnnotation(size=[args.fixsize, args.fixsize], lines=lines)
else:
im = cv2.flip(im, 1)
filename = filename + '_flip'
lines = []
with open(join(label_path, label_file)) as f:
data = f.readlines()[0].split(' ')
for i in range(int(data[0])):
y1, x1 = check(int(data[i*4+2]), W-1-int(data[i*4+1]), H, W)
class Tkwindow:
"""
窗口类，用于生成主窗口，拖动并显示图片，选择算法参数等功能
"""
def __init__(self, root):
self.root = root # 父窗口
self.width = 600 # 帆布组件的宽度
self.height = 450 # 帆布组件的高度
self.input_path = None # 原图片路径
self.depth = None # 深度值矩阵
self.result = False # 生成深度图状态，若已生成深度图，则为True，可以保存
self.line = None # 初始化用于utils计算的类
self.algorithm = {
'FCRN': 'NYU_FCRN.ckpt',
'MiDaS': 'model.pt',
'MegaDepth': 'best_generalization_net_G.pth',
'monodepth2': 'mono+stereo_1024x320'
} # 算法对应的权重
self.cmaps = [
('Perceptually Uniform Sequential',
['viridis', 'plasma', 'inferno', 'magma', 'cividis']),
('Sequential', [
'Greys', 'Purples', 'Blues', 'Greens', 'Oranges', 'Reds',
'YlOrBr', 'YlOrRd', 'OrRd', 'PuRd', 'RdPu', 'BuPu', 'GnBu',
'PuBu', 'YlGnBu', 'PuBuGn', 'BuGn', 'YlGn'
]),
('Sequential (2)', [
'binary', 'gist_yarg', 'gist_gray', 'gray', 'bone', 'pink',
'spring', 'summer', 'autumn', 'winter', 'cool', 'Wistia',
'hot', 'afmhot', 'gist_heat', 'copper'
]),
('Diverging', [
'PiYG', 'PRGn', 'BrBG', 'PuOr', 'RdGy', 'RdBu', 'RdYlBu',
'RdYlGn', 'Spectral', 'coolwarm', 'bwr', 'seismic'
]), ('Cyclic', ['twilight', 'twilight_shifted', 'hsv']),
('Qualitative', [
'Pastel1', 'Pastel2', 'Paired', 'Accent', 'Dark2', 'Set1',
'Set2', 'Set3', 'tab10', 'tab20', 'tab20b', 'tab20c'
]),
('Miscellaneous', [
'flag', 'prism', 'ocean', 'gist_earth', 'terrain',
'gist_stern', 'gnuplot', 'gnuplot2', 'CMRmap', 'cubehelix',
'brg', 'gist_rainbow', 'rainbow', 'jet', 'turbo',
'nipy_spectral', 'gist_ncar'
])
] # 深度图颜色选项
# 菜单栏 menu bar
self.menu = tk.Menu(root)
root.config(menu=self.menu)
# 工具栏 tool bar
self.tool = tk.Frame(root)
self.tool_depth = tk.LabelFrame(self.tool,
text='深度估计',
labelanchor='s') # 深度估计方法框架
self.tool_depth_cbb1 = ttk.Combobox(self.tool_depth, state='readonly')
self.tool_depth_cbb2 = ttk.Combobox(self.tool_depth, state='readonly')
self.tool_dist = tk.LabelFrame(self.tool, text='距离测量',
labelanchor='s') # 距离测量框架
self.tool_dist_etr = tk.Entry(self.tool_dist) # 输入焦距
self.tool_dist_lb3 = tk.Label(self.tool_dist, text='1') # 比例尺信息
self.tool_dist_alter = tk.LabelFrame(self.tool,
text='距离修改',
labelanchor='s') # 距离修正框架
self.tool_visual = tk.LabelFrame(self.tool,
text='可视化效果',
labelanchor='s') # 可视化效果框架
self.tool_visual_cbb = ttk.Combobox(self.tool_visual)
# 工作区域（主界面） working area
self.work = tk.Frame(root)
self.work_output_cv = tk.Canvas(self.work,
width=self.width,
height=self.height,
bg='white') # 深度图帆布
self.work_input_cv = tk.Canvas(self.work,
width=self.width,
height=self.height,
bg='white') # 原图帆布
# 状态栏 status bar
self.status = tk.Frame(root)
self.status_message_lb1_ord = tk.Label(self.status, text='') # A点坐标值
self.status_message_lb1_dep = tk.Label(self.status, text='') # A点深度值
self.status_message_lb2_ord = tk.Label(self.status, text='') # B点坐标值
self.status_message_lb2_dep = tk.Label(self.status, text='') # B点深度值
self.status_message_dis = tk.Label(self.status, text='') # 距离值
def init_menu(self):
"""
初始化菜单栏
"""
menu_file = tk.Menu(self.menu) # 文件菜单
menu_file.add_command(label='打开', command=self.open_input) # 打开图片
menu_file.add_command(label='保存', command=self.save_output) # 保存图片
self.menu.add_cascade(label='文件', menu=menu_file)
menu_help = tk.Menu(self.menu) # 帮助菜单
menu_help.add_command(label='说明')
self.menu.add_cascade(label='帮助', menu=menu_help)
def init_toolbar(self):
"""
初始化工具栏
"""
self.tool.pack(anchor='w')
# 深度估计框架
self.tool_depth.pack(side='left', fill='y')
tool_depth_lb1 = tk.Label(self.tool_depth, text='算法') # 算法
tool_depth_lb1.grid(row=1, column=1)
self.tool_depth_cbb1.grid(row=1, column=2)
self.tool_depth_cbb1.bind('<<ComboboxSelected>>',
self.select_weight) # 选择算法后自动绑定对应权重
self.tool_depth_cbb1['values'] = list(self.algorithm.keys())
tool_depth_lb2 = tk.Label(self.tool_depth, text='权重') # 权重
tool_depth_lb2.grid(row=2, column=1)
self.tool_depth_cbb2.grid(row=2, column=2)
tool_depth_bt = tk.Button(self.tool_depth,
text='生成',
command=self.show_output)
tool_depth_bt.grid(row=1, column=3, rowspan=2)
# 距离测量框架
self.tool_dist.pack(side='left', fill='y')
tool_dist_lb1 = tk.Label(self.tool_dist, text='焦距') # 焦距
tool_dist_lb1.grid(row=1, column=1)
self.tool_dist_etr.grid(row=1, column=2) # 输入焦距信息
self.tool_dist_etr.bind('<KeyRelease>', lambda event: self.line.
update_focal(self.tool_dist_etr)) # 检测是否为数字
tool_dist_lb10 = tk.Label(self.tool_dist, text='(mm)')
tool_dist_lb10.grid(row=1, column=3)
tool_dist_lb2 = tk.Label(self.tool_dist, text='比例尺') # 比例尺
tool_dist_lb2.grid(row=2, column=1)
self.tool_dist_lb3.grid(row=2, column=2) # 比例尺信息
# tool_dist_etr = tk.Entry(self.tool_dist, text='1')
# tool_dist_etr.grid(row=2, column=2)
# 距离修正框架
self.tool_dist_alter.pack(side='left', fill='y') # 修正距离
tool_dist_alter_lb1 = tk.Label(self.tool_dist_alter, text='修正为')
tool_dist_alter_lb1.grid(row=1, column=1)
tool_dist_alter_etr = tk.Entry(self.tool_dist_alter) # 输入修正后的距离
tool_dist_alter_etr.grid(row=1, column=2)
tool_dist_alter_etr.bind(
'<KeyRelease>',
lambda event: check_num(tool_dist_alter_etr)) # 检测是否为数字
tool_dist_alter_lb2 = tk.Label(self.tool_dist_alter, text='(mm)')
tool_dist_alter_lb2.grid(row=1, column=3)
tool_dist_bt = tk.Button(self.tool_dist_alter,
text='修改',
command=lambda: self.alter_dis(
tool_dist_alter_etr.get())) # 确认修改按钮
tool_dist_bt.grid(row=2, column=2)
# 可视化框架
self.tool_visual.pack(side='left', fill='y')
tool_visual_lb = tk.Label(self.tool_visual, text='颜色') # 颜色
tool_visual_lb.grid(row=1, column=1)
self.tool_visual_cbb.grid(row=1, column=2)
self.tool_visual_cbb.bind('<<ComboboxSelected>>', self.visual)
self.tool_visual_cbb.bind('<Return>', self.visual)
cmaps_list = []
for _, cmap_list in self.cmaps:
cmaps_list = cmaps_list + cmap_list
self.tool_visual_cbb['values'] = cmaps_list
self.tool_visual_cbb.current(0)
tool_visual_lb = tk.Label(self.tool_visual, text='方向') # 方向
tool_visual_lb.grid(row=2, column=1)
tool_visual_br = tk.Button(self.tool_visual,
text='顺时针转动',
command=self.br)
tool_visual_br.grid(row=2, column=2)
def init_work(self):
"""
初始化工作区域
"""
self.work.pack()
self.work_input_cv.create_text(self.width / 2,
self.height / 2,
text='拖拽图片到此处',
fill='grey',
anchor='center')
self.work_input_cv.pack(side='left')
# 点击并移动鼠标， 测量距离
self.work_input_cv.bind('<Button-1>',
lambda event: self.line.click(event, self))
self.work_input_cv.bind("<B1-Motion>",
lambda event: self.line.move(event, self))
self.work_input_cv.bind("<ButtonRelease-1>",
lambda event: self.line.release(event, self))
windnd.hook_dropfiles(self.work_input_cv,
func=self.drag_input) # 将拖拽图片与wa_input_cv组件挂钩
self.work_output_cv.pack(side='right')
def init_status_bar(self):
"""
初始化状态栏
"""
self.status.pack(anchor='e')
status_message_lb1 = tk.Label(self.status, text='A点：') # A点信息
status_message_lb1.pack(side='left')
status_message_lb11 = tk.Label(self.status, text='坐标：')
status_message_lb11.pack(side='left')
self.status_message_lb1_ord.pack(side='left')
status_message_lb12 = tk.Label(self.status, text='深度：')
status_message_lb12.pack(side='left')
self.status_message_lb1_dep.pack(side='left')
status_message_lb01 = tk.Label(self.status, text=' ') # 间隔
status_message_lb01.pack(side='left')
status_message_lb2 = tk.Label(self.status, text='B点：') # B点信息
status_message_lb2.pack(side='left')
status_message_lb21 = tk.Label(self.status, text='坐标：')
status_message_lb21.pack(side='left')
self.status_message_lb2_ord.pack(side='left')
status_message_lb22 = tk.Label(self.status, text='深度：')
status_message_lb22.pack(side='left')
self.status_message_lb2_dep.pack(side='left')
status_message_lb02 = tk.Label(self.status, text=' ') # 间隔
status_message_lb02.pack(side='left')
status_message_lb3 = tk.Label(self.status, text='距离：') # 距离
status_message_lb3.pack(side='left')
self.status_message_dis.pack(side='left')
def drag_input(self, images):
"""
将拖拽的图片加载到原图帆布中
:param images: 拖拽获得的文件列表
:return: None
"""
self.input_path = images[0].decode() # 获取拖拽文件列表中第一个文件的路径（str类型）
self.init_line() # 根据图片更新line
self.show_image(self.input_path, self.work_input_cv) # 将文件加载到原图帆布中
return
def init_line(self):
"""更新line"""
self.line = Line(self.width, self.height,
self.input_path) # 用于使用utils中的算法
self.line.get_canvas(self.work_input_cv)
self.tool_dist_etr.delete(0, tk.END)
self.tool_dist_etr.insert(0, str(self.line.focal_length))
self.tool_dist_lb3.config(text='1')
def open_input(self):
"""
打开图片并加载到帆布中
"""
self.input_path = filedialog.askopenfilename(
parent=self.root, # 父窗口
title='打开', # 对话框标题
initialdir='', # 默认路径
initialfile='', # 默认文件名
filetypes=[], # 设置文件类型选项
defaultextension='.jpg', # 默认文件拓展名
multiple=False)
try:
self.show_image(self.input_path, self.work_input_cv) # 将文件加载到原图帆布中
except:
messagebox.showerror('错误', '无法识别的文件格式')
return
def show_image(self, image, canvas):
"""
将图片加载到帆布中
:param image: 要加载的文件路径
:param canvas: 展示图片的帆布组件
:return: None
"""
image_open = Image.open(image) # 加载图片
image_resize = image_open.resize((self.width, self.height)) # 缩放图片
image_tk = ImageTk.PhotoImage(image_resize) # 利用PIL包将图片转化tkinter兼容的格式
canvas.create_image(0, 0, anchor='nw', image=image_tk) # 在canvas中显示图像
canvas.image = image_tk # 保留对图像对象的引用，使图像持续显示
self.line.get_image_size(image_open) # 存储图片信息，用于Line类
return
def select_weight(self, *args):
"""
选择算法后自动绑定对应的权重选项（暂未实现权重选择功能）
"""
self.tool_depth_cbb2['values'] = self.algorithm[
self.tool_depth_cbb1.get()]
self.tool_depth_cbb2.current(0) # 设置初始权重选项
return
def show_output(self):
"""
运行对应算法，返回深度值矩阵，将图片保存到根目录；再将图片加载到深度图帆布中；所有功能用一个函数搞定
:return: None
"""
self.depth = get_depth(self.tool_depth_cbb1.get(), self.input_path)
self.line.get_depth(self.depth) # 将深度矩阵传入Line类
plt.imsave('pred.jpg', self.depth) # 保存深度图片
self.show_image('pred.jpg', self.work_output_cv) # 将生成图加载到深度图帆布中
self.result = True # 深度图已生成，可以保存
return
def save_output(self):
"""
保存生成深度图
"""
if self.result:
save_path = filedialog.asksaveasfilename(
defaultextension='.jpg', # 默认文件拓展名
filetypes=[('JPG', '*.jpg')], # 设置文件类型选项，目前仅支持jpg格式输出
initialdir='', # 默认路径
initialfile='深度估计', # 默认文件名
parent=self.root, # 父对话框
title='保存') # 对话框标题
if save_path != '': # 取消保存时返回空字符
image = Image.open('pred.jpg')
image.save(save_path) # 一种比较“投机”的保存方式
else:
messagebox.showerror('错误', '未生成深度估计图')
return
def alter_dis(self, str_dis):
"""
修正距离
:param str_dis: 输入框中的输入的距离
:return:
"""
dis_para = self.line.alter_dis(str_dis)
self.tool_dist_lb3.config(text=str(dis_para))
return
def visual(self, *args):
"""
图片可视化效果
"""
if self.result:
try:
plt.imsave('pred.jpg',
self.depth,
cmap=self.tool_visual_cbb.get())
self.show_image('pred.jpg', self.work_output_cv)
except:
messagebox.showerror('错误', '指定的颜色映射不存在')
else:
messagebox.showerror('错误', '未生成深度估计图')
return
def br(self):
'''
对方向错误的图片进行转动
'''
# 工作区左侧
im = Image.open(self.input_path)
out = im.transpose(Image.ROTATE_270) # 进行旋转270
out.save(self.input_path)
self.show_image(self.input_path, self.work_input_cv) # 将文件加载到原图帆布中
# 工作区右侧
im = Image.open('pred.jpg')
out = im.transpose(Image.ROTATE_270) # 进行旋转270
out.save('pred.jpg')
self.show_image('pred.jpg', self.work_output_cv)
return
def __call__(self):
self.init_menu()
self.init_toolbar()
self.init_work()
self.init_status_bar()
def find_initial_guess(self, coordinates, robots_pose):
"""Find the initial guess using a montecarlo-based approach.
Argument:
coordinates (float[]): points coordinatesn
"""
# Get the box size
box_params = rospy.get_param('box')
box_length = box_params['length']
box_width = box_params['width']
max_length = max(box_length, box_width)
# Get info on the uncertainty area
rospy.wait_for_service('uncertainty_area_get_info')
info = rospy.ServiceProxy('uncertainty_area_get_info', GetUncertaintyAreaInfo)
try:
response = info(0)
except rospy.ServiceException:
pass
unc_area = BoxGeometry(2 * max_length, max_length,\
[response.pose[0], response.pose[1]],\
response.pose[2])
# Robot that found the box
discoverer_id = response.discoverer_id
discoverer_pose = robots_pose[discoverer_id]
# Evaluate the segment between the two other robot
indexes = [0, 1, 2]
indexes.remove(discoverer_id)
poses = [robots_pose[i] for i in indexes]
segment_between = Segment([poses[0][0],poses[0][1]],\
[poses[1][0],poses[1][1]])
half_way = np.array(segment_between.point(0.5))
segment_length = segment_between.length()
# Find the length of the side on which the other robots are attached
robot_radius = float(rospy.get_param('robot_radius'))
effective_length = segment_length - 2 * robot_radius
side_length = box_width
if abs(effective_length - box_width) < abs(effective_length - box_length):
side_length = box_length
# Find an uncertainty area for the center of the box
direction = np.array([np.cos(discoverer_pose[2]), np.sin(discoverer_pose[2])])
line_half_way = Line(half_way.tolist(), (half_way + direction).tolist())
side0 = Line(unc_area.vertex(0), unc_area.vertex(1))
intersection = line_half_way.intersect(side0)
center_guess = (np.array(intersection) + (side_length / 2) * direction).tolist()
theta_guess = discoverer_pose[2]
if side_length == box_width:
theta_guess -= np.pi / 2
# Estimate the initial guess
min_value = float('inf')
random.seed()
theta = angle_normalization(theta_guess)
for i in range(10000):
x_c = random.gauss(center_guess[0], 0.01)
y_c = random.gauss(center_guess[1], 0.01)
estimated_state = [x_c, y_c, theta]
new_value = self.__loss_function(estimated_state, coordinates)
min_value = min(min_value, new_value)
if new_value == min_value:
self._state = estimated_state
print estimated_state
print center_guess
print theta_guess
for argument in range(2):
if argument == 0:
H, W, _ = im.shape
lines = []
with open(join(label_path, label_file)) as f:
data = f.readlines()
nums = len(data)
stastic[nums] += 1
for line in data:
data1 = line.strip().split(',')
if len(data1) <= 4:
continue
data1 = [int(float(x)) for x in data1]
if data1[1]==data1[3] and data1[0]==data1[2]:
continue
line = Line([data1[1], data1[0], data1[3], data1[2]])
lines.append(line)
annotation = LineAnnotation(size=[H, W], divisions=args.num_directions, lines=lines)
else:
im = cv2.flip(im, 1)
filename = filename + '_flip'
H, W, _ = im.shape
lines = []
with open(join(label_path, label_file)) as f:
data = f.readlines()
for line in data:
data1 = line.strip().split(',')
if len(data1) <= 4:
continue
data1 = [int(float(x)) for x in data1]
class PickupPalletServer:
def __init__(self):
self.wheel_cmd_publisher = rospy.Publisher(WHEEL_CMD_TOPIC,
Twist,
queue_size=1)
self.lift_cmd_publisher = rospy.Publisher(LIFT_CONTROL_TOPIC,
Float64,
queue_size=1)
self.tf_listener = tf.TransformListener()
rospy.wait_for_service('gazebo/get_model_state')
rospy.wait_for_service('gazebo/get_link_state')
self.modelStateService = rospy.ServiceProxy('gazebo/get_model_state',
GetModelState)
self.linkStateService = rospy.ServiceProxy('gazebo/get_link_state',
GetLinkState)
self.server = actionlib.SimpleActionServer(ACTION_SERVER_NAME,
PickupPalletAction,
self.execute, False)
self.server.start()
print('Server started')
def execute(self, goal):
rate = rospy.Rate(PUBLISH_RATE)
self.targetPallet = goal.palletName.data
self.done = False
self.state = CONTROL_STATE_ALIGN
self.start_time = rospy.get_time()
self.lookupTransfrom()
self.findTarget()
while not rospy.is_shutdown() and not self.done:
if self.server.is_preempt_requested():
rospy.loginfo('Pickup Canceled')
self.server.set_preempted()
break
self.lookupTransfrom()
if self.state == CONTROL_STATE_ALIGN:
self.control_alignment()
elif self.state == CONTROL_STATE_LIFT:
self.control_lift()
elif self.state == CONTROL_STATE_DONE:
self.server.set_succeeded()
break
rate.sleep()
def findTarget(self):
v_heading = np.array(
[math.cos(self.robot_theta),
math.sin(self.robot_theta)])
v = np.array(
[math.cos(self.pallet_theta),
math.sin(self.pallet_theta)])
if (np.dot(v, v_heading) > 0):
self.target_position = self.pallet_position - (v * ALIGN_DISTANCE)
self.target_theta = self.pallet_theta
self.target_line = Line(self.target_position,
self.target_position - v)
else:
self.target_position = self.pallet_position + (v * ALIGN_DISTANCE)
self.target_theta = (self.pallet_theta + math.pi)
self.target_line = Line(self.target_position,
self.target_position + v)
def lookupTransfrom(self):
try:
(trans,
rot) = self.tf_listener.lookupTransform(MAP_FRAME, ROBOT_FRAME,
rospy.Time(0))
euler = tf.transformations.euler_from_quaternion(
[rot[0], rot[1], rot[2], rot[3]])
self.robot_position = np.array([trans[0], trans[1]])
self.robot_theta = euler[2]
modelState = self.modelStateService(model_name=self.targetPallet)
modelPos = modelState.pose.position
self.pallet_position = np.array([modelPos.x, modelPos.y])
q = modelState.pose.orientation
euler = tf.transformations.euler_from_quaternion(
[q.x, q.y, q.z, q.w])
self.pallet_theta = euler[2]
except Exception as e:
rospy.logwarn('Failed to lookup transform')
print(e)
return 0
def control_alignment(self):
v_pallet = self.pallet_position - self.robot_position
v_target = self.target_position - self.robot_position
v_heading = np.array(
[math.cos(self.robot_theta),
math.sin(self.robot_theta)])
distance = np.linalg.norm(v_pallet)
if distance < ALIGN_DISTANCE:
#self.server.set_succeeded()
rospy.loginfo('Aligned')
self.state = CONTROL_STATE_LIFT
return
theta_target = math.atan2(v_target[1], v_target[0])
lineDot = np.dot(self.target_line.normal(), v_pallet)
lineDistance = self.target_line.distance(self.robot_position)
lineErr = np.sign(lineDot) * lineDistance
alignErr = self.target_theta - self.robot_theta
if (alignErr > math.pi):
alignErr -= 2 * math.pi
elif (alignErr < -math.pi):
alignErr += 2 * math.pi
headingErr = theta_target - self.robot_theta
if (headingErr > math.pi):
headingErr -= 2 * math.pi
elif (headingErr < -math.pi):
headingErr += 2 * math.pi
if lineDistance > 0.5:
steering = (alignErr * 0.2) + (headingErr * 1.5) + (lineErr * 1.0)
elif distance > 2.4:
steering = (alignErr * 2.0) + (headingErr * 4.0) + (lineErr * 0.5)
else:
steering = (alignErr * 3.0) + (headingErr * 0.0) + (lineErr * 1.0)
target_turn = max(min(steering, MAX_TURN), -MAX_TURN)
rospy.loginfo(
'HErr: %.2f, AErr: %.2f, PDist: %.2f, Steering: %.2f, Dist: %.2f',
headingErr, alignErr, lineErr, steering, distance)
target_speed = 0.2
angular = (target_speed / LENGTH) * math.tan(target_turn)
cmd = Twist()
cmd.linear = Vector3(target_speed, 0, 0)
cmd.angular = Vector3(0, 0, angular)
self.wheel_cmd_publisher.publish(cmd)
def control_lift(self):
lift_link = self.linkStateService(link_name=LIFT_LINK_NAME)
height = lift_link.link_state.pose.position.z
if height < 0.5:
self.lift_cmd_publisher.publish(0.5)
else:
self.lift_cmd_publisher.publish(0)
rospy.loginfo('Lift is up')
self.state = CONTROL_STATE_DONE
class FollowPathServer:
def __init__(self):
self.wheel_cmd_publisher = rospy.Publisher(WHEEL_CONTROL_TOPIC,
Twist,
queue_size=1)
self.tf_listener = tf.TransformListener()
self.pub_marker = rospy.Publisher('/path/marker',
Marker,
queue_size=10)
self.server = actionlib.SimpleActionServer(ACTION_SERVER_NAME,
FollowPathAction,
self.execute, False)
self.server.start()
print('Server started')
def execute(self, goal):
self.done = False
self.path = goal.poses
self.pathIndex = 0
self.updatePose()
self.nextPathIndex()
self.publishPathMarker(self.path, 99)
rate = rospy.Rate(PUBLISH_RATE)
while not rospy.is_shutdown() and not self.done:
if self.server.is_preempt_requested():
rospy.loginfo('Path Canceled')
self.server.set_preempted()
break
self.updatePose()
pos = np.array([self.pose[0], self.pose[1]])
v1 = self.pathLine.p2 - pos
pathDot = np.dot(self.pathLine.normal(), v1)
endDot = np.dot(v1, self.pathLine.direction())
endDistance = self.endLine.distance(pos)
pathDistance = self.pathLine.distance(pos)
pathErr = (-np.sign(pathDot)) * self.direction * pathDistance
if (pathDistance > MAX_PATH_ERROR):
self.server.set_aborted()
rospy.loginfo('Too far off path')
break
if (endDot < 0):
## Aim for the next point on the path
self.nextPathIndex()
continue
delta = self.getHeadingError()
steering = delta * 3.0 + pathErr * 2.5
target_turn = max(min(steering, MAX_TURN), -MAX_TURN)
target_speed = 0.5 * self.direction
angular = (target_speed / LENGTH) * math.tan(target_turn)
cmd = Twist()
cmd.linear = Vector3(target_speed, 0, 0)
cmd.angular = Vector3(0, 0, angular)
self.wheel_cmd_publisher.publish(cmd)
rate.sleep()
self.clearPathMarker(99)
def updatePose(self):
try:
(trans,
rot) = self.tf_listener.lookupTransform('/map', '/base_link',
rospy.Time(0))
euler = tf.transformations.euler_from_quaternion(
[rot[0], rot[1], rot[2], rot[3]])
self.pose = [trans[0], trans[1], euler[2]]
except:
rospy.logwarn('Failed to lookup transform')
def nextPathIndex(self):
self.pathIndex += 1
if (self.pathIndex >= len(self.path)):
## End of the path
position = Point(self.pose[0], self.pose[1], 0)
q = tf.transformations.quaternion_from_euler(0, 0, self.pose[2])
orientation = Quaternion(q[0], q[1], q[2], q[3])
finalPose = Pose(position, orientation)
self.server.set_succeeded(FollowPathResult(finalPose))
cmd = Twist(Vector3(0, 0, 0), Vector3(0, 0, 0)) ## Stop
self.wheel_cmd_publisher.publish(cmd)
self.done = True
rospy.loginfo('Success')
return
targetPose = self.path[self.pathIndex]
prevPose = self.path[self.pathIndex - 1]
p1 = np.array([prevPose.position.x, prevPose.position.y])
p2 = np.array([targetPose.position.x, targetPose.position.y])
self.pathLine = Line(p1, p2)
self.endLine = Line(p2, p2 + self.pathLine.normal())
if (self.pathLine.length() < EPSILON):
self.nextPathIndex()
return
headingErr = self.getHeadingError()
if (abs(headingErr) > math.pi / 2):
self.direction = -1
else:
self.direction = 1
def getHeadingError(self):
targetHeading = self.pathLine.heading()
currentHeading = self.pose[2]
delta = targetHeading - currentHeading
if (delta > math.pi):
delta -= 2 * math.pi
elif (delta < -math.pi):
delta += 2 * math.pi
return delta
def publishPathMarker(self, path, id):
m = Marker()
m.header.frame_id = "map"
m.type = Marker.LINE_STRIP
m.action = Marker.ADD
m.points = []
for pose in path:
p = Point(pose.position.x, pose.position.y, 0.1)
m.points.append(p)
m.scale = Vector3(0.1, 0.1, 0.1)
m.color = ColorRGBA(0, 1, 0, 1)
m.id = id
self.pub_marker.publish(m)
def clearPathMarker(self, id):
m = Marker()
m.action = Marker.DELETE
m.id = id
self.pub_marker.publish(m)
