class Gui(QtGui.QMainWindow):
"""
Main GUI Class
It contains the main function and interfaces between
the GUI and functions
"""
def __init__(self,parent=None):
QtGui.QWidget.__init__(self,parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
""" Main Variables Using Other Classes"""
self.rex = Rexarm()
self.video = Video(cv2.VideoCapture(0))
self.world_coord = np.float32()
""" Play and Repeat Variable """
self.wayPoints = []
self.wayPointsPos = []
self.wayPointsSpeed = []
self.wayPointsTime = []
""" Other Variables """
self.last_click = np.float32([-1,-1])
self.define_template_flag = -1
self.click_point1 = np.float32([-1,-1])
self.click_point2 = np.float32([-1,-1])
self.template = None
self.targets = []
self.waypointsfp = csv.writer(open("waypoint.csv","wb"))
self.currtime = 0
""" Set GUI to track mouse """
QtGui.QWidget.setMouseTracking(self,True)
"""
Video Function
Creates a timer and calls play() function
according to the given time delay (27mm)
"""
self._timer = QtCore.QTimer(self)
self._timer.timeout.connect(self.play)
self._timer.start(27)
"""
LCM Arm Feedback
Creates a timer to call LCM handler continuously
No delay implemented. Reads all time
"""
self._timer2 = QtCore.QTimer(self)
self._timer2.timeout.connect(self.rex.get_feedback)
self._timer2.start()
"""
ARM Plan and Command Thread
Creates a timer to call REXARM.plan_command function continuously
"""
self._timer3 = QtCore.QTimer(self)
self._timer3.timeout.connect(self.rex.plan_command)
self._timer3.start()
"""
Connect Sliders to Function
TO DO: CONNECT THE OTHER 5 SLIDERS IMPLEMENTED IN THE GUI
"""
self.ui.sldrBase.valueChanged.connect(self.slider_change)
self.ui.sldrShoulder.valueChanged.connect(self.slider_change)
self.ui.sldrElbow.valueChanged.connect(self.slider_change)
self.ui.sldrWrist.valueChanged.connect(self.slider_change)
self.ui.sldrMaxTorque.valueChanged.connect(self.slider_change)
self.ui.sldrSpeed.valueChanged.connect(self.slider_change)
""" Commands the arm as the arm initialize to 0,0,0,0 angles """
self.slider_change()
""" Connect Buttons to Functions """
self.ui.btnLoadCameraCal.clicked.connect(self.load_camera_cal)
self.ui.btnPerfAffineCal.clicked.connect(self.affine_cal)
self.ui.btnTeachRepeat.clicked.connect(self.tr_initialize)
self.ui.btnAddWaypoint.clicked.connect(self.tr_add_waypoint)
self.ui.btnSmoothPath.clicked.connect(self.tr_smooth_path)
self.ui.btnPlayback.clicked.connect(self.tr_playback)
self.ui.btnLoadPlan.clicked.connect(self.tr_load)
self.ui.btnDefineTemplate.clicked.connect(self.def_template)
self.ui.btnLocateTargets.clicked.connect(self.template_match)
self.ui.btnExecutePath.clicked.connect(self.exec_path)
def play(self):
"""
Play Funtion
Continuously called by GUI
"""
""" Renders the Video Frame """
try:
self.video.captureNextFrame()
for t in self.targets:
self.video.addTarget(t)
self.ui.videoFrame.setPixmap(self.video.convertFrame())
self.ui.videoFrame.setScaledContents(True)
cv2.imwrite("curretFrame.png", self.video.currentFrame)
except TypeError:
print "No frame"
"""
Update GUI Joint Coordinates Labels
TO DO: include the other slider labels
"""
self.ui.rdoutBaseJC.setText(str(self.rex.joint_angles_fb[0]*R2D))
self.ui.rdoutShoulderJC.setText(str(self.rex.joint_angles_fb[1]*R2D))
self.ui.rdoutElbowJC.setText(str(self.rex.joint_angles_fb[2]*R2D))
self.ui.rdoutWristJC.setText(str(self.rex.joint_angles_fb[3]*R2D))
fk_result = self.rex.rexarm_FK(3)
#print fk_result
self.ui.rdoutX.setText(repr(fk_result[0]))
self.ui.rdoutY.setText(repr(fk_result[1]))
self.ui.rdoutZ.setText(repr(fk_result[2]))
self.ui.rdoutT.setText(repr(fk_result[3]))
"""
Mouse position presentation in GUI
TO DO: after getting affine calibration make the apprriate label
to present the value of mouse position in world coordinates
"""
x = QtGui.QWidget.mapFromGlobal(self,QtGui.QCursor.pos()).x()
y = QtGui.QWidget.mapFromGlobal(self,QtGui.QCursor.pos()).y()
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)):
self.ui.rdoutMousePixels.setText("(-,-)")
self.ui.rdoutMouseWorld.setText("(-,-)")
else:
x = x - MIN_X
y = y - MIN_Y
self.ui.rdoutMousePixels.setText("(%.0f,%.0f)" % (x,y))
if (self.video.aff_flag == 2):
""" TO DO Here is where affine calibration must be used """
self.ui.rdoutMouseWorld.setText("(%0.f,%0.f)" % (self.world_coord[0][0], self.world_coord[1][0]))
else:
self.ui.rdoutMouseWorld.setText("(-,-)")
"""
Updates status label when rexarm playback is been executed.
This will be extended to includ eother appropriate messages
"""
if(self.rex.plan_status == 1):
self.ui.rdoutStatus.setText("Playing Back - Waypoint %d"
%(self.rex.wpt_number + 1))
def slider_change(self):
"""
Function to change the slider labels when sliders are moved
and to command the arm to the given position
TO DO: Implement for the other sliders
"""
self.ui.rdoutBase.setText(str(self.ui.sldrBase.value()))
self.ui.rdoutShoulder.setText(str(self.ui.sldrShoulder.value()))
self.ui.rdoutElbow.setText(str(self.ui.sldrElbow.value()))
self.ui.rdoutWrist.setText(str(self.ui.sldrWrist.value()))
self.ui.rdoutTorq.setText(str(self.ui.sldrMaxTorque.value()) + "%")
self.ui.rdoutSpeed.setText(str(self.ui.sldrSpeed.value()) + "%")
self.rex.max_torque = self.ui.sldrMaxTorque.value()/100.0
for i in xrange(4):
self.rex.speed[i] = self.ui.sldrSpeed.value()/100.0
self.rex.joint_angles[0] = self.ui.sldrBase.value()*D2R
self.rex.joint_angles[1] = self.ui.sldrShoulder.value()*D2R
self.rex.joint_angles[2] = self.ui.sldrElbow.value()*D2R
self.rex.joint_angles[3] = self.ui.sldrWrist.value()*D2R
self.rex.cmd_publish()
def mousePressEvent(self, QMouseEvent):
"""
Function used to record mouse click positions for
affine calibration
"""
""" Get mouse posiiton """
x = QMouseEvent.x()
y = QMouseEvent.y()
""" If mouse position is not over the camera image ignore """
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)): return
""" Change coordinates to image axis """
self.last_click[0] = x - MIN_X
self.last_click[1] = y - MIN_Y
""" If affine calibration is been performed """
if (self.video.aff_flag == 1):
""" Save last mouse coordinate """
self.video.mouse_coord[self.video.mouse_click_id] = [(x-MIN_X),(y-MIN_Y)]
""" Update the number of used poitns for calibration """
self.video.mouse_click_id += 1
""" Update status label text """
self.ui.rdoutStatus.setText("Affine Calibration: Click point %d"
%(self.video.mouse_click_id + 1))
"""
If the number of click is equal to the expected number of points
computes the affine calibration.
TO DO: Change this code to use you programmed affine calibration
and NOT openCV pre-programmed function as it is done now.
"""
if(self.video.mouse_click_id == self.video.aff_npoints):
"""
Update status of calibration flag and number of mouse
clicks
"""
self.video.aff_flag = 2
self.video.mouse_click_id = 0
print self.video.mouse_coord
print self.video.real_coord
""" Perform affine calibration with OpenCV """
#self.video.aff_matrix = cv2.getAffineTransform(
# self.video.mouse_coord,
# self.video.real_coord)
self.video.compute_affine_matrix()
""" Updates Status Label to inform calibration is done """
self.ui.rdoutStatus.setText("Waiting for input")
"""
Uncomment to gether affine calibration matrix numbers
on terminal
"""
print self.video.aff_matrix
if self.video.aff_flag == 2:
mouse_coord = np.array([[(x-MIN_X)], [(y-MIN_Y)],[1]])
self.world_coord = np.dot(self.video.aff_matrix, mouse_coord)
if self.define_template_flag == 0:
self.click_point1 = copy.deepcopy(self.last_click)
self.define_template_flag = 1
elif self.define_template_flag == 1:
self.click_point2 = copy.deepcopy(self.last_click)
self.template = copy.deepcopy(self.video.bwFrame[2*self.click_point1[1]:2*self.click_point2[1],2*self.click_point1[0]:2*self.click_point2[0]])
print self.click_point1
print self.click_point2
self.define_template_flag = -1
cv2.imwrite('./template.png', self.template)
def affine_cal(self):
"""
Function called when affine calibration button is called.
Note it only chnage the flag to record the next mouse clicks
and updates the status text label
"""
self.video.aff_flag = 1
self.ui.rdoutStatus.setText("Affine Calibration: Click point %d"
%(self.video.mouse_click_id + 1))
def load_camera_cal(self):
print "Load Camera Cal"
self.video.loadCalibration()
def tr_initialize(self):
self.wayPointsPos = []
self.wayPointsSpeed = []
self.wayPointsTime = []
print "Teach and Repeat"
def tr_add_waypoint(self):
#waypoints1 = copy.deepcopy(self.rex.joint_angles_fb)
#waypoints2 = copy.deepcopy(self.rex.joint_angles_fb)
#self.wayPointsPos.append(waypoints1)
#self.wayPointsTime.append([self.currtime, self.currtime, self.currtime, self.currtime])
#self.wayPointsSpeed.append([0.1, 0.1, 0.1, 0.1])
#self.currtime += 70000
#waypoints2[1] -= 0.7
#self.wayPointsPos.append(waypoints2)
#self.wayPointsTime.append([self.currtime, self.currtime, self.currtime, self.currtime])
#self.wayPointsSpeed.append([0.1, 0.1, 0.1, 0.1])
#self.currtime += 70000
#self.waypointsfp.writerow(waypoints1)
#self.waypointsfp.writerow(waypoints2)
#np.save("waypointsPos",self.wayPointsPos)
#np.save("waypointsSpeed", self.wayPointsSpeed)
#np.save("waypointsTime", self.wayPointsTime)
self.wayPointsPos.append(copy.deepcopy(self.rex.joint_angles_fb))
self.wayPointsSpeed.append(copy.deepcopy(self.rex.speed_fb))
self.wayPointsTime.append(copy.deepcopy(self.rex.time_fb))
np.save("waypointsPos",self.wayPointsPos)
np.save("waypointsSpeed", self.wayPointsSpeed)
np.save("waypointsTime", self.wayPointsTime)
#print self.wayPoints
print "Add Waypoint"
def cubic_spline(self, q0, q0dot, t0, qf, qfdot, tf, stepnum):
a0 = q0
a1 = q0dot
a2 = (3*(qf-q0) - (2*q0dot+qfdot)*float(tf-t0)) / float((tf-t0)*(tf-t0))
a3 = (2*(q0-qf) + (q0dot+qfdot)*float(tf-t0)) / float((tf-t0)*(tf-t0)*(tf-t0))
stepsize = float(tf-t0)/float(stepnum)
currtime = t0 + stepsize
pos_interpolated = []
speed_interpolated = []
for i in xrange(stepnum-1):
pos_interpolated.append(a0 + a1*currtime + a2*currtime*currtime + \
a3*currtime*currtime*currtime)
speed_interpolated.append(np.abs(a1 + 2*a2*currtime + 3*a3*currtime*currtime))
currtime += stepsize
#print q0, qf
#print pos_interpolated
return (pos_interpolated, speed_interpolated)
def tr_smooth_path(self):
if len(self.wayPointsPos) != len(self.wayPointsSpeed) and len(self.wayPointsPos) != len(self.wayPointsTime):
print "Error on waypoints number, cannot smooth path"
return
for i in xrange(len(self.wayPointsTime)):
for j in xrange(4):
self.wayPointsTime[i][j] *= US2S
for i in xrange(len(self.wayPointsSpeed)):
for j in xrange(4):
self.wayPointsSpeed[i][j] *= percent2rads
interpolated_waypoints_pos = []
interpolated_waypoints_speed = []
for i in xrange(len(self.wayPointsPos)-1):
time_offset = self.wayPointsTime[i]
startPos = self.wayPointsPos[i]
endPos = self.wayPointsPos[i+1]
startSpeed = self.wayPointsSpeed[i]
endSpeed = self.wayPointsSpeed[i+1]
startTime = self.wayPointsTime[i]
endTime = self.wayPointsTime[i+1]
stepnum = 3
four_joint_interpolated_pos = []
four_joint_interpolated_speed = []
for j in xrange(4):
q0 = startPos[j]
q0dot = startSpeed[j]
t0 = startTime[j] - time_offset[j]
qf = endPos[j]
qfdot = endSpeed[j]
tf = endTime[j] - time_offset[j]
res = self.cubic_spline(q0, q0dot, t0, qf, qfdot, tf, stepnum)
four_joint_interpolated_pos.append(res[0])
four_joint_interpolated_speed.append(res[1])
interpolated_waypoints_pos.append(startPos)
for i in xrange(len(four_joint_interpolated_pos[0])):
pos = []
for j in xrange(len(four_joint_interpolated_pos)):
pos.append(four_joint_interpolated_pos[j][i])
interpolated_waypoints_pos.append(pos)
interpolated_waypoints_pos.append(endPos)
interpolated_waypoints_speed.append(startSpeed)
for i in xrange(len(four_joint_interpolated_speed[0])):
speed = []
for j in xrange(len(four_joint_interpolated_speed)):
speed.append(four_joint_interpolated_speed[j][i])
interpolated_waypoints_speed.append(speed)
interpolated_waypoints_speed.append(endSpeed)
self.wayPointsPos = interpolated_waypoints_pos
self.wayPointsSpeed = interpolated_waypoints_speed
for i in xrange(len(self.wayPointsSpeed)):
for j in xrange(len(self.wayPointsSpeed[0])):
self.wayPointsSpeed[i][j] /= percent2rads
#pprint.pprint(self.wayPointsPos)
#pprint.pprint(self.wayPointsSpeed)
np.save("interpolated_waypoints_pos", self.wayPointsPos)
np.save("interpolated_waypoints_speed", self.wayPointsSpeed)
print "Smooth Path"
def tr_playback(self):
#print self.wayPoints
self.rex.planPos = self.wayPointsPos
self.rex.planSpeed = self.wayPointsSpeed
#print self.rex.plan
self.rex.save_data = True
self.rex.plan_status = 1
self.rex.wpt_number = 0
self.rex.wpt_total = len(self.rex.planPos)
print "Playback"
def tr_load(self):
self.wayPointsPos = np.load("waypointsPos.npy")
self.wayPointsSpeed = np.load("waypointsSpeed.npy")
self.wayPointsTime = np.load("waypointsTime.npy")
print "Load waypoints"
def def_template(self):
print "Define Template"
self.define_template_flag = 0
@do_cprofile
def template_match(self):
print "Template Match"
self.targets = []
result_pq = Queue.PriorityQueue()
template = cv2.resize(self.template, None, fx=0.6, fy=0.6, interpolation=cv2.INTER_AREA)
frame = cv2.resize(self.video.bwFrame, None, fx=0.6, fy=0.6, interpolation=cv2.INTER_AREA)
height, width = template.shape
for i in xrange(0, frame.shape[0] - height):
for j in xrange(0, frame.shape[1] - width):
center_x = (i + height/2.0)/0.6
center_y = (j + width/2.0)/0.6
to_compare = frame[i:i+height,j:j+width]
num = la.norm(to_compare - template)
result_pq.put((num, center_y, center_x))
result = []
#for i in xrange(40):
# t = result_pq.get()
# print t[0]
# result.append([int(t[1]), int(t[2])])
for i in xrange((frame.shape[0]-height)*(frame.shape[1]-width)):
t = result_pq.get()
if t[0] > 350:
break
else:
result.append([int(t[1]), int(t[2])])
distort = sys.maxint
cluster_size = 1
#print result
while distort > 20:
clustered_result, distort = scv.kmeans(np.array(result), cluster_size)
cluster_size += 1
clustered_result, distort = scv.kmeans(np.array(result), 4)
print "cluster_size: ", cluster_size-1
print "distort", distort
for r in clustered_result:
print r
self.targets.append((r[0], r[1]))
#circles = cv2.HoughCircles(self.video.bwFrame, cv2.cv.CV_HOUGH_GRADIENT, 1, minDist=5, param1=50, param2=50, minRadius=1, maxRadius=30)
#for c in circlesi[0,:]:
# print c
# self.targets.append((c[0],c[1]))
#img = np.zeros((1000,1000,3), np.uint8)
#for t in self.targets:
# img = cv2.circle(img, t, 10, (255,255,255), -1)
#cv2.imwrite("./result.png", img)
def exec_path(self):
#waypoints = [(-80.0, 90.0, 350.0), (70.0, 80.0, 400.0), (-180.0, -250.0, 125.0),(240.0, -190.0, 95.0), (-80.0, 90.0, 350.0)]
#waypoints = [(-100.0, 100.0, 5.0), (-100.0, 100.0, 200.0), (100.0, 100.0, 200.0),(100.0, 100.0, 5.0), (100.0, -100.0, 5.0), (100.0, -100.0, 200.0), (100.0, 100.0, 200.0)]
waypoints = []
for t in xrange(0,12,1):
x = 150 * np.cos(t)
y = 150 * np.sin(t)
z = 5.0 + 30.0 * t
waypoints.append((x, y, z))
#waypoints = []
#if not self.targets or len(self.targets) == 0:
# return
#for t in self.targets:
# img_coord = np.array([[(t[0]/2.0)], [(t[1]/2.0)], [1]])
# world_coord = np.dot(self.video.aff_matrix, img_coord)
# print "img coord: ", img_coord
# print "world coord: ", world_coord
# waypoints.append((world_coord[0], world_coord[1], 5))
print waypoints
self.wayPointsPos = []
self.wayPointsSpeed = []
self.wayPointsTime = []
for i in xrange(0, 3*len(waypoints), 3):
x, y, z = waypoints[i/3]
self.wayPointsPos.append(self.rex.rexarm_IK_Search((x,y,z)))
self.wayPointsSpeed.append(copy.deepcopy([0.15, 0.15, 0.15, 0.15]))
#jointsUp = self.rex.rexarm_IK_Search((x, y, 50.0))
#jointsDown = self.rex.rexarm_IK_Search((x, y, 0.0))
#if jointsUp:
# self.wayPointsPos.append(copy.deepcopy(jointsUp))
# self.wayPointsSpeed.append(copy.deepcopy([0.15, 0.15, 0.15, 0.15]))
# self.wayPointsTime.append([2000000*i,2000000*i,2000000*i,2000000*i])
#
#if jointsDown:
# self.wayPointsPos.append(copy.deepcopy(jointsDown))
# self.wayPointsSpeed.append(copy.deepcopy([0.05, 0.05, 0.05, 0.05]))
# self.wayPointsTime.append([2000000*(i+1),2000000*(i+1),2000000*(i+1),2000000*(i+1)])
#if jointsUp:
# self.wayPointsPos.append(copy.deepcopy(jointsUp))
# self.wayPointsSpeed.append(copy.deepcopy([0.05, 0.05, 0.05, 0.05]))
# self.wayPointsTime.append([2000000*(i+2),2000000*(i+2),2000000*(i+2),2000000*(i+2)])
np.save("funPathPos",self.wayPointsPos)
np.save("funPathSpeed", self.wayPointsSpeed)
np.save("funPathTime", self.wayPointsTime)
self.rex.planPos = self.wayPointsPos
self.rex.planSpeed = self.wayPointsSpeed
print self.rex.planPos
self.rex.save_data = True
self.rex.plan_status = 1
self.rex.wpt_number = 0
self.rex.wpt_total = len(self.rex.planPos)
class Gui(QtGui.QMainWindow):
"""
Main GUI Class
It contains the main function and interfaces between
the GUI and functions
"""
def __init__(self,parent=None):
QtGui.QWidget.__init__(self,parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
""" Main Variables Using Other Classes"""
self.rex = Rexarm()
self.video = Video(cv2.VideoCapture(0))
""" Other Variables """
self.last_click = np.float32([0,0])
""" Set GUI to track mouse """
QtGui.QWidget.setMouseTracking(self,True)
"""
Video Function
Creates a timer and calls play() function
according to the given time delay (27mm)
"""
self._timer = QtCore.QTimer(self)
self._timer.timeout.connect(self.play)
self._timer.start(27)
"""
LCM Arm Feedback
Creates a timer to call LCM handler continuously
No delay implemented. Reads all time
"""
self._timer2 = QtCore.QTimer(self)
self._timer2.timeout.connect(self.rex.get_feedback)
self._timer2.start()
"""
Connect Sliders to Function
TO DO: CONNECT THE OTHER 5 SLIDERS IMPLEMENTED IN THE GUI
"""
self.ui.sldrBase.valueChanged.connect(self.slider_change)
self.ui.sldrShoulder.valueChanged.connect(self.slider_change)
self.ui.sldrElbow.valueChanged.connect(self.slider_change)
self.ui.sldrWrist.valueChanged.connect(self.slider_change)
self.ui.sldrMaxTorque.valueChanged.connect(self.slider_change)
self.ui.sldrSpeed.valueChanged.connect(self.slider_change)
""" Commands the arm as the arm initialize to 0,0,0,0 angles """
self.slider_change()
""" Connect Buttons to Functions """
self.ui.btnLoadCameraCal.clicked.connect(self.load_camera_cal)
self.ui.btnPerfAffineCal.clicked.connect(self.affine_cal)
self.ui.btnTeachRepeat.clicked.connect(self.tr_initialize)
self.ui.btnAddWaypoint.clicked.connect(self.tr_add_waypoint)
self.ui.btnSmoothPath.clicked.connect(self.tr_smooth_path)
self.ui.btnPlayback.clicked.connect(self.tr_playback)
self.ui.btnDefineTemplate.clicked.connect(self.def_template)
self.ui.btnLocateTargets.clicked.connect(self.template_match)
self.ui.btnExecutePath.clicked.connect(self.exec_path)
self.ui.path_start_time = None
self.executed_path = []
self.get_template = 0
self.templat_point = None
self.donuts = []
def play(self):
"""
Play Funtion
Continuously called by GUI
"""
""" Renders the Video Frame """
try:
self.video.captureNextFrame()
self.ui.videoFrame.setPixmap(
self.video.convertFrame())
self.ui.videoFrame.setScaledContents(True)
except TypeError:
print "No frame"
"""
Update GUI Joint Coordinates Labels
TO DO: include the other slider labels
"""
self.ui.rdoutBaseJC.setText(str(self.rex.joint_angles_fb[0]*R2D))
self.ui.rdoutShoulderJC.setText(str(self.rex.joint_angles_fb[1]*R2D))
self.ui.rdoutElbowJC.setText(str(self.rex.joint_angles_fb[2]*R2D))
self.ui.rdoutWristJC.setText(str(self.rex.joint_angles_fb[3]*R2D))
t = [self.rex.joint_angles_fb[0],
self.rex.joint_angles_fb[1] - 90.0 * D2R,
self.rex.joint_angles_fb[2],
self.rex.joint_angles_fb[3]]
a = [0.0, 100.0, 100.0, 108.0]
d = [116.0, 0.0, 0.0, 0.0]
al = [-90.0 * D2R, 0.0 * D2R, 0.0 * D2R, 0.0 * D2R]
dh_table = [t,a,d,al]
(x, y, z, phi) = self.rex.rexarm_FK(dh_table, 3)
self.ui.rdoutX.setText(str(x))
self.ui.rdoutY.setText(str(y))
self.ui.rdoutZ.setText(str(z))
self.ui.rdoutT.setText(str(phi*R2D))
# res = self.rex.rexarm_IK((0.0,-275.0,80.0,0.0), 1)
# if res != None:
# self.rex.joint_angles[0] = res[0]
# self.rex.joint_angles[1] = res[1]
# self.rex.joint_angles[2] = res[2]
# self.rex.joint_angles[3] = res[3]
# self.rex.cmd_publish()
"""
Mouse position presentation in GUI
TO DO: after getting affine calibration make the apprriate label
to present the value of mouse position in world coordinates
"""
x = QtGui.QWidget.mapFromGlobal(self,QtGui.QCursor.pos()).x()
y = QtGui.QWidget.mapFromGlobal(self,QtGui.QCursor.pos()).y()
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)):
self.ui.rdoutMousePixels.setText("(-,-)")
self.ui.rdoutMouseWorld.setText("(-,-)")
else:
x = x - MIN_X
y = y - MIN_Y
self.ui.rdoutMousePixels.setText("(%.0f,%.0f)" % (x,y))
if (self.video.aff_flag == 2):
""" TO DO Here is where affine calibration must be used """
aff = self.video.aff_matrix
wx = x*aff[0][0] + y*aff[0][1] + aff[0][2]
wy = x*aff[1][0] + y*aff[1][1] + aff[1][2]
self.ui.rdoutMouseWorld.setText("(%.2f,%.2f)" %(wx,wy))
else:
self.ui.rdoutMouseWorld.setText("(-,-)")
"""
Updates status label when rexarm playback is been executed.
This will be extended to includ eother appropriate messages
THIS SHOULD BE LAST BECAUSE IT RETURNS EARLY!!!!!!!!
(Pedro don't be sad please)
"""
if(self.rex.plan_status == 1):
if self.rex.wpt_total == 0:
self.ui.rdoutStatus.setText("No waypoints!")
self.rex.plan_status = 0
else:
self.ui.rdoutStatus.setText("Playing Back - Waypoint %d"
%(self.rex.wpt_number + 1))
[start_time, prev_waypoint, prev_vel] = self.rex.plan[self.rex.wpt_number-1]
[end_time, current_waypoint, current_vel] = self.rex.plan[self.rex.wpt_number]
t = float(micro_time() - self.path_start_time)
#Linear Interp
for joint in range(4):
#Set the goal
self.rex.joint_angles[joint] = current_waypoint[joint]
#Figure the speed out
dist = abs(current_waypoint[joint] - prev_waypoint[joint])
time_left = (end_time - t)/1000000.0
v = dist/time_left
# rad/sec * sec/min * rot/rad / max RPM
speed_val = v * (60.0/(2*math.pi)) / 59.0
speed_val = max(speed_val, 1.0/1023.0)
print speed_val, time_left
if time_left < 0:
#were behind haul ass
self.rex.speed[joint] = 1.0
else:
self.rex.speed[joint] = speed_val
self.rex.cmd_publish()
#Check if we have arrived
def within_error(joint, wpt):
#print joint, wpt
error = math.fabs(joint * R2D - wpt * R2D)
#print error
return error < 5.0
if within_error(self.rex.joint_angles_fb[0], current_waypoint[0]) and \
within_error(self.rex.joint_angles_fb[1], current_waypoint[1]) and \
within_error(self.rex.joint_angles_fb[2], current_waypoint[2]) and \
within_error(self.rex.joint_angles_fb[3], current_waypoint[3]):
print "Within Error Bounds: %d" %(self.rex.wpt_number)
self.rex.wpt_number += 1
self.executed_path.append([micro_time() - self.path_start_time , self.rex.joint_angles_fb[:]])
if self.rex.wpt_number >= len(self.rex.plan):
self.rex.plan_status = 0
self.ui.rdoutStatus.setText("Plan finished!")
self.rex.speed = [0.5, 0.5, 0.5, 0.5]
self.rex.plan = self.rex.plan[1:]
with open('executed_path.config', 'w') as f:
pickle.dump(self.executed_path, f)
def slider_change(self):
"""
Function to change the slider labels when sliders are moved
and to command the arm to the given position
TO DO: Implement for the other sliders
"""
self.ui.rdoutBase.setText(str(self.ui.sldrBase.value()))
self.ui.rdoutShoulder.setText(str(self.ui.sldrShoulder.value()))
self.ui.rdoutElbow.setText(str(self.ui.sldrElbow.value()))
self.ui.rdoutWrist.setText(str(self.ui.sldrWrist.value()))
self.ui.rdoutTorq.setText(str(self.ui.sldrMaxTorque.value()) + "%")
self.ui.rdoutSpeed.setText(str(self.ui.sldrSpeed.value()))
if self.rex.plan_status == 0:
self.rex.max_torque = self.ui.sldrMaxTorque.value()/100.0
self.rex.joint_angles[0] = self.ui.sldrBase.value()*D2R
self.rex.joint_angles[1] = self.ui.sldrShoulder.value()*D2R
self.rex.joint_angles[2] = self.ui.sldrElbow.value()*D2R
self.rex.joint_angles[3] = self.ui.sldrWrist.value()*D2R
self.rex.cmd_publish()
def solveAffineMatrix(self):
A = []
b = []
for i in range(self.video.aff_npoints):
px = self.video.mouse_coord[i][0]
py = self.video.mouse_coord[i][1]
wx = self.video.real_coord[i][0]
wy = self.video.real_coord[i][1]
A.append([px, py, 1.0, 0.0, 0.0, 0.0])
A.append([0.0, 0.0, 0.0, px, py, 1.0])
b.append(wx)
b.append(wy)
print A, '\n', b
x, res, rank, s = np.linalg.lstsq(A, b)
print x
self.video.aff_matrix = [[x[0], x[1], x[2]],
[x[3], x[4], x[5]],
[0.0, 0.0, 1.0]]
def mousePressEvent(self, QMouseEvent):
"""
Function used to record mouse click positions for
affine calibration
"""
""" Get mouse posiiton """
x = QMouseEvent.x()
y = QMouseEvent.y()
""" If mouse position is not over the camera image ignore """
if ((x < MIN_X) or (x > MAX_X) or (y < MIN_Y) or (y > MAX_Y)): return
""" Change coordinates to image axis """
self.last_click[0] = x - MIN_X
self.last_click[1] = y - MIN_Y
""" If affine calibration is been performed """
if (self.video.aff_flag == 1):
""" Save last mouse coordinate """
self.video.mouse_coord[self.video.mouse_click_id] = [(x-MIN_X),
(y-MIN_Y)]
""" Update the number of used poitns for calibration """
self.video.mouse_click_id += 1
""" Update status label text """
self.ui.rdoutStatus.setText("Affine Calibration: Click point %d"
%(self.video.mouse_click_id + 1))
"""
If the number of click is equal to the expected number of points
computes the affine calibration.
TO DO: Change this code to use you programmed affine calibration
and NOT openCV pre-programmed function as it is done now.
"""
if(self.video.mouse_click_id == self.video.aff_npoints):
"""
Update status of calibration flag and number of mouse
clicks
"""
self.video.aff_flag = 2
self.video.mouse_click_id = 0
""" Perform affine calibration with OpenCV """
#self.video.aff_matrix = cv2.getAffineTransform(
# self.video.mouse_coord,
# self.video.real_coord)
self.solveAffineMatrix()
print self.video.aff_matrix
""" Updates Status Label to inform calibration is done """
self.ui.rdoutStatus.setText("Waiting for input")
"""
Uncomment to gether affine calibration matrix numbers
on terminal
"""
#print self.video.aff_matrix
if self.get_template == 1:
self.template_point = [(x-MIN_X)*(960.0/480.0), (y-MIN_Y)*(1280.0/640.0)]
self.get_template += 1
elif self.get_template == 2:
self.get_template = 0
bottom_point = [(x-MIN_X)*(960.0/480.0), (y-MIN_Y)*(1280.0/640.0)]
dx = bottom_point[0] - self.template_point[0]
dy = bottom_point[1] - self.template_point[1]
grey_frame = cv2.cvtColor(self.video.currentFrame, cv2.COLOR_BGR2GRAY)
self.template = grey_frame[self.template_point[1]-dy:bottom_point[1], self.template_point[0]-dx:bottom_point[0]]
#self.template = cv2.cvtColor(self.template, cv2.COLOR_BGR2GRAY)
cv2.imwrite('./template.png', self.template)
print "Got Template"
def affine_cal(self):
"""
Function called when affine calibration button is called.
Note it only chnage the flag to record the next mouse clicks
and updates the status text label
"""
self.video.aff_flag = 1
self.ui.rdoutStatus.setText("Affine Calibration: Click point %d"
%(self.video.mouse_click_id + 1))
def load_camera_cal(self):
print "Load Camera Cal"
self.video.loadCalibration()
def tr_initialize(self):
print "Teach and Repeat"
self.path_start_time = micro_time()
self.rex.plan = []
self.rex.plan_status = 0
self.rex.wpt_number = 0
self.rex.max_torque = 0.0
self.ui.sldrMaxTorque.setValue(0.0)
def tr_add_waypoint(self):
print "Add Waypoint"
self.rex.plan.append([micro_time() - self.path_start_time, self.rex.joint_angles_fb[:], [0,0,0,0]])
self.rex.wpt_total += 1
def tr_smooth_path(self):
print "Smooth Path"
#Basic smoothing
new_plan = []
#for i, (t, p) in enumerate(self.rex.plan):
# np = p[:]
# nt = t + 1000000 * i + 500000
# if p[1] < 0:
# np[1] += 10*D2R
# else:
# np[1] -= 10*D2R
#
# new_plan.append([nt-500000, np])
# new_plan.append([nt, p[:]])
# new_plan.append([nt+500000, np])
self.rex.plan = [[0, [0, 0, 0, 0], [0,0,0,0]]] + self.rex.plan
#Handle all other points
for i in range(1,len(self.rex.plan)):
[tprev, qprev, vprev] = self.rex.plan[i-1]
[ti, qi, vi] = self.rex.plan[i]
dt = (ti - tprev) * 0.3
nprev = qprev[:]
if nprev[1] < 0:
nprev[1] += 10*D2R
else:
nprev[1] -= 10*D2R
ni = qi[:]
if ni[1] < 0:
ni[1] += 10*D2R
else:
ni[1] -= 10*D2R
new_plan.append([tprev + dt, nprev, vprev])
new_plan.append([ti - dt, ni, vi])
new_plan.append([ti, qi[:], vi])
#Handle last point
[ti, pi, vi] = self.rex.plan[-1]
ni = qi[:]
if ni[1] < 0:
ni[1] += 10*D2R
else:
ni[1] -= 10*D2R
new_plan.append([ti+500000, ni, vi])
self.rex.plan = new_plan[1:]
#Cubic spline smoothing
# new_plan = [self.rex.plan[0][:]]
# for i in range(1,len(self.rex.plan)):
# [start_time, prev_waypoint, prev_vel] = self.rex.plan[i-1]
# [end_time, current_waypoint, current_vel] = self.rex.plan[i]
# a0 = [0,0,0,0]
# a1 = [0,0,0,0]
# a2 = [0,0,0,0]
# a3 = [0,0,0,0]
# for joint in range(4):
# def calc_params(t0, q0, v0, tf, qf, vf):
# a0 = q0
# a1 = v0
# a2 = (3.0*(qf-q0)-(2.0*v0+vf)*(tf-t0))/math.pow(tf-t0, 2)
# a3 = (2.0*(q0-qf) + (v0+vf)*(tf-t0))/math.pow(tf-t0, 3)
# return a0, a1, a2, a3
# a0[joint], a1[joint], a2[joint], a3[joint] = calc_params(0.0,\
# float(prev_waypoint[joint]),\
# float(prev_vel[joint]),\
# 1.0,\
# float(current_waypoint[joint]),\
# float(current_vel[joint]))
# duration = end_time - start_time
# for frac in range(1,100,10):
# frac = float(frac) / 100.0
# time = start_time + int(duration * frac)
# q = [0,0,0,0]
# for joint in range(4):
# q[joint] = a0[joint] + a1[joint] * frac + a2[joint] * frac * frac + a3[joint] * frac * frac * frac
# new_plan.append([time, q[:], [0.0, 0.0, 0.0, 0.0]])
# #Add the destination point
# new_plan.append(self.rex.plan[i][:])
# with open('smooth_path.config', 'w') as f:
# print len(new_plan)
# pickle.dump(new_plan, f)
# with open('path.config', 'w') as f:
# pickle.dump(self.rex.plan, f)
# self.rex.plan = new_plan
def tr_playback(self):
print "Playback"
self.path_start_time = micro_time()
self.rex.wpt_number = 1
self.rex.plan_status = 1
self.rex.max_torque = 50.0
self.ui.sldrMaxTorque.setValue(50.0)
self.executed_path = []
with open('path.config', 'w') as f:
pickle.dump(self.rex.plan, f)
self.rex.plan = [[micro_time() - self.path_start_time, self.rex.joint_angles_fb[:], [0,0,0,0]]] + self.rex.plan
def def_template(self):
print "Define Template"
self.get_template = 1
def template_match(self):
print "Template Match"
def make_bounding_box():
min_x = 10000
min_y = 10000
max_x = 0
max_y = 0
for p in self.video.mouse_coord:
x,y = mouse_to_raw(p[0], p[1])
if x < min_x:
min_x = x
if x > max_x:
max_x = x
if y < min_y:
min_y = y
if y > max_y:
max_y = y
return [min_x, min_y], [max_x, max_y]
#TODO get this working
search_image = self.video.currentFrame
#Make it greyscale
search_image = cv2.cvtColor(search_image, cv2.COLOR_BGR2GRAY)
[tx,ty],[bx,by] = make_bounding_box()
print [tx,ty], [bx,by]
search_image = search_image[tx:bx:,ty:by]
search_size = search_image.shape
print search_size
#Get the size of the template
template_size = self.template.shape
#We just want a greyscale 2d image
def SAD(x, y):
sad = 0
sub_region = search_image[x:x+template_size[0], y:y+template_size[1]]
diff = sub_region - self.template
sad = np.sum(diff**2)
return sad / (template_size[0]*template_size[1])
# for i in range(template_size[0]):
# for j in range(template_size[1]):
# sad += float(abs(int(search_image[x+i,y+j]) - int(self.template[i,j])))
# return sad / (template_size[0]*template_size[1]*255.0)
results = np.zeros((search_size[0]-template_size[0],
search_size[1]-template_size[1]))
print "Doing SAD"
for x in range(search_size[0] - template_size[0]):
for y in range(search_size[1] - template_size[1]):
results[x,y] = SAD(x,y)
print results.max(), results.min()
print "Done SAD"
threshold = 70.0
positions = []
max_val = results.max()
def arg_min(a):
min_val = float('inf')
min_x = 0
min_y = 0
for x in range(a.shape[0]):
for y in range(a.shape[1]):
if a[x,y] < min_val:
min_val = a[x,y]
min_x = x
min_y = y
return min_x, min_y
count = 0
while True:
#If this is below the confidence level then quit
min_index = arg_min(results)
pixel_value = results[min_index]
print pixel_value
if pixel_value > threshold:
break
#Add it to potential positions
positions.append(min_index)
#Local max suppression
def suppress_area(x,y):
for i in range(-template_size[0]/2, template_size[0]/2):
for j in range(-template_size[1]/2, template_size[1]/2):
if x+i < 0 or y+j < 0:
continue
if x+i >= results.shape[0] or y+j >= results.shape[1]:
continue
results[x+i, y+j] = max_val
suppress_area(min_index[0], min_index[1])
out = results * (255.0/results.max())
cv2.imwrite('./results_%d.png'%(count), out)
count += 1
#DONE-ish the points need to be shifted by half a template image size
print positions
#CONVERT POINTS TO WORLD COORDS
cx = self.template.shape[0]/2
cy = self.template.shape[1]/2
positions = [raw_to_mouse(p[0]+tx+cx, p[1]+ty+cx) for p in positions]
def aff_trans(x, y):
aff = self.video.aff_matrix
wx = x*aff[0][0] + y*aff[0][1] + aff[0][2]
wy = x*aff[1][0] + y*aff[1][1] + aff[1][2]
return wx,wy
self.donuts = [aff_trans(p[0], p[1]) for p in positions]
def exec_path(self):
print "Execute Path"
def get_phi(x,y):
from math import sqrt, pow
r = sqrt(pow(x,2)+pow(y,2))
if r <= 95.0:
return -135.0*D2R
elif r > 95.0 and r < 190.0:
return -90.0*D2R
else:
return -45.0*D2R
self.donuts.sort(key=lambda x: math.atan2(x[1], x[0]))
from itertools import chain, izip
world_points = [(x,y, 50.0, get_phi(x,y)) for (x,y) in self.donuts]
in_points = [(x,y, 10.0, get_phi(x,y)) for (x,y) in self.donuts]
final_points = []
for i,p in enumerate(world_points):
final_points.append(p)
final_points.append(in_points[i])
final_points.append(p)
config_space = [self.rex.rexarm_IK(p, 1) for p in final_points if self.rex.rexarm_IK(p, 1) != None]
print "Playback"
self.path_start_time = micro_time()
self.rex.wpt_number = 1
self.rex.plan_status = 1
self.rex.max_torque = 50.0
self.ui.sldrMaxTorque.setValue(50.0)
self.executed_path = []
self.rex.plan = [[0, self.rex.joint_angles_fb[:], [0,0,0,0]]] + \
[[3000000*(i+1), q, [0,0,0,0]] for i,q in enumerate(config_space)]
print self.rex.plan
self.rex.wpt_total = len(self.rex.plan)
