def main(self):
import argparse
parser = argparse.ArgumentParser(description='DWA Demo')
parser.add_argument('--save', dest='save', action='store_true')
parser.set_defaults(save=False)
args = parser.parse_args()
if args.save:
import imageio
writer = imageio.get_writer('./dwa.gif', mode='I', duration=0.05)
while True:
prev_time = time.time()
self.map = np.zeros((600, 600, 3), dtype=np.uint8)
for point in self.draw_points:
cv2.circle(self.map, tuple(point), 4, (255, 255, 255), -1)
if self.goal is not None:
cv2.circle(self.map, (int(self.goal[0]*10), int(self.goal[1]*10)),
4, (0, 255, 0), -1)
if len(self.point_cloud):
# Planning
self.vel = dwa.planning(self.pose, self.vel, self.goal,
np.array(self.point_cloud, np.float32), self.config)
# Simulate motion
self.pose = dwa.motion(self.pose, self.vel, self.config.dt)
pose = np.ndarray((3,))
pose[0:2] = np.array(self.pose[0:2]) * 10
pose[2] = self.pose[2]
base = np.array(self.base) * 10
base[0:2] += pose[0:2]
base[2:4] += pose[0:2]
# Not the correct rectangle but good enough for the demo
width = base[2] - base[0]
height = base[3] - base[1]
rect = ((pose[0], pose[1]), (width, height), np.degrees(pose[2]))
box = cv2.boxPoints(rect)
box = np.int0(box)
cv2.drawContours(self.map,[box],0,(0,0,255),-1)
fps = int(1.0 / (time.time() - prev_time))
cv2.putText(self.map, f'FPS: {fps}', (20, 30),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
cv2.putText(self.map, f'Point Cloud Size: {len(self.point_cloud)}',
(20, 60), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
if args.save:
writer.append_data(self.map)
cv2.imshow('cvwindow', self.map)
key = cv2.waitKey(1)
if key == 27:
break
elif key == ord('r'):
self.point_cloud = []
self.draw_points = []
if args.save:
writer.close()
def generate():
while True:
frame = np.ones((600, 600, 3), dtype=np.uint8)
time.sleep(0.01)
for point in self.draw_points:
cv2.circle(frame, tuple(point), 4, (255, 255, 255), -1)
if self.goal is not None:
cv2.circle(
frame,
(int(self.goal[0] * 10), int(self.goal[1] * 10)), 4,
(0, 255, 0), -1)
if len(self.point_cloud):
# Planning
self.vel = dwa.planning(
self.pose, self.vel, self.goal,
np.array(self.point_cloud, np.float32),
self.config)
# Simulate motion
self.pose = dwa.motion(self.pose, self.vel,
self.config.dt)
pose = np.ndarray((3, ))
pose[0:2] = np.array(self.pose[0:2]) * 10
pose[2] = self.pose[2]
base = np.array(self.base) * 10
base[0:2] += pose[0:2]
base[2:4] += pose[0:2]
# Not the correct rectangle but good enough for the demo
width = base[2] - base[0]
height = base[3] - base[1]
rect = ((pose[0], pose[1]), (width, height),
np.degrees(pose[2]))
box = cv2.boxPoints(rect)
box = np.int0(box)
cv2.drawContours(frame, [box], 0, (0, 0, 255), -1)
enc_frame = cv2.imencode('.jpg', frame)[1].tobytes()
yield (b'\r\n' + b'--frame\r\n'
b'Content-Type: image/jpeg\r\n\r\n' + enc_frame +
b'\r\n')
def evaluate(self, point_cloud):
# self.point_cloud = point_cloud
if self.goal:
self.vel = dwa.planning(self.pose, self.vel, self.goal,
np.array(self.point_cloud, np.float32),
self.config)
self.pose = dwa.motion(self.pose, self.vel, self.config.dt)
self.count += 1
print(self.count, 'virtual robot pose:', self.pose)
distance = math.hypot(self.goal[0] - self.pose[0],
self.goal[1] - self.pose[1])
if distance < 3:
print('virtual target got')
self.goal = None
return self.pose
def main(self):
image = cv2.imread('sample_0.png')
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
h,w,d = image.shape
top = int(h*0.6)
gray[0:top, 0:w] = 0
# roi = gray[top:h, 0:w]
ret, thresh = cv2.threshold(gray, 127, 255, 0)
edges = cv2.Canny(thresh, 10, 150, apertureSize=3)
contours, hierarchy = cv2.findContours(edges, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
lines = cv2.polylines(image, contours, False, (255, 0, 0), 1)
print("contours len: ", len(contours), contours)
for contour in contours:
for c in contour:
for pt in c:
#print("point: ", contour[0][0])
self.draw_points.append(pt)
self.point_cloud.append(pt)
#cv2.circle(image, tuple(contour[0][0]), 5, (255, 255, 255), -1)
#print("drawpoints: ", self.draw_points)
print("point cloud len:", len(self.point_cloud))
self.pose = (w/20, 70.0, 0)
while True:
prev_time = time.time()
self.map = np.zeros((720, 1280, 3), dtype=np.uint8)
for point in self.draw_points:
cv2.circle(self.map, tuple(point), 5, (255, 255, 255), -1)
if self.goal is not None:
cv2.circle(self.map, (int(self.goal[0]*10), int(self.goal[1]*10)),
4, (0, 255, 0), -1)
if len(self.point_cloud):
# Planning
self.vel = dwa.planning(self.pose, self.vel, self.goal,
np.array(self.point_cloud, np.float32), self.config)
# Simulate motion
self.pose = dwa.motion(self.pose, self.vel, self.config.dt)
pose = np.ndarray((3,))
pose[0:2] = np.array(self.pose[0:2]) * 10
pose[2] = self.pose[2]
base = np.array(self.base) * 10
base[0:2] += pose[0:2]
base[2:4] += pose[0:2]
# Not the correct rectangle but good enough for the demo
width = base[2] - base[0]
height = base[3] - base[1]
rect = ((pose[0], pose[1]), (width, height), np.degrees(pose[2]))
box = cv2.boxPoints(rect)
box = np.int0(box)
cv2.drawContours(self.map,[box],0,(0,0,255),-1)
fps = int(1.0 / (time.time() - prev_time))
cv2.putText(self.map, f'FPS: {fps}', (20, 30),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
cv2.putText(self.map, f'Point Cloud Size: {len(self.point_cloud)}',
(20, 60), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
cv2.imshow('frame', image)
cv2.imshow('demo', self.map)
k = cv2.waitKey(1)
if k%256 == 27:
break
cv2.destroyAllWindows
def main(self):
cap=cv2.VideoCapture('J_shape_wideangle.avi')
while(cap.isOpened()):
self.point_cloud = []
self.draw_points = []
prev_time = time.time()
ret, frame=cap.read()
# if ret != True:
# break
self.ctr += 1
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
h,w,d = frame.shape
top = int(h*0.6)
gray[0:top, 0:w] = 0
ret, thresh = cv2.threshold(gray, 127, 255, 0)
edges = cv2.Canny(thresh, 10, 150, apertureSize=3)
contours, hierarchy = cv2.findContours(edges, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
cv2.polylines(frame, contours, False, (255, 0, 0), 2)
if self.ctr%10 == 0:
for contour in contours:
for c in contour:
for pt in c:
#print("point: ", contour[0][0])
self.draw_points.append(pt)
self.point_cloud.append(pt)
#print("drawpoints: ", self.draw_points)
self.map = np.zeros((720, 1280, 3), dtype=np.uint8)
for point in self.draw_points:
cv2.circle(frame, tuple(point), 5, (255, 255, 255), -1)
if self.goal is not None:
cv2.circle(frame, (int(self.goal[0]*10), int(self.goal[1]*10)),
4, (0, 255, 0), -1)
if len(self.point_cloud):
# Planning
self.vel = dwa.planning(self.pose, self.vel, self.goal,
np.array(self.point_cloud, np.float32), self.config)
print(self.vel)
# Simulate motion
self.pose = dwa.motion(self.pose, self.vel, self.config.dt)
pose = np.ndarray((3,))
pose[0:2] = np.array(self.pose[0:2]) * 10
pose[2] = self.pose[2]
base = np.array(self.base) * 10
base[0:2] += pose[0:2]
base[2:4] += pose[0:2]
# Not the correct rectangle but good enough for the demo
width = base[2] - base[0]
height = base[3] - base[1]
rect = ((pose[0], pose[1]), (width, height), np.degrees(pose[2]))
box = cv2.boxPoints(rect)
box = np.int0(box)
cv2.drawContours(frame,[box],0,(0,0,255),-1)
fps = int(1.0 / (time.time() - prev_time))
cv2.putText(frame, f'FPS: {fps}', (20, 30),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
cv2.putText(frame, f'Point Cloud Size: {len(self.point_cloud)}',
(20, 60), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
# cv2.imshow('demo', self.map)
cv2.imshow('frame', frame)
k = cv2.waitKey(1)
if k%256 == 27:
print("[INFO] ESC hit, closing...")
break
elif k == ord('r'):
self.point_cloud = []
self.draw_points = []
