/
rounder.py
executable file
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/
rounder.py
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#!/usr/bin/env python
# abstract the input.
import sys, ecto, ecto_test
from ecto_opencv import highgui, calib, imgproc, features2d
from ecto_openni import Capture, ResolutionMode
import ecto_ros, ecto_sensor_msgs, ecto_geometry_msgs
import sys
class PoseFromFiducial(ecto.BlackBox):
def __init__(self, plasm,rows,cols,pattern_type,square_size,debug=True):
ecto.BlackBox.__init__(self, plasm)
if debug:
print self.__class__, "enabling debug nodes"
self.video_cap = ecto.Passthrough('Image Input')
self.rgb2gray = imgproc.cvtColor('rgb -> gray', flag=imgproc.RGB2GRAY)
self.circle_detector = calib.PatternDetector('Dot Detector',
rows=rows, cols=cols,
pattern_type=pattern_type,
square_size=square_size)
self.pose_calc = calib.FiducialPoseFinder('Pose Calc')
self.camera_info = calib.CameraIntrinsics('Camera Info',
camera_file="camera.yml")
self.trans = imgproc.Translate("trans", x=0.04 * 3)
self.debug = debug
if self.debug:
self.fps = highgui.FPSDrawer()
self.circle_drawer = calib.PatternDrawer('Circle Draw',
rows=rows, cols=cols)
self.pose_draw = calib.PoseDrawer('Pose Draw')
self.circle_conv = ecto_ros.Mat2Image('Fiducial Pose Converter')
self.circle_pub = ecto_sensor_msgs.Publisher_Image('Fiducial Image w/ Pose Publisher', topic_name='/ecto/circles')
self.foundprinter = ecto_test.Printer("printy", print_type='bool')
def expose_outputs(self):
return {
'R': self.pose_calc['R'],
'T': self.pose_calc['T'],
'K': self.camera_info['K'],
}
def expose_inputs(self):
return {
'image': self.video_cap[:],
}
def expose_parameters(self):
return {
}
def connections(self):
graph = [self.video_cap[:] >> self.rgb2gray['input'],
self.rgb2gray['out'] >> self.circle_detector['input'],
self.camera_info['K'] >> self.pose_calc['K'],
self.circle_detector['out', 'ideal', 'found'] >> self.pose_calc['points', 'ideal', 'found'],
self.circle_detector['found'] >> self.foundprinter[:]
]
if self.debug:
graph += [ self.video_cap[:] >> self.circle_drawer['input'],
self.circle_drawer['out'] >> self.pose_draw['image'],
self.pose_draw['output'] >> self.fps['image'],
self.fps['image'] >> self.circle_conv[:],
self.circle_conv[:] >> self.circle_pub[:],
self.pose_calc['R', 'T'] >> self.pose_draw['R', 'T'],
self.circle_detector['out', 'found'] >> self.circle_drawer['points', 'found'],
self.camera_info['K'] >> self.pose_draw['K'],
]
return graph
# ecto_ros.init(sys.argv,"pose_estimator")
plasm = ecto.Plasm()
sched = ecto.schedulers.Threadpool(plasm)
#lil bit of debug On/Off
debug = True
if 'R' in sys.argv:
debug = False
capture = Capture('ni device', rgb_resolution=ResolutionMode.SXGA_RES)
verter = highgui.NiConverter('verter')
#add our black box to the plasm.
pose_from_fiducial = PoseFromFiducial(plasm,
rows=5, cols=3,
pattern_type=calib.ASYMMETRIC_CIRCLES_GRID,
square_size=0.04, debug=debug)
circle_drawer = calib.PatternDrawer('Circle Draw',
rows=7, cols=3)
udim = 0.04
ppcm = 20
xcm = 7
ycm = 10
srr = calib.SubrectRectifier("extractor",
xoffset=-0.135, yoffset=0,
xsize_world=xcm*0.01, ysize_world=ycm*0.01,
xsize_pixels=xcm*ppcm, ysize_pixels=ycm*ppcm)
im2mat_rgb = ecto_ros.Image2Mat('Image -> cv::Mat')
im2mat_depth = ecto_ros.Image2Mat('Depth -> cv::Mat')
rgb2bgr = imgproc.cvtColor('rgb -> bgr')
training_card_conv = ecto_ros.Mat2Image('Training Card Converter')
training_card_pub = ecto_sensor_msgs.Publisher_Image('Training Card Publisher',
topic_name = '/ecto/training_card')
pose_from_plane = projector.PlaneFitter()
dewarp_table = calib.SubrectRectifier("tabledewarper",
xoffset=-0.3, yoffset=-0.3,
xsize_world=0.6, ysize_world=0.6,
xsize_pixels=int(ppcm*60), ysize_pixels=int(ppcm*60))
table_rect_conv = ecto_ros.Mat2Image('Rectified Table Converter')
table_rect_pub = ecto_sensor_msgs.Publisher_Image('Rectified Table Publisher',
topic_name = '/ecto/table_rect')
orb = features2d.ORB(n_levels=3)
fast = features2d.FAST(thresh=5)
orb_test = features2d.ORB(n_levels=3)
fast_test = features2d.FAST(thresh=5)
draw_kpts = features2d.DrawKeypoints()
draw_kpts_test = features2d.DrawKeypoints()
matcher = features2d.Matcher()
hfitter = features2d.MatchRefinement()
match_draw = features2d.DrawMatches()
match_conv = ecto_ros.Mat2Image("Matches")
match_pub = ecto_sensor_msgs.Publisher_Image("MatchesPub",
topic_name="/ecto/matches")
plasm.connect(sync['image'] >> im2mat_rgb['image'],
sync['depth'] >> im2mat_depth['image'],
im2mat_depth['image'] >> pose_from_plane['depth'],
pose_from_fiducial['K'] >> pose_from_plane['K'],
im2mat_rgb['image'] >> rgb2bgr[:],
rgb2bgr[:] >> (pose_from_fiducial['image'], srr['image'],
dewarp_table['image']),
pose_from_fiducial['R', 'T', 'K'] >> srr['R', 'T', 'K'],
pose_from_plane['R', 'T'] >> dewarp_table['R', 'T'],
pose_from_fiducial['K'] >> dewarp_table['K'],
dewarp_table[:] >> (fast['image'],draw_kpts['input'],orb['image']),
fast['kpts'] >> (draw_kpts['kpts'],orb['kpts']),
draw_kpts['output'] >> table_rect_conv[:],
table_rect_conv[:] >> table_rect_pub[:],
srr[:] >> (fast_test['image'], draw_kpts_test['input'],
orb_test['image']),
fast_test['kpts'] >> (draw_kpts_test['kpts'],orb_test['kpts']),
draw_kpts_test['output'] >> training_card_conv[:],
training_card_conv[:] >> training_card_pub[:],
orb['descriptors'] >> matcher['train'],
orb_test['descriptors'] >> matcher['test'],
orb['kpts'] >> (hfitter['train'],match_draw['train']),
orb_test['kpts'] >> (hfitter['test'],match_draw['test']),
matcher['matches'] >> hfitter['matches'],
hfitter['matches'] >> match_draw['matches'],
srr[:] >> match_draw['test_image'],
dewarp_table[:] >> match_draw['train_image'],
match_draw[:] >> match_conv[:],
match_conv[:] >> match_pub[:]
)
ecto.view_plasm(plasm)
#sched.execute(niter=0,nthreads=1)
plasm.configure_all()
sched.execute_async()
from IPython.Shell import IPShellEmbed
ipshell = IPShellEmbed()
ipshell()