class CalibBaxterKinect:
def __init__(self, limb):
#
self._limb = limb
self._knObj = KinectNiteHelp()
self._baeObj = BaxterArmEndpoint(self._limb)
self._bbhObj = BaxterButtonHelp(self._limb)
self._baeObj.startSubscriber()
self._posCount = 0
self._rotMat = []
self._transMat = []
self._handCoordinates = [0, 0, 0]
self._baxterCoordinates = [0, 0, 0]
def openingStatement(self):
# Display opening statement with instructions for caliberation
print "Baxter Kinect Calibration Program"
print "Press circle button to start calibration when Baxter arm is in desired position."
print "Press long button hen user hand is in desired position"
print "Press big button on Baxter arm to calculate rotation and translation matrix"
print
def calibrate(self):
buttonStates = self._bbhObj.getButtonStates()
if(buttonStates["cState"]):
print "Registered Baxter Hand Pos."
print "Move arm to desired pos and press long button on cuff."
buttonStates = self._bbhObj.getButtonStates()
while(buttonStates["lState"] == False):
buttonStates = self._bbhObj.getButtonStates()
continue
# Get and store baxter coordinates
baxter_endpoint = self._baeObj.getArmEndPos()
baxterTempPos = [baxter_endpoint["x"], baxter_endpoint["y"], baxter_endpoint["z"]]
self._baxterCoordinates = vstack((self._baxterCoordinates, baxterTempPos))
# Get and store kinect coordinates
try:
hand_endpoint = self._knObj.getLeftHandPos()
handTempPos = [hand_endpoint[0], hand_endpoint[1], hand_endpoint[2]]
self._handCoordinates = vstack((self._handCoordinates, handTempPos))
except:
print "Error in kinect_nite_help part."
print "Baxter and Kinect Pos %d added." % (self._posCount + 1)
print "Current Baxter Matrix:"
print self._baxterCoordinates
print "Current Hand Matrix"
print self._handCoordinates
self._posCount = self._posCount + 1
elif(buttonStates["bState"]):
if(self._posCount >= 4):
tempBaxterMat = mat(self._baxterCoordinates[1:])
tempHandMat = mat(self._handCoordinates[1:])
print tempBaxterMat
print tempHandMat
print "Calculate rotation and transalation matrix"
self._rotMat, self._transMat = svd_rt(tempHandMat, tempBaxterMat)
print "Rotation matrix:"
print self._rotMat
print "Translation matrix:"
print self._transMat
rtMatFile = open("RTMatFile.dat", "w");
cPickle.dump(self._rotMat, rtMatFile)
cPickle.dump(self._transMat, rtMatFile);
rtMatFile.close()
print "Rotation and Translation Matrices Stored To File"
else:
print "Not Enough Points to perform SVD. You need %d more points" % (3 - self._posCount)
def main():
global img
global image_corners
global click_count
global baxter_endpoints
rospy.init_node('RetrieveCamToolTableCalib', disable_signals=True)
# Record Baxter Coordinates
print
print "Record arm endpoints using Cuff Button and Big Button when 4 points are done (Left Arm)"
cam_arm = baxter_interface.limb.Limb("left")
bbhObj = BaxterButtonHelp("left")
baxter_endpoints = []
click_count = 0
while_flag = True
while(while_flag):
cButtonPressed = bbhObj.getButtonStates()['cState']
bButtonPressed = bbhObj.getButtonStates()['bState']
if(cButtonPressed):
pose = cam_arm.endpoint_pose()
xyz = pose["position"]
baxter_endpoints.append(xyz)
click_count += 1
time.sleep(1)
print "Baxter Arm EndPoint %s added" % (click_count)
if(bButtonPressed):
if (click_count == 4):
while_flag = False
print "Baxter Endpoints Recorded Recorded:"
print baxter_endpoints
elif (click_count < 4):
while_flag = True
baxter_endpoints = []
click_count = 0
print "Less than 4 points recorded. Please re-record all corners"
else:
while_flag = True
baxter_endpoints = []
click_count = 0
print "More than 4 points recorded. Please record only the corners"
time.sleep(1)
##############################################################
print "Storing Retrieval Position"
# Store retrieval position
print
print "Moving baxter cam arm to desired location image frame"
cam_arm_x = ((baxter_endpoints[0].x + baxter_endpoints[2].x) / 2) + 0 #As camera not at center
cam_arm_y = (baxter_endpoints[0].y + baxter_endpoints[2].y) / 2 + 0.003 #As camera is not at center
cam_arm_z = ((baxter_endpoints[0].z + baxter_endpoints[2].z) / 2) + 0 # Height above table
# All orientation calclulations
voObj = VectorOrientation()
voObj.setVectorChange(0.00, 0.00, -1.0) # X, Y and Z Vector Axis Orientation
#voObj.setAngleOrientation(-20, 0, 0, 'd')
voObj.calcVectorOrientation()
# Set gamma in degrees
voObj.setGamma(180, 'd')
# Trick for baxter orientation change for rigth arm:
voObj.setAngleOrientation(-voObj._theta, voObj._phi, voObj._gamma, 'r')
# Calculate quaternion
quat = voObj.getQuaternionOrientation()
# Inverse Kinematics
arm = IKSolveBaxter("left")
arm.setArmEndPos(cam_arm_x, cam_arm_y, cam_arm_z, quat[0], quat[1], quat[2], quat[3])
arm.ik_solve();
ret_joints = arm.getBaxterJointSpace()
bcajpFile = open("BaxterRetArmJointPosFile.dat", "w");
cPickle.dump(ret_joints, bcajpFile);
bcajpFile.close()
# Move Arm
control_arm = baxter_interface.limb.Limb("left")
control_arm.set_joint_position_speed(0.5) # Joint movement speed
control_arm.move_to_joint_positions(ret_joints, 5.0)
time.sleep(1)
##############################################################
# Move baxter arm
print
print "Moving baxter cam arm to desired location image frame"
cam_arm_x = ((baxter_endpoints[0].x + baxter_endpoints[2].x) / 2) + 0.075 #As camera not at center
cam_arm_y = (baxter_endpoints[0].y + baxter_endpoints[2].y) / 2 + 0.005 #As camera is not at center
cam_arm_z = ((baxter_endpoints[0].z + baxter_endpoints[2].z) / 2) + 0.15 # Height above table
# All orientation calclulations
voObj = VectorOrientation()
voObj.setVectorChange(0.00, 0.00, -1.0) # X, Y and Z Vector Axis Orientation
#voObj.setAngleOrientation(-20, 0, 0, 'd')
voObj.calcVectorOrientation()
# Set gamma in degrees
voObj.setGamma(180, 'd')
# Trick for baxter orientation change for rigth arm:
voObj.setAngleOrientation(-voObj._theta, voObj._phi, voObj._gamma, 'r')
# Calculate quaternion
quat = voObj.getQuaternionOrientation()
# Inverse Kinematics
arm = IKSolveBaxter("left")
arm.setArmEndPos(cam_arm_x, cam_arm_y, cam_arm_z, quat[0], quat[1], quat[2], quat[3])
arm.ik_solve();
joints = arm.getBaxterJointSpace()
# Move Arm
control_arm = baxter_interface.limb.Limb("left")
control_arm.set_joint_position_speed(0.5) # Joint movement speed
control_arm.move_to_joint_positions(joints, 5.0)
os.system("clear")
print "Press C to continue and store baxter camera arm position"
while(not sf.Keyboard.is_key_pressed(sf.Keyboard.C)):
pass
bcajpFile = open("RetrieveBaxterCamArmJointPosFile.dat", "w");
cPickle.dump(joints, bcajpFile);
bcajpFile.close()
print
print "Baxter Camera Arm Position Stored"
# Get image frame from baxter hand camera
print
print "Waiting for image..."
sihObj = SubImageHelp("/cameras/left_hand_camera/image")
error_flag = True
rate = rospy.Rate(1)
rate.sleep()
while error_flag == True:
try:
img = sihObj.getCVImage()
error_flag = False
print "BaxterImageObtained"
rate.sleep()
except:
print
print "Error in Obtaining Image"
# All recording points stuff
print
print "Record all 4 corner points using mouse double click and then press key to continue"
img_copy = img.copy()
while_flag = True
while(while_flag):
img = img_copy.copy()
click_count = 0
image_corners = []
cv2.namedWindow('RetrieveImage')
cv2.imshow('RetrieveImage', img)
cv2.setMouseCallback('RetrieveImage',handle_mouse)
cv2.waitKey(0)
if (click_count == 4):
while_flag = False
print "Image Corners Recorded"
print
print "The image corners are:"
print image_corners[0], image_corners[1], image_corners[2], image_corners[3]
elif (click_count < 4):
while_flag = True
print "Less than 4 points recorded. Please re-record all corners"
else:
while_flag = True
print "More than 4 points recorded. Please record only the corners"
#cv2.destroyAllWindows()
time.sleep(1)
X = numpy.matrix([
[image_corners[0][0], image_corners[2][0], image_corners[3][0]],
[image_corners[0][1], image_corners[2][1], image_corners[3][1]],
[1.0, 1.0, 1.0]
])
A = numpy.matrix([
[baxter_endpoints[0].x, baxter_endpoints[2].x, baxter_endpoints[3].x],
[baxter_endpoints[0].y, baxter_endpoints[2].y, baxter_endpoints[3].y],
[baxter_endpoints[0].z, baxter_endpoints[2].z, baxter_endpoints[3].z]
])
# Add Image Clip positions and Display Clipped Image
x1 = max( [image_corners[0][0], image_corners[3][0]] )
y1 = max( [image_corners[0][1], image_corners[1][1]] )
x2 = min( [image_corners[1][0], image_corners[2][0]] )
y2 = min( [image_corners[2][1], image_corners[3][1]] )
image_clip = [x1, y1, x2, y2]
img = img_copy[:, image_clip[0] : image_clip[2] ]
img = img[image_clip[1] : image_clip[3], :]
cv2.imwrite('RetrieveImage.png', img)
ImageClipPosFile = open("RetrieveImageClipPosFile.dat", "w");
cPickle.dump(image_clip, ImageClipPosFile);
ImageClipPosFile.close()
print "Image Clip Positions Added To File"
time.sleep(1)
print
print "Press C to continue and calculate tranformation matrix"
while(not sf.Keyboard.is_key_pressed(sf.Keyboard.C)):
pass
os.system("clear")
print "Image Corner Pixel Locations:"
print X
print
print "Baxter Endpoint Locations:"
print A
print
XAPosFile = open("RetrieveXAPosFile.dat", "w");
cPickle.dump(X, XAPosFile);
cPickle.dump(A, XAPosFile);
XAPosFile.close()
time.sleep(1)
print "X(ImageCorners) and A(BaxterEndpoints) Stored in XAPosFile.dat"
print
if(numpy.linalg.det(X) == 0):
print "Determiant of image corner matrix = 0"
print "Please retry calibration"
else:
T = numpy.matrix( numpy.dot( A, numpy.linalg.inv(X) ) )
print "Tranformation Matrix:"
print T
print
print "Writing to transformation matrix file..."
tmatFile = open("RetrieveTransformationMatrixFile.dat", "w");
cPickle.dump(T, tmatFile);
tmatFile.close()
print "Tranformation matrix added"
print
time.sleep(1)
print "Press C to continue and exit program"
while(not sf.Keyboard.is_key_pressed(sf.Keyboard.C)):
pass
rospy.signal_shutdown("Shutting down ROS Node to calculate transformation")
print
print "Exit Program"
print
return 0