def __call__(self, input):
"""
Two operations:
1. scorefxn( pose ): #
** noteworthy: the pose object here is Pose
> assign Residue object for each position, and
> return a total score of it
2. scorefxn( frag_idx ):
> return frag score for the frag_idx to a pose
"""
assert isPose(input) or isFragIdx(input)
if isPose(input): # a residual pose
""" 1. update the residue of the verbose_pose to be composed of Residue objects
2. return a total score """
residual_pose = input
self.update_pose(residual_pose) # the frag_idx in the input has been update to self.__pose
# use the new ScoreTable to rescore it residual_pose
output_pose = Pose()
for frag_idx in self.__pose:
output_pose.update_residue(self.score_evaluator(frag_idx, True))
return output_pose
elif isFragIdx(input):
""" return a residue score """
return self.score_evaluator(input)
def detect(self):
self.is_detected = False
ret, frame = self.capture.read()
grey = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# detection
corners, ids, rejectedImgPoints = aruco.detectMarkers(grey, self.dictionary)
if ids is not None:
if len(ids) == 2:
self.is_detected = True
if self.is_detected:
for index in range(len(ids)):
if ids[index][0] == 0:
rvec, tvec, _ = aruco.estimatePoseSingleMarkers(corners[index], self.marker_size_world,
camera_config_py.camera_matrix,
camera_config_py.distortion)
self.pose_world = Pose(cv2.Rodrigues(rvec[0])[0], tvec[0].T)
# draw axis for the aruco markers
aruco.drawAxis(grey, camera_config_py.camera_matrix, camera_config_py.distortion, rvec, tvec,
self.marker_size_world)
if ids[index][0] == 1:
rvec, tvec, _ = aruco.estimatePoseSingleMarkers(corners[index], self.marker_size_tello,
camera_config_py.camera_matrix,
camera_config_py.distortion)
self.pose_tello = Pose(cv2.Rodrigues(rvec[0])[0], tvec[0].T)
# draw axis for the aruco markers
aruco.drawAxis(grey, camera_config_py.camera_matrix, camera_config_py.distortion, rvec, tvec,
self.marker_size_tello)
self.pose_world_to_tello = Pose(np.dot(self.pose_world.R.T, self.pose_tello.R),
np.dot(self.pose_world.R.T, self.pose_tello.t - self.pose_world.t))
self.image = grey
def residualize_pose(self):
""" Pose() has methods to evaluate the state """
residual_pose = Pose()
for frag_idx in self.__pose:
residual_pose.update_residue(self.score_evaluator(frag_idx, True))
return residual_pose
def __init__(self):
self.url = "http://192.168.3.22:8080/?action=stream"
self.capture = cv2.VideoCapture(self.url)
self.dictionary = aruco.custom_dictionary(10, 6)
self.pose_world = Pose()
self.pose_tello = Pose()
self.pose_world_to_tello = Pose()
self.marker_size_world = 0.04
self.marker_size_tello = 0.02
self.image = np.zeros((1, 1), dtype=np.float32)
self.is_detected = False
def __init__(self, path=None):
self.__models = {1: Pose.Pose()}
self.__header = ''
self.__inputFile = path
if path != None:
self.__inputFile = path
self.read_pdb()
def read_pdb(self):
model = 1
self.__models[model] = Pose.Pose(model)
for line in open(self.__inputFile, 'r'):
if "MODEL" == line[0:5]:
model = int(string.split(line)[1])
self.__models[model] = Pose.Pose(model)
elif (("ATOM" == line[0:4]) or ("HETATM" == line[0:6])):
self.__models[model].add_atom(PDB_util.pdb2Atom(line))
elif (("TER" == line[0:3]) or ("ENDMDL" == line[0:6])
or ("END" == line[0:3])):
continue
else:
self.__header += line
def __init__(self):
self.dictionary = aruco.custom_dictionary(10, 6)
self.pose_world = Pose()
# self.pose_tello = Pose()
# self.pose_world_to_tello = Pose()
self.marker_size_world = 0.2
# self.marker_size_tello = 0.02
self.image_out = np.zeros((1, 1), dtype=np.float32)
self.is_detected = False
def converge(self):
"""
If most particles are around the same location, compute the mean and publish
:return: None
"""
global root
threshold_converge = 1
center = Pose(0, 0, 0)
sumX, sumY, sumT = 0, 0, 0
sse = 0
x_lst, y_lst, t_lst = [], [], []
n = len(self.particles)
for p in self.particles:
sumX += p.pose.x
sumY += p.pose.y
sumT += p.pose.theta
center.x, center.y = sumX / n, sumY / n
for i in range(n):
p = self.particles[i]
dist = math.sqrt(
math.pow((p.pose.x - center.x), 2) +
math.pow((p.pose.y - center.y), 2))
if dist > threshold_converge:
print(
str(i) + ': (' + str(center.x) + ',' + str(center.y) + ')')
self.converged = False
return
print(len(self.particles))
# update particles as mean the particle
self.particles = [Particle(center.x, center.y, sumT / n, 1)]
self.converged = True
print('Converged at: (' + str(center.x) + ',' + str(center.y) +
') , theta:' + str(sumT / n))
print('Time: ' + str(time.time() - self.start_time))
loc_x = self.particles[0].pose.x
loc_y = self.particles[0].pose.y
loc_t = self.particles[0].pose.theta
self.pub_pose.publish(str(loc_x) + "," + str(loc_y) + "," + str(loc_t))
root.quit()
rospy.signal_shutdown("Shutting down Localization node...........")
def detect(self, image):
self.is_detected = False
# detection
corners, ids, rejectedImgPoints = aruco.detectMarkers(
image, self.dictionary)
if ids is not None:
if len(ids) == 1:
self.is_detected = True
if self.is_detected:
for index in range(len(ids)):
if ids[index][0] == 2:
rvec, tvec, _ = aruco.estimatePoseSingleMarkers(
corners[index], self.marker_size_world,
camera_config_tello.camera_matrix,
camera_config_tello.distortion)
self.pose_world = Pose(
cv2.Rodrigues(rvec[0])[0], tvec[0].T)
# transform
mat_t = np.dot(
Pose.rotational_x(-pi * 0.5).T, self.pose_world.R.T)
self.pose_world.R = np.dot(mat_t,
Pose.rotational_x(pi * 0.5))
self.pose_world.t = -np.dot(mat_t, self.pose_world.t)
# draw axis for the aruco markers
aruco.drawAxis(image, camera_config_tello.camera_matrix,
camera_config_tello.distortion, rvec, tvec,
self.marker_size_world)
# if ids[index][0] == 1:
# rvec, tvec, _ = aruco.estimatePoseSingleMarkers(corners[index], self.marker_size_tello,
# camera_config_py.camera_matrix,
# camera_config_py.distortion)
# self.pose_tello = Pose(cv2.Rodrigues(rvec[0])[0], tvec[0].T)
# # draw axis for the aruco markers
# aruco.drawAxis(grey, camera_config_py.camera_matrix, camera_config_py.distortion, rvec, tvec,
# self.marker_size_tello)
# self.pose_world_to_tello = Pose(np.dot(self.pose_world.R.T, self.pose_tello.R),
# np.dot(self.pose_world.R.T, self.pose_tello.t - self.pose_world.t))
self.image_out = image
# specified method and parameters
parser = argparse.ArgumentParser(description='Set the aircraft poses from flight data.')
parser.add_argument('--project', required=True, help='project directory')
parser.add_argument('--sentera', help='use the specified sentera image-metadata.txt file (lat,lon,alt,yaw,pitch,roll)')
parser.add_argument('--pix4d', help='use the specified pix4d csv file (lat,lon,alt,roll,pitch,yaw)')
args = parser.parse_args()
proj = ProjectMgr.ProjectMgr(args.project)
print "Loading image info..."
proj.load_image_info()
pose_set = False
if args.sentera != None:
Pose.setAircraftPoses(proj, args.sentera, order='ypr')
pose_set = True
elif args.pix4d != None:
Pose.setAircraftPoses(proj, args.pix4d, order='rpy')
pose_set = True
if not pose_set:
print "Error: no flight data specified or problem with flight data"
print "No poses computed"
exit
# compute the project's NED reference location (based on average of
# aircraft poses)
proj.compute_ned_reference_lla()
print "NED reference location:", proj.ned_reference_lla
#!/usr/bin/python3
import argparse
import sys
sys.path.append('../lib')
import Pose
import ProjectMgr
# for all the images in the project image_dir, compute the camera poses from
# the aircraft pose (and camera mounting transform)
parser = argparse.ArgumentParser(description='Set the initial camera poses.')
parser.add_argument('--project', required=True, help='project directory')
args = parser.parse_args()
proj = ProjectMgr.ProjectMgr(args.project)
proj.load_images_info()
Pose.compute_camera_poses(proj)
proj.save_images_info()
help=
'use the specified sentera image-metadata.txt file (lat,lon,alt,yaw,pitch,roll)'
)
parser.add_argument(
'--pix4d',
help='use the specified pix4d csv file (lat,lon,alt,roll,pitch,yaw)')
args = parser.parse_args()
proj = ProjectMgr.ProjectMgr(args.project)
print("Loading image info...")
proj.load_images_info()
pose_set = False
if args.sentera != None:
Pose.setAircraftPoses(proj, args.sentera, order='ypr')
pose_set = True
elif args.pix4d != None:
Pose.setAircraftPoses(proj, args.pix4d, order='rpy')
pose_set = True
if not pose_set:
print("Error: no flight data specified or problem with flight data")
print("No poses computed")
quit()
# compute the project's NED reference location (based on average of
# aircraft poses)
proj.compute_ned_reference_lla()
ned_node = getNode('/config/ned_reference', True)
print("NED reference location:")
import sys
sys.path.insert(0, "/usr/local/lib/python2.7/site-packages/")
import argparse
import commands
import cv2
import fnmatch
import os.path
sys.path.append('../lib')
import Pose
import ProjectMgr
# for all the images in the project image_dir, compute the camera poses from
# the aircraft pose (and camera mounting transform)
parser = argparse.ArgumentParser(description='Set the initial camera poses.')
parser.add_argument('--project', required=True, help='project directory')
args = parser.parse_args()
proj = ProjectMgr.ProjectMgr(args.project)
proj.load_image_info()
Pose.compute_camera_poses(proj.image_list, proj.cam, proj.ned_reference_lla,
force=True)
proj.save_images_meta()
# specified method and parameters
parser = argparse.ArgumentParser(description='Set the aircraft poses from flight data.')
parser.add_argument('--project', required=True, help='project directory')
parser.add_argument('--sentera', help='use the specified sentera image-metadata.txt file (lat,lon,alt,yaw,pitch,roll)')
parser.add_argument('--pix4d', help='use the specified pix4d csv file (lat,lon,alt,roll,pitch,yaw)')
args = parser.parse_args()
proj = ProjectMgr.ProjectMgr(args.project)
print "Loading image info..."
proj.load_image_info()
pose_set = False
if args.sentera != None:
Pose.setAircraftPoses(proj, args.sentera, order='ypr')
pose_set = True
elif args.pix4d != None:
Pose.setAircraftPoses(proj, args.pix4d, order='rpy')
pose_set = True
if not pose_set:
print "Error: no flight data specified or problem with flight data"
print "No poses computed"
exit
# compute the project's NED reference location (based on average of
# aircraft poses)
proj.compute_ned_reference_lla()
print "NED reference location:", proj.ned_reference_lla
def ai(self, target, time): #Force death when health reaches 0 if self.health <= 0: self.image = self.died #Do nothing when target is dead if (target.health <= 0 or target.on_stun == True) and self.health > 0 and self.on_damage == False and self.on_attack == False and self.on_stun == False: self.doing_nothing = True if self.look_right: self.breathing_right.play() self.image = self.breathing_right.get_current_image() else: self.breathing_left.play() self.image = self.breathing_left.get_current_image() #Move elif self.health > 0 and self.on_damage == False and self.on_cover == False and self.on_attack == False and self.on_stun == False and target.on_stun == False: self.doing_nothing = False if (self.rect.centerx < target.rect.centerx and target.look_left == True) or (self.rect.centerx > target.rect.centerx and target.look_right == True): self.on_locked = True else: self.on_locked = False in_advantage = abs(self.rect.centerx - target.rect.centerx) > 230 #Make decition if self.pose == "crafty": decition = Pose.crafty([self.on_locked, target.on_attack, target.on_cover, target.on_air, in_advantage]) elif self.pose == "coward": decition = Pose.coward([self.on_locked, target.on_attack, target.on_cover, target.on_air, in_advantage]) elif self.pose == "aggressive": decition = Pose.aggressive([self.on_locked, target.on_attack, target.on_cover, target.on_air, in_advantage]) if decition == 1: #Reach target #Up if self.rect.bottom>(self.HEIGHT - 70): if self.rect.centery > target.rect.centery: if self.look_right: self.looking_right.play() self.image = self.looking_right.get_current_image() elif self.look_left: self.looking_left.play() self.image = self.looking_left.get_current_image() self.rect.centery -= self.speed_x * time #Down if self.rect.bottom<self.HEIGHT: if self.rect.centery < target.rect.centery: if self.look_right: self.looking_right.play() self.image = self.looking_right.get_current_image() elif self.look_left: self.looking_left.play() self.image = self.looking_left.get_current_image() self.rect.centery += self.speed_x * time #Right if self.rect.right<self.WIDTH: if target.rect.centerx>self.rect.centerx: self.look_left = False self.look_right = True self.looking_right.play() self.image = self.looking_right.get_current_image() self.rect.centerx += self.speed_x * time #Left if self.rect.left>0: if target.rect.centerx<self.rect.centerx: self.look_left = True self.look_right = False self.looking_left.play() self.image = self.looking_left.get_current_image() self.rect.centerx -= self.speed_x * time #Attack if target.health > 0: if self.ready2attack: #Close if abs(self.rect.centerx - target.rect.centerx) < 80: self.power = self.sword_power self.swoosh.get_sfx().play() if self.look_right: self.image = self.attacking_right else: self.image = self.attacking_left self.on_cover = False self.attack_duration = 10 self.ready2attack = False self.reload_time = 30 self.on_attack = True #Far if abs(self.rect.centerx - target.rect.centerx) < self.rifle_range: if abs(self.rect.centerx - target.rect.centerx) > 230: self.power = self.rifle_power + (-1 * (abs(int(self.rect.centerx - target.rect.centerx)/100))) self.shot.get_sfx().play() if target.rect.centerx > self.rect.centerx: self.look_right = True self.look_left = False self.image = self.attacking_right_far else: self.look_right = False self.look_left = True self.image = self.attacking_left_far self.on_cover = False self.attack_duration = 30 self.ready2attack = False self.reload_time = 70 self.on_attack = True elif decition == -1: #Retreat if target.health > 0: #Attack when in range if self.ready2attack == True and (abs(self.rect.centerx - target.rect.centerx) < self.rifle_range and abs(self.rect.centerx - target.rect.centerx) > 230): self.power = self.rifle_power + (-1 * (abs(int(self.rect.centerx - target.rect.centerx)/100))) self.shot.get_sfx().play() if target.rect.centerx > self.rect.centerx: self.look_right = True self.look_left = False self.image = self.attacking_right_far else: self.look_right = False self.look_left = True self.image = self.attacking_left_far self.on_cover = False self.attack_duration = 10 self.ready2attack = False self.reload_time = 70 self.on_attack = True #Close attack elif self.ready2attack == True and abs(self.rect.centerx - target.rect.centerx) < 30: self.power = self.sword_power self.swoosh.get_sfx().play() if self.look_right: self.image = self.attacking_right else: self.image = self.attacking_left self.on_cover = False self.attack_duration = 10 self.ready2attack = False self.reload_time = 30 self.on_attack = True #Go away if not else: #Up if self.rect.bottom>(self.HEIGHT - 70): if self.rect.centery < target.rect.centery: if self.look_right: self.looking_right.play() self.image = self.looking_right.get_current_image() elif self.look_left: self.looking_left.play() self.image = self.looking_left.get_current_image() self.rect.centery -= self.speed_x * time #Down if self.rect.bottom<self.HEIGHT: if self.rect.centery > target.rect.centery: if self.look_right: self.looking_right.play() self.image = self.looking_right.get_current_image() elif self.look_left: self.looking_left.play() self.image = self.looking_left.get_current_image() self.rect.centery += self.speed_x * time #Right if self.rect.right<self.WIDTH: if target.rect.centerx<self.rect.centerx: self.look_left = False self.look_right = True self.looking_right.play() self.image = self.looking_right.get_current_image() self.rect.centerx += self.speed_x * time #Left if self.rect.left>0: if target.rect.centerx>self.rect.centerx: self.look_left = True self.look_right = False self.looking_left.play() self.image = self.looking_left.get_current_image() self.rect.centerx -= self.speed_x * time
# anglerpitch=degrees(atan(self.acc_x/self.acc_z))
anglerroll = roll
anglerpitch = -pitch
visual_state = self.visual_state
return bat, is_fly, tftimer, height, wifi, anglerroll, anglerpitch, velz, velxy, posx, posy, posz, pitch, roll, yew, visual_state
# 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
if __name__ == '__main__':
ispose = 0
fps = FPS()
tello = Tello()
if ispose == 1:
my_pose = Pose()
frame_skip = 300
for frame in tello.container.decode(video=0):
if 0 < frame_skip:
frame_skip = frame_skip - 1
continue
fps.update()
start_time = time.time()
image = cv2.cvtColor(numpy.array(frame.to_image()), cv2.COLOR_RGB2BGR)
if ispose == 1:
image = cv2.resize(image, (640, 480))
show = my_pose.get_kp(image)
if show[2][0]: # 值判断一个就好
cv2.circle(image, (show[2][0], show[2][1]), 3, (0, 0, 255), -1)