def callback(self, data):
print('\n', 'Predicting')
# try:
# cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
# except CvBridgeError as e:
# print(e)
# cv_image = cv2.copyMakeBorder(cv_image, 100, 100, 100, 100, cv2.BORDER_CONSTANT, value=[85, 120, 68])
# cv_image = cv2.imread("pic_buffer/R.png")
# cv2.imwrite("pic_buffer/R.png", cv_image)
# im = array_to_image(cv_image)
# dn.rgbgr_image(im)
# # print(dn.detect(net, meta, im))
# print("===")
r = []
img = cv2.imread("pic_buffer/1_R.png")
sp = img.shape
r += self.subpredict(0, int(sp[0] / 2), 0, sp[1])
r += self.subpredict(int(sp[0] / 2), sp[0], 0, sp[1])
r += self.subpredict(int(sp[0] / 4), int(sp[0] * 3 / 4), 0, sp[1])
r += self.subpredict(0, sp[0], 0, int(sp[1] / 2))
r += self.subpredict(0, sp[0], int(sp[1] / 2), sp[1])
r += self.subpredict(0, sp[0], int(sp[1] / 3), int(sp[1] * 2 / 3))
r += self.subpredict(0, sp[0], 0, int(sp[1] * 2 / 3))
r += self.subpredict(0, sp[0], int(sp[1] / 3), sp[1])
r += self.subpredict(0, int(sp[0] * 2 / 3), 0, sp[1])
r += self.subpredict(int(sp[0] / 3), sp[0], 0, sp[1])
r = self.removeDuplicate(r)
print()
img = self.drawCrossings(img, r)
cv2.imwrite("pic_buffer/2_D.png", img)
boxes = BoundingBoxes()
print('\n', 'Predict result:')
for i in range(len(r)):
box = BoundingBox()
print(' ', r[i][0], r[i][1] * 100, '%')
box.Class = r[i][0].decode('utf-8')
box.probability = r[i][1]
box.id = i
box.xmin = int(r[i][2][0])
box.ymin = int(r[i][2][1])
box.xmax = int(r[i][2][2])
box.ymax = int(r[i][2][3])
boxes.bounding_boxes.append(box)
# if b'endpoint' == r[i][0]:
# print('\t', r[i][0], r[i][1]*100, '%')
print(' ', int(r[i][2][0]), int(r[i][2][1]), int(r[i][2][2]),
int(r[i][2][3]))
# if b'cross' == r[i][0]:
# print('\t', r[i][0], r[i][1]*100, '%')
# # print('\t', r[i][2])
print('\n', 'Darknet waiting for rgb_img')
time.sleep(0.5)
try:
self.boxes_pub.publish(boxes)
except CvBridgeError as e:
print(e)
def process(msg):
t_begin = rospy.get_time()
cv_img = bridge.imgmsg_to_cv2(msg, "bgr8")
cv2.imwrite(img_path, cv_img)
with open(img_path, "rb") as img:
img_bytes = img.read()
server.send(darksocket.pack(darksocket.Packet.IMAGE, img_bytes))
res = server.recv()
t_end = rospy.get_time()
if telemetry:
cls()
rospy.loginfo("%s FPS" % (1 / (t_end - t_begin)))
if res == darksocket.StreamEvent.DETECTIONS:
dets = Detections()
dets.image = msg
for det in server.stream.detections:
bbox = BoundingBox()
bbox.Class = det[0]
bbox.probability = det[1]
bbox.xmin = det[2]
bbox.ymin = det[3]
bbox.xmax = det[2] + det[4]
bbox.ymax = det[3] + det[5]
dets.bboxes.append(bbox)
if telemetry:
rospy.loginfo("%s %s" % (bbox.Class, bbox.probability))
pub_detections.publish(dets)
def msgDN(self, image, boxes, scores, classes):
"""
Create the Object Detector message to publish with ROS
This uses the Darknet BoundingBox[es] messages
"""
msg = BoundingBoxes()
msg.header = image.header
scores_above_threshold = np.where(scores > self.threshold)[1]
for s in scores_above_threshold:
# Get the properties
bb = boxes[0, s, :]
sc = scores[0, s]
cl = classes[0, s]
# Create the bounding box message
detection = BoundingBox()
detection.Class = self.category_index[int(cl)]['name']
detection.probability = sc
detection.xmin = int((image.width - 1) * bb[1])
detection.ymin = int((image.height - 1) * bb[0])
detection.xmax = int((image.width - 1) * bb[3])
detection.ymax = int((image.height - 1) * bb[2])
msg.boundingBoxes.append(detection)
return msg
def __init__(self):
# cv_bridge handles
self.cv_bridge = CvBridge()
# outdoor object
self.person_bbox = BoundingBox()
self.bicycle_bbox = BoundingBox()
self.car_bbox = BoundingBox()
self.motorcycle_bbox = BoundingBox()
self.bus_bbox = BoundingBox()
self.truck_bbox = BoundingBox()
self.traffic_light_bbox = BoundingBox()
self.stop_sign_bbox = BoundingBox()
# ROS PARAM
self.m_pub_threshold = rospy.get_param('~pub_threshold', 0.70)
# detect width height
self.WIDTH = 50
self.HEIGHT = 50
# Subscribe
sub_camera_rgb = rospy.Subscriber('/camera/color/image_raw', Image, self.CamRgbImageCallback)
sub_camera_depth = rospy.Subscriber('/camera/aligned_depth_to_color/image_raw', Image, self.CamDepthImageCallback)
sub_darknet_bbox = rospy.Subscriber('/darknet_ros/bounding_boxes', BoundingBoxes, self.DarknetBboxCallback)
return
def create_d_msgs_box(self, track):
one_box = BoundingBox()
one_box.id = int(track.id[:3], 16)
one_box.class_id = "face"
one_box.probability = float(track.score)
one_box.xmin = int(track.box[0])
one_box.ymin = int(track.box[1])
one_box.xmax = int(track.box[2])
one_box.ymax = int(track.box[3])
return one_box
def handle_get_obj_loc(req):
# Subscribe to the ROS topic that contains the grasps.
sub = rospy.Subscriber('/darknet_ros/bounding_boxes', BoundingBoxes,
callback)
# print req
# wait until the subscriber gets location objects from topic
while obj_loc == []:
print '.'
if req.obj_name == "teddy_bear":
req.obj_name = "teddy bear"
if req.obj_name == "sports`_ball":
req.obj_name = "sports ball"
# get the location of the requested object
# - if multiple objects, return one with highest probability!
top_item = BoundingBox(probability=0.0)
for item in obj_loc:
if item.Class == req.obj_name:
if item.probability > top_item.probability:
top_item = item
# TODO: move this logic into main script for now!!!
# calculate the center of the bounding box
# top_item.x = (item.xmax - item.xmin)/2 + item.xmin
# top_item.y = (item.ymax - item.ymin)/2 + item.ymin
print "Returning %s with highest probability [%s]" % (req.obj_name,
top_item)
return [
top_item.Class, top_item.probability, top_item.xmin, top_item.ymin,
top_item.xmax, top_item.ymax
]
def __init__(self):
# cv_bridge handles
self.cv_bridge = CvBridge()
self.person_bbox = BoundingBox()
# ROS PARAM
self.m_pub_threshold = rospy.get_param('~pub_threshold', 0.70)
# detect width height
self.WIDTH = 50
self.HEIGHT = 50
# Publish
self.pub_cmd = rospy.Publisher('cmd_vel', Twist, queue_size=10)
# Twist 型のデータ
self.t = Twist()
# Subscribe
sub_camera_rgb = rospy.Subscriber('/camera/color/image_raw', Image, self.CamRgbImageCallback)
sub_camera_depth = rospy.Subscriber('/camera/aligned_depth_to_color/image_raw', Image, self.CamDepthImageCallback)
sub_darknet_bbox = rospy.Subscriber('/darknet_ros/bounding_boxes', BoundingBoxes, self.DarknetBboxCallback)
return
def compute_predicted_bounding_box(self):
times = []
x_samples = []
y_samples = []
last_box = None
# figure out first and last "real" bounding_box samples
for sample in self.bounding_boxes:
if sample[1] is not None:
last_box = sample[1]
times.append(sample[0])
ctr = center_of_bounding_box(sample[1])
x_samples.append(ctr[0])
y_samples.append(ctr[1])
if len(times) < 3:
return None
x_m, x_b = np.polyfit(times, x_samples, 1)
y_m, y_b = np.polyfit(times, y_samples, 1)
# figure out average bounding_box change per unit time
# compute the expected offset
t = rospy.get_time()
pred_ctr = np.array([x_m * t + x_b, y_m * t + y_b])
offset_ctr = pred_ctr - center_of_bounding_box(last_box)
# add this to the most recent sample to get a prediction
time_since_last_sample = t - times[-1]
prediction_confidence = max(
0, last_box.probability -
time_since_last_sample / CONFIDENCE_DECAY_TIME)
return BoundingBox(Class="person",
probability=prediction_confidence,
xmin=last_box.xmin + offset_ctr[0],
xmax=last_box.xmax + offset_ctr[0],
ymin=last_box.ymin + offset_ctr[1],
ymax=last_box.ymax + offset_ctr[1])
def camera_image_callback(self, image, camera):
"""Gets images from camera to generate detections on
Computes where the bounding boxes should be in the image, and
fakes YOLO bounding boxes output as well as publishing a debug
image showing where the detections are if turned on
Parameters
----------
image : sensor_msgs.Image
The image from the camera to create detections for
camera : Camera
Holds camera parameters for projecting points
"""
cv_image = self.bridge.imgmsg_to_cv2(image, desired_encoding="rgb8")
if camera.is_ready():
# Fake darknet yolo detections message
bounding_boxes = BoundingBoxes()
bounding_boxes.header = image.header
bounding_boxes.image_header = image.header
bounding_boxes.image = image
bounding_boxes.bounding_boxes = []
for _, obj in self.objects.iteritems():
detections = self.get_detections(obj, camera, image.header.stamp)
if detections is not None:
if camera.debug_image_pub:
self.render_debug_context(cv_image, detections, camera)
for det in detections:
bounding_box = BoundingBox()
bounding_box.Class = det[2]
bounding_box.probability = 1.0
bounding_box.xmin = int(det[0][0])
bounding_box.xmax = int(det[0][1])
bounding_box.ymin = int(det[0][2])
bounding_box.ymax = int(det[0][3])
bounding_boxes.bounding_boxes.append(bounding_box)
# Only publish detection if there are boxes in it
if bounding_boxes.bounding_boxes:
self.darknet_detection_pub.publish(bounding_boxes)
if camera.debug_image_pub:
image_message = self.bridge.cv2_to_imgmsg(cv_image, encoding="rgb8")
camera.debug_image_pub.publish(image_message)
def DarknetBboxCallback(self, darknet_bboxs):
bboxs = darknet_bboxs.bounding_boxes
person_bbox = BoundingBox()
if len(bboxs) != 0 :
for i, bb in enumerate(bboxs) :
if bboxs[i].Class == 'person' and bboxs[i].probability >= self.m_pub_threshold:
person_bbox = bboxs[i]
self.person_bbox = person_bbox
def __init__(self):
roscpp_initialize(sys.argv)
rospy.init_node('ur3_move', anonymous=True)
self.detected = {}
self.detected_names = rospy.get_param('/darknet_ros/yolo_model/detection_classes/names')
self.object_pose_sub = rospy.Subscriber('/cluster_decomposer/centroid_pose_array',PoseArray,self.collectJsk)
self.listener = tf.TransformListener()
# self.object_name_sub = rospy.Subscriber('/darknet_ros/bounding_boxes',BoundingBoxes,self.collect)
self.tomatoboundingBox = BoundingBox()
display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path', moveit_msgs.msg.DisplayTrajectory,queue_size=20)
global goal_x
global goal_y
global goal_z
global goal_roll
global goal_pitch
global goal_yaw
self.distance = 0
self.trans = [0.0, 0.0, 0.0]
# self.marker = []
self.tomato = []
self.position_list = []
self.orientation_list = []
self.tomato_pose = Pose()
self.goalPoseFromTomato = Pose()
self.br = tf.TransformBroadcaster()
self.calculated_tomato = Pose()
self.scene = PlanningSceneInterface()
self.robot_cmd = RobotCommander()
self.robot_arm = MoveGroupCommander(GROUP_NAME_ARM)
self.robot_arm.set_goal_orientation_tolerance(0.005)
self.robot_arm.set_planning_time(5)
self.robot_arm.set_num_planning_attempts(5)
self.display_trajectory_publisher = display_trajectory_publisher
rospy.sleep(2)
# Allow replanning to increase the odds of a solution
self.robot_arm.allow_replanning(True)
def image_callback(self, msg):
# print("Received an image!")
try:
# Convert your ROS Image message to numpy image data type
cv2_img = np.frombuffer(msg.data, dtype=np.uint8).reshape(
msg.height, msg.width, -1)
image_ori = cv2.resize(cv2_img, (512, 512))
#remove alpha channel if it exists
if image_ori.shape[-1] == 4:
image_ori = image_ori[..., :3]
#normalize the image
image = self.normalize(image_ori)
with torch.no_grad():
image = torch.Tensor(image)
if torch.cuda.is_available():
image = image.cuda()
boxes = self.model_.get_boxes(
image.permute(2, 0, 1).unsqueeze(0))
Boxes_msg = BoundingBoxes()
Boxes_msg.image_header = msg.header
Boxes_msg.header.stamp = rospy.Time.now()
for box in boxes[0]:
# print(box.confidence)
confidence = float(box.confidence)
box = (box.box * torch.Tensor([512] * 4)).int().tolist()
if confidence > 0.35:
cv2.rectangle(image_ori, (box[0], box[1]),
(box[2], box[3]), (255, 0, 0), 2)
cv2.putText(image_ori,
str(confidence)[:4], (box[0] - 2, box[1] - 2),
cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2)
# msg_frame = self.bridge.cv2_to_imgmsg(image_ori)
detection_box = BoundingBox()
# detection_box.Class=str(box.class_id)
detection_box.xmin = box[0]
detection_box.ymin = box[1]
detection_box.xmax = box[2]
detection_box.ymax = box[3]
detection_box.probability = confidence
Boxes_msg.bounding_boxes.append(detection_box)
msg_frame = self.bridge.cv2_to_imgmsg(image_ori)
self.img_pub.publish(msg_frame)
self.ret_pub.publish(Boxes_msg)
except CvBridgeError:
print("error")
if self.savefigure:
cv2.imwrite('new_image.jpeg', cv2_img)
print('save picture')
# self.detected_msg.data="Take a photo"
self.savefigure = False
def boxcallback(self, msg):
dets = []
for i in range(len(msg.bounding_boxes)):
bbox = msg.bounding_boxes[i]
dets.append(
np.array([
bbox.xmin, bbox.ymin, bbox.xmax, bbox.ymax,
bbox.probability
]))
dets = np.array(dets)
start_time = time.time()
trackers = self.update(dets)
cycle_time = time.time() - start_time
print(cycle_time)
r = BoundingBoxes()
rb = BoundingBox()
for d in range(len(trackers)):
rb.probability = 1
rb.xmin = trackers[d, 0]
rb.ymin = trackers[d, 1]
rb.xmax = trackers[d, 2]
rb.ymax = trackers[d, 3]
rb.id = trackers[d, 4]
rb.Class = 'tracked'
r.bounding_boxes.append(rb)
if self.img_in == 1 and self.display:
res = trackers[d].astype(np.int32)
rgb = self.colours[res[4] % 32, :] * 255
cv2.rectangle(self.img, (res[0], res[1]), (res[2], res[3]),
(rgb[0], rgb[1], rgb[2]), 2)
cv2.putText(self.img, "ID : %d" % (res[4]), (res[0], res[1]),
cv2.FONT_HERSHEY_SIMPLEX, 0.8, (200, 85, 200), 2)
if self.img_in == 1 and self.display:
try:
self.image = self.bridge.cv2_to_imgmsg(self.img, "bgr8")
self.image.header.stamp = rospy.Time.now()
self.pubimage.publish(self.image)
except CvBridgeError as e:
pass
r.header.stamp = rospy.Time.now()
self.pubb.publish(r)
return
def __init__(self):
self.detected = {}
self.detected_names = rospy.get_param(
'/darknet_ros/yolo_model/detection_classes/names')
self.object_pose_sub = rospy.Subscriber(
'/cluster_decomposer/centroid_pose_array', PoseArray,
self.collectJsk)
self.listener = tf.TransformListener()
self.trans = [0.0, 0.0, 0.0]
self.object_name_sub = rospy.Subscriber('/darknet_ros/bounding_boxes',
BoundingBoxes, self.collect)
self.tomatoboundingBox = BoundingBox()
def _write_message(self, detection_results, boxes, scores, classes):
""" populate output message with input header and bounding boxes information """
if boxes is None:
return None
for box, score, category in zip(boxes, scores, classes):
# Populate darknet message
left, bottom, right, top = box
detection_msg = BoundingBox()
detection_msg.xmin = left
detection_msg.xmax = right
detection_msg.ymin = top
detection_msg.ymax = bottom
detection_msg.probability = score
detection_msg.Class = category
detection_results.bounding_boxes.append(detection_msg)
return detection_results
def DarknetBboxCallback(self, darknet_bboxs):
bboxs = darknet_bboxs.bounding_boxes
person_bbox = BoundingBox()
bicycle_bbox = BoundingBox()
car_bbox = BoundingBox()
motorcycle_bbox = BoundingBox()
bus_bbox = BoundingBox()
truck_bbox = BoundingBox()
traffic_light_bbox = BoundingBox()
stop_sign_bbox = BoundingBox()
if len(bboxs) != 0:
for i, bb in enumerate(bboxs):
if bboxs[i].Class == 'person' and bboxs[
i].probability >= self.m_pub_threshold:
person_bbox = bboxs[i]
elif bboxs[i].Class == 'bicycle' and bboxs[
i].probability >= self.m_pub_threshold:
bicycle_bbox = bboxs[i]
elif bboxs[i].Class == 'car' and bboxs[
i].probability >= self.m_pub_threshold:
car_bbox = bboxs[i]
elif bboxs[i].Class == 'motorcycle' and bboxs[
i].probability >= self.m_pub_threshold:
motorcycle_bbox = bboxs[i]
elif bboxs[i].Class == 'bus' and bboxs[
i].probability >= self.m_pub_threshold:
bus_bbox = bboxs[i]
elif bboxs[i].Class == 'truck' and bboxs[
i].probability >= self.m_pub_threshold:
truck_bbox = bboxs[i]
elif bboxs[i].Class == "traffic light" and bboxs[
i].probability >= self.m_pub_threshold:
traffic_light_bbox = bboxs[i]
elif bboxs[i].Class == "stop sign" and bboxs[
i].probability >= self.m_pub_threshold:
stop_sign_bbox = bboxs[i]
self.person_bbox = person_bbox
self.bicycle_bbox = bicycle_bbox
self.car_bbox = car_bbox
self.motorcycle_bbox = motorcycle_bbox
self.bus_bbox = bus_bbox
self.truck_bbox = truck_bbox
self.traffic_light_bbox = traffic_light_bbox
self.stop_sign_bbox = stop_sign_bbox
def GetBBoxesMsg(self, label_file: str):
output_bboxes_msg = BoundingBoxes()
with open(label_file, 'r') as file:
id_ = 0
for line in file:
gt = line.split()
bbox_msg = BoundingBox()
#print(gt)
bbox_msg.xmin = int(gt[5])
bbox_msg.ymin = int(gt[6])
bbox_msg.xmax = int(gt[7])
bbox_msg.ymax = int(gt[8])
bbox_msg.id = id_
bbox_msg.Class = gt[0]
id_ += 1
output_bboxes_msg.bounding_boxes.append(bbox_msg)
return output_bboxes_msg
def __init__(self):
# cv_bridge handles
self.cv_bridge = CvBridge()
self.person_bbox = BoundingBox()
# ROS PARAM
self.m_pub_threshold = rospy.get_param('~pub_threshold', 0.40)
# Subscribe
sub_camera_rgb = rospy.Subscriber('/Sensor/RealSense435i/color/image_raw', Image, self.CamRgbImageCallback)
sub_camera_depth = rospy.Subscriber('/camera/aligned_depth_to_color/image_raw', Image, self.CamDepthImageCallback)
sub_darknet_bbox = rospy.Subscriber('/darknet_ros/bounding_boxes', BoundingBoxes, self.DarknetBboxCallback)
return
def msg(image, boxes):
"""
Create the Darknet BoundingBox[es] messages
"""
msg = BoundingBoxes()
msg.header = image.header
for (x, y, w, h) in boxes:
detection = BoundingBox()
detection.Class = "human"
detection.probability = 1 # Not really...
detection.xmin = x
detection.ymin = y
detection.xmax = x + w
detection.ymax = y + h
msg.boundingBoxes.append(detection)
return msg
def __init__(self):
smach.State.__init__(self, outcomes=['succeeded', 'aborted','option1','option2','option3'],
input_keys=['input_planning_group'])
self.detected = {}
self.detection_names = rospy.get_param('/darknet_ros/yolo_model/detection_classes/names')
self.object_pose_sub = rospy.Subscriber('/cluster_decomposer/centroid_pose_array', PoseArray, self.collectJsk)
self.listener = tf.TransformListener()
self.object_pose_sub = rospy.Subscriber('/darknet_ros/bounding_boxes', BoundingBoxes, self.collect)
self.cupboundingBox = BoundingBox()
self.set_joint_position = rospy.ServiceProxy('/open_manipulator/goal_joint_space_path', SetJointPosition)
self.set_kinematics_position = rospy.ServiceProxy('/open_manipulator/goal_task_space_path_position_only', SetKinematicsPose)
self.set_joint_position_from_present = rospy.ServiceProxy('/open_manipulator/goal_joint_space_path_from_present', SetJointPosition)
self.open_manipulator_joint_states_sub_ = rospy.Subscriber('/open_manipulator/joint_states', JointState, self.jointStatesCallback)
self.open_manipulator_kinematics_pose_sub_ = rospy.Subscriber('/open_manipulator/gripper/kinematics_pose', KinematicsPose, self.kinematicsPoseCallback)
self.open_manipulator_states_ = rospy.Subscriber('/open_manipulator/states', OpenManipulatorState, self.StatesCallback)
self.last_detect_time = rospy.get_rostime()
self.jointStates = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.kinematicsStates = [0.0, 0.0, 0.0]
rospy.logwarn(' cheersActionByYoloJsk ')
self.trans = [0.0 , 0.0 , 0.0]
self.command_Key_sub = rospy.Subscriber('command_Key', String, self.commandKeyCallback)
self.mode = 9
self.last_detect_time = rospy.get_rostime()
self.last_yolodetect_time = rospy.get_rostime()
self.open_manipulator_moving_state = "STOPPED"
self.StepCupTracking = Enum('StepCupTracking',
'waiting_signal \
go_backward_location \
wait_detecting_tf_of_cup \
go_base_location \
go_tf_location_of_cup \
wait_finish_movement \
close_cup \
kick_cup \
exit')
self.pre_step = self.StepCupTracking.exit.value
#self.step = self.StepCupTracking.waiting_signal.value
self.step = self.StepCupTracking.go_backward_location.value
def __init__(self):
rospy.init_node("calibration", anonymous=False)
rospy.Subscriber("lidar_pub", PointCloud, self.get_lidar)
rospy.Subscriber("obstacles", Obstacles, self.get_obstacles)
rospy.Subscriber("/darknet_ros/bounding_boxes", BoundingBoxes,
self.get_bbox)
self.lidar_msg = PointCloud()
self.obstacle_msg = Obstacles()
self.new_obstacle = Obstacles()
self.bbox_msg = BoundingBox()
self.flag = False
self.camera_matrix = np.array([[1166.853156, 0.000000, 958.517180],
[0.000000, 1172.932471, 556.692563],
[0.000000, 0.000000, 1.000000]])
rate = rospy.Rate(10)
while not rospy.is_shutdown():
self.circle_z()
rate.sleep()
def timercb(event):
global seq_prev
global detectedBoxes
global automode
global state_prev
global state_pp
if automode == 0:
state_prev = 0 #reset
state_pp = 0 #reset
return None
if detectedBoxes.header.seq == seq_prev:
#if no new objects detected at all
pub_pidEn.publish(0)
rospy.loginfo('Timercb: No detection since prev')
#Nd publish zero vel?
twist = Twist()
pub.publish(twist)
return None
seq_prev = detectedBoxes.header.seq
corridorBox = BoundingBox()
firstCorridor = 1
for box in detectedBoxes.bounding_boxes:
if box.Class == 'corridor':
if firstCorridor == 1:
corridorBox = box
firstCorridor += 1
if ((box.xmax - box.xmin) <
(corridorBox.xmax - corridorBox.xmin)): #Finding smallest box
corridorBox = box
if corridorBox.Class == "":
pub_pidEn.publish(0)
twist = Twist()
pub.publish(twist)
rospy.loginfo('Timercb: Detected but no corridor')
else:
pub_pidEn.publish(1)
corridorCent = (corridorBox.xmin + corridorBox.xmax) / 2
pub_state.publish(0.6 * corridorCent + 0.3 * state_prev +
0.1 * state_pp) #smoothing
state_pp = state_prev
state_prev = corridorCent
def __init__(self):
# cv_bridge handles
self.cv_bridge = CvBridge()
self.person_bbox = BoundingBox()
# ROS PARAM
self.m_pub_threshold = rospy.get_param('~pub_threshold', 0.40)
# Subscribe
sub_camera_rgb = rospy.Subscriber('/camera/rgb/image_raw', Image,
self.CamRgbImageCallback)
sub_camera_depth = rospy.Subscriber('/camera/depth/image_raw', Image,
self.CamDepthImageCallback)
sub_darknet_bbox = rospy.Subscriber('/darknet_ros/bounding_boxes',
BoundingBoxes,
self.DarknetBboxCallback)
self._pub = rospy.Publisher('depth', some_position, queue_size=10)
self._msg = some_position()
return
def bbCallback(self, data):
rospy.loginfo("BBox callback")
buoybbs = []
bbs = data.bounding_boxes
for bb in bbs:
bb = BoundingBox()
if bb['class'] == 0 and bb['probability'] > 0.5:
buoybb = {'class': bb['class'],
'probability': bb['probability'],
'x': bb['x'], 'y': bb['y'],
'w': bb['w'], 'h': bb['h']}
buoybbs.append(buoybb)
if buoybbs:
nearestBuoy = self.nearestBuoy(buoybbs)
rospy.loginfo("nearest buoy")
rospy.loginfo(nearestBuoy)
goalX = (nearestBuoy['x'] - 640) * self.Kx
goalY = (nearestBuoy['y'] - 320) * self.Ky + self.pressure
resultX = self.send_goal('depthServer', depthAction, depthGoal(depth_setpoint=goalY))
resultY = self.send_goal('swayServer', timeAction, timeGoal(time_setpoint=goalX))
if resultX == "depthServerReached" and resultY == "swayServerReached":
self.buoySuccess = True
def test_tracker_callback(self):
args = None
rclpy.init(args=args)
node = ObjectTrackingNode()
bboxes_msg = BoundingBoxes()
for track in self.tracks:
bbox_msg = BoundingBox()
bbox_msg.xmin = track["x1"]
bbox_msg.ymin = track["y1"]
bbox_msg.xmax = track["x2"]
bbox_msg.ymax = track["y2"]
bboxes_msg.bounding_boxes.append(bbox_msg)
node.tracker_callback(bboxes_msg)
from moveit_commander import PlanningSceneInterface, roscpp_initialize, roscpp_shutdown from geometry_msgs.msg import * from moveit_msgs.msg import Grasp, GripperTranslation, PlaceLocation, MoveItErrorCodes, CollisionObject from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint from tf.transformations import euler_from_quaternion, quaternion_from_euler import random from std_srvs.srv import Empty GROUP_NAME_ARM = "manipulator" FIXED_FRAME = 'world' ############################################# # Global Variables # ############################################# bbox = BoundingBox() pre_bbox = BoundingBox() pc = PointCloud2() center = Vector3() point = Vector3() points = [] depth = 0.0 ''' goal_x = 0.0 goal_y = 0.0 goal_z = 0.0 ''' def bbox_callback(msg):
#!/usr/bin/env python
import rospy
from std_msgs.msg import Float64
from std_msgs.msg import Bool
from darknet_ros_msgs.msg import BoundingBox
from darknet_ros_msgs.msg import BoundingBoxes
from geometry_msgs.msg import Twist
detectedBoxes = BoundingBoxes()
detectedBoxes.header.seq = 1
corridorBox = BoundingBox()
def callback(data):
global automode
if (automode == False):
pub_pidEn.publish(0)
return None
global detectedBoxes
detectedBoxes = data
#rospy.loginfo(detectedBoxes.header.seq)
def timercb(event):
global seq_prev
global detectedBoxes
global automode
global state_prev
global state_pp
if __name__ == '__main__':
colours = np.random.rand(32, 3) #used only for display
mot_tracker = Sort(max_age=200, min_hits=1) #create instance of the SORT tracker
while True:
try:
start_time = time.time()
if mot_tracker.bbox_checkin==1:
trackers = mot_tracker.update(mot_tracker.dets)
mot_tracker.bbox_checkin=0
else:
trackers = mot_tracker.update(np.empty((0,5)))
r = BoundingBoxes()
for d in range(len(trackers)):
rb = BoundingBox()
rb.probability=1
rb.xmin = int(trackers[d,0])
rb.ymin = int(trackers[d,1])
rb.xmax = int(trackers[d,2])
rb.ymax = int(trackers[d,3])
rb.id = int(trackers[d,4])
rb.Class = 'tracked'
r.bounding_boxes.append(rb)
if mot_tracker.img_in==1 and mot_tracker.display:
res = trackers[d].astype(np.int32)
rgb=colours[res[4]%32,:]*255
cv2.rectangle(mot_tracker.img, (res[0],res[1]), (res[2],res[3]), (rgb[0],rgb[1],rgb[2]), 6)
cv2.putText(mot_tracker.img, "ID : %d"%(res[4]), (res[0],res[1]), cv2.FONT_HERSHEY_SIMPLEX, 1.6, (200,85,200), 6)
if mot_tracker.img_in==1 and mot_tracker.display:
try :
def resultCallback(self, msg):
#if self.is_turn_angular and self.is_turn_linear and self.is_pub_nav2arm == False:
if self.is_turn_linear and self.is_pub_nav2arm == False:
nav2arm_msg = String()
nav2arm_msg.data = 'catch'
print('catch')
self.pub_nav2arm.publish(nav2arm_msg)
self.is_pub_nav2arm = True
if self.is_get_image:
boundingbox = BoundingBox()
boundingbox = msg.bounding_boxes
#wprint(boundingbox)
for bx in boundingbox:
if bx.Class == 'bottle':
xmin = bx.xmin
xmax = bx.xmax
ymin = bx.ymin
ymax = bx.ymax
middle_x = (xmin + xmax) / 2
self.is_find_bottle = True
if self.is_find_bottle:
if self.is_turn_angular == False:
if middle_x - 320 > 50:
self.twist_msg.angular.z = -0.3
self.pub_twist.publish(self.twist_msg)
self.is_get_image = False
elif middle_x - 320 > 10:
self.twist_msg.angular.z = -0.1
self.pub_twist.publish(self.twist_msg)
self.is_get_image = False
elif middle_x - 320 < -50:
self.twist_msg.angular.z = 0.3
self.pub_twist.publish(self.twist_msg)
self.is_get_image = False
elif middle_x - 320 < -10:
self.twist_msg.angular.z = 0.1
self.pub_twist.publish(self.twist_msg)
self.is_get_image = False
else:
self.is_turn_angular = True
self.is_get_image = False
print('[INFO] The Angular is Correct')
if self.is_turn_angular and self.is_turn_linear == False:
self.avg_depth = 0.0
count = (xmax - xmin) * (ymax - ymin)
for i in range(int(xmin), int(xmax)):
for j in range(int(ymin), int(ymax)):
tmp_depth = self.depth_img[i, j]
print(tmp_depth)
if tmp_depth > 1000:
count = count - 1
else:
self.avg_depth = self.avg_depth + tmp_depth
self.avg_depth = self.avg_depth / count
#print(self.avg_depth)
if self.avg_depth - 5 > 500:
self.twist_msg.linear.x = 0.3
self.pub_twist.publish(self.twist_msg)
self.is_get_image = False
elif self.avg_depth - 5 > 5:
self.twist_msg.linear.x = 0.1
self.pub_twist.publish(self.twist_msg)
self.is_get_image = False
elif self.avg_depth - 5 < -500:
self.twist_msg.linear.x = -0.3
self.pub_twist.publish(self.twist_msg)
self.is_get_image = False
elif self.avg_depth - 5 < -5:
self.twist_msg.linear.x = -0.1
self.pub_twist.publish(self.twist_msg)
self.is_get_image = False
else:
self.is_turn_linear = True
self.is_get_image = False
print('[INFO] The Distance is Correct')
else:
print('[INFO] Cannot Find Target Object')
else:
print('[INFO] Cannot Get Valid Image')
0.7, 2) # Get font size
label_ymin = max(
ymin, labelSize[1] +
10) # Make sure not to draw label too close to top of window
cv2.rectangle(frame, (xmin, label_ymin - labelSize[1] - 10),
(xmin + labelSize[0], label_ymin + baseLine - 10),
(255, 255, 255),
cv2.FILLED) # Draw white box to put label text in
cv2.putText(frame, label, (xmin, label_ymin - 7),
cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 0),
2) # Draw label text
boundingbox = BoundingBox(xmin=xmin,
xmax=xmax,
ymin=ymin,
ymax=ymax,
id=id_count,
Class=object_name,
probability=scores[i])
Boxes.append(boundingbox)
id_count = id_count + 1
################################################################
#
# BoundingBox Publish Start
#
################################################################
array_forPublish = BoundingBoxes(bounding_boxes=Boxes)
motor.publish(array_forPublish)
