def extract_clouds(demofile):
seg_num = 0
leaf_size = 0.045
keys = {}
pclouds = []
for demo_name in demofile:
if demo_name != "ar_demo":
for seg_name in demofile[demo_name]:
if seg_name != 'done':
keys[seg_num] = (demo_name, seg_name)
pclouds.append(clouds.downsample(np.asarray(demofile[demo_name][seg_name]["cloud_xyz"]), leaf_size))
print demo_name, seg_name
seg_num += 1
return keys, pclouds
def track_video_frames_offline(video_dir, T_w_k, init_tfm, ref_image, rope_params = None):
video_stamps = np.loadtxt(osp.join(video_dir,demo_names.stamps_name))
rgbs = []
depths = []
color_clouds = []
for (index, stamp) in zip(range(len(video_stamps)), video_stamps):
#print index, stamp
rgb = cv2.imread(osp.join(video_dir,demo_names.rgb_name%index))
rgb = color_match.match(ref_image, rgb)
assert rgb is not None
depth = cv2.imread(osp.join(video_dir,demo_names.depth_name%index), 2)
assert depth is not None
color_cloud = extract_rope_tracking(rgb, depth, T_w_k)
color_cloud = clouds.downsample_colored(color_cloud, .01)
color_cloud[:,:3] = color_cloud[:,:3].dot(init_tfm[:3,:3].T) + init_tfm[:3,3][None,:]
if index == 0:
rope_xyz = extract_red(rgb, depth, T_w_k)
rope_xyz = clouds.downsample(rope_xyz, .01)
rope_xyz = rope_xyz.dot(init_tfm[:3, :3].T) + init_tfm[:3,3][None,:]
rope_nodes = rope_initialization.find_path_through_point_cloud(rope_xyz)
rope_radius = 0.005
rgbs.append(rgb)
depths.append(depth)
color_clouds.append(color_cloud)
rgbs = np.asarray(rgbs)
depths = np.asarray(depths)
all_tracked_nodes = cbulletracpy2.py_tracking(rope_nodes, rope_radius, T_w_k, color_clouds, rgbs, depths, 5)
for i in range(len(rgbs)):
if i % 30 != 0:
continue
print i
fig.clf()
ax = fig.gca(projection='3d')
ax.set_autoscale_on(False)
tracked_nodes = all_tracked_nodes[i, :, :]
ax.plot(tracked_nodes[:, 0], tracked_nodes[:,1], tracked_nodes[:,2], 'o')
fig.show()
raw_input()
return all_tracked_nodes
def extract_segs(demofile):
seg_num = 0
leaf_size = 0.045
keys = {}
segs = []
for demo_name in demofile:
if demo_name != "ar_demo":
for seg_name in demofile[demo_name]:
if seg_name != 'done':
keys[seg_num] = (demo_name, seg_name)
seg = demofile[demo_name][seg_name]
pc = clouds.downsample(np.asarray(seg['cloud_xyz']), leaf_size)
segs.append((pc, np.asarray(seg['l']['tfms_s'])[:,0:3,3], np.asarray(seg['r']['tfms_s'])[:,0:3,3]))
print demo_name, seg_name
seg_num += 1
return keys, segs
def grabcut(rgb, depth, T_w_k):
xyz_k = clouds.depth_to_xyz(depth, asus_xtion_pro_f)
xyz_w = xyz_k.dot(T_w_k[:3,:3].T) + T_w_k[:3,3][None,None,:]
valid_mask = depth > 0
from hd_rapprentice import interactive_roi as ir
xys = ir.get_polyline(rgb, "rgb")
xy_corner1 = np.clip(np.array(xys).min(axis=0), [0,0], [639,479])
xy_corner2 = np.clip(np.array(xys).max(axis=0), [0,0], [639,479])
polymask = ir.mask_from_poly(xys)
#cv2.imshow("mask",mask)
xy_tl = np.array([xy_corner1, xy_corner2]).min(axis=0)
xy_br = np.array([xy_corner1, xy_corner2]).max(axis=0)
xl, yl = xy_tl
w, h = xy_br - xy_tl
mask = np.zeros((h,w),dtype='uint8')
mask[polymask[yl:yl+h, xl:xl+w] > 0] = cv2.GC_PR_FGD
print mask.shape
#mask[h//4:3*h//4, w//4:3*w//4] = cv2.GC_PR_FGD
tmp1 = np.zeros((1, 13 * 5))
tmp2 = np.zeros((1, 13 * 5))
cv2.grabCut(rgb[yl:yl+h, xl:xl+w, :],mask,(0,0,0,0),tmp1, tmp2,10,mode=cv2.GC_INIT_WITH_MASK)
mask = mask % 2
#mask = ndi.binary_erosion(mask, utils_images.disk(args.erode)).astype('uint8')
contours = cv2.findContours(mask,cv2.RETR_LIST,cv2.CHAIN_APPROX_NONE)[0]
cv2.drawContours(rgb[yl:yl+h, xl:xl+w, :],contours,-1,(0,255,0),thickness=2)
cv2.imshow('rgb', rgb)
print "press enter to continue"
cv2.waitKey()
zsel = xyz_w[yl:yl+h, xl:xl+w, 2]
mask = (mask%2==1) & np.isfinite(zsel)# & (zsel - table_height > -1)
mask &= valid_mask[yl:yl+h, xl:xl+w]
xyz_sel = xyz_w[yl:yl+h, xl:xl+w,:][mask.astype('bool')]
return clouds.downsample(xyz_sel, .01)
def extract_segs(demofile, num_segs=None):
seg_num = 0
leaf_size = 0.045
keys = {}
segs = []
for demo_name in demofile:
if demo_name != "ar_demo":
for seg_name in demofile[demo_name]:
if seg_name != 'done':
keys[seg_num] = (demo_name, seg_name)
seg = demofile[demo_name][seg_name]
pc = clouds.downsample(np.asarray(seg['cloud_xyz']), leaf_size)
pc, params = registration.unit_boxify(pc)
ltraj = np.asarray(seg['l']['tfms_s'])[:,0:3,3]
ltraj = lerp(np.linspace(0,ltraj.shape[0],traj_n), range(ltraj.shape[0]), ltraj)
rtraj = np.asarray(seg['r']['tfms_s'])[:,0:3,3]
rtraj = lerp(np.linspace(0,rtraj.shape[0],traj_n), range(rtraj.shape[0]), rtraj)
segs.append(((pc, params), ltraj, rtraj))
seg_num += 1
if num_segs is not None and seg_num >= num_segs: return keys, segs
return keys, segs
def track_video_frames_online(video_dir, T_w_k, init_tfm, table_plane, ref_image = None, rope_params = None):
video_stamps = np.loadtxt(osp.join(video_dir,demo_names.stamps_name))
env = openravepy.Environment()
stdev = np.array([])
rgb = cv2.imread(osp.join(video_dir,demo_names.rgb_name%0))
rgb = color_match.match(ref_image, rgb)
assert rgb is not None
depth = cv2.imread(osp.join(video_dir,demo_names.depth_name%0), 2)
assert depth is not None
rope_xyz = extract_red(rgb, depth, T_w_k)
table_dir = np.array([table_plane[0], table_plane[1], table_plane[2]])
table_dir = table_dir / np.linalg.norm(table_dir)
table_dir = init_tfm[:3,:3].dot(table_dir)
if np.dot([0,0,1], table_dir) < 0:
table_dir = -table_dir
table_axis = np.cross(table_dir, [0,0,1])
table_angle = np.arccos(np.dot([0,0,1], table_dir))
table_tfm = openravepy.matrixFromAxisAngle(table_axis, table_angle)
table_center_xyz = np.mean(rope_xyz, axis=0)
table_tfm[:3,3] = - table_tfm[:3,:3].dot(table_center_xyz) + table_center_xyz
init_tfm = table_tfm.dot(init_tfm)
tracked_nodes = None
for (index, stamp) in zip(range(len(video_stamps)), video_stamps):
print index, stamp
rgb = cv2.imread(osp.join(video_dir,demo_names.rgb_name%index))
rgb = color_match.match(ref_image, rgb)
assert rgb is not None
depth = cv2.imread(osp.join(video_dir,demo_names.depth_name%index), 2)
assert depth is not None
color_cloud = extract_rope_tracking(rgb, depth, T_w_k) # color_cloud is at first in camera frame
#print "cloud in camera frame"
#print "==================================="
#print color_cloud[:, :3]
color_cloud = clouds.downsample_colored(color_cloud, .01)
color_cloud[:,:3] = color_cloud[:,:3].dot(init_tfm[:3,:3].T) + init_tfm[:3,3][None,:] # color_cloud now is in global frame
raw_color_cloud = np.array(color_cloud)
##########################################
### remove the shadow points on the desk
##########################################
color_cloud = remove_shadow(color_cloud)
if tracked_nodes is not None:
color_cloud = rope_shape_filter(tracked_nodes, color_cloud)
if index == 0:
rope_xyz = extract_red(rgb, depth, T_w_k)
rope_xyz = clouds.downsample(rope_xyz, .01)
rope_xyz = rope_xyz.dot(init_tfm[:3, :3].T) + init_tfm[:3,3][None,:]
rope_nodes = rope_initialization.find_path_through_point_cloud(rope_xyz) # rope_nodes and rope_xyz are in global frame
# print rope_nodes
table_height = rope_xyz[:,2].min() - .02
table_xml = make_table_xml(translation=[1, 0, table_height], extents=[.85, .55, .01])
env.LoadData(table_xml)
bulletsimpy.sim_params.scale = 10
bulletsimpy.sim_params.maxSubSteps = 200
if rope_params is None:
rope_params = bulletsimpy.CapsuleRopeParams()
rope_params.radius = 0.005
#angStiffness: a rope with a higher angular stiffness seems to have more resistance to bending.
#orig self.rope_params.angStiffness = .1
rope_params.angStiffness = .1
#A higher angular damping causes the ropes joints to change angle slower.
#This can cause the rope to be dragged at an angle by the arm in the air, instead of falling straight.
#orig self.rope_params.angDamping = 1
rope_params.angDamping = 1
#orig self.rope_params.linDamping = .75
#Not sure what linear damping is, but it seems to limit the linear accelertion of centers of masses.
rope_params.linDamping = .75
#Angular limit seems to be the minimum angle at which the rope joints can bend.
#A higher angular limit increases the minimum radius of curvature of the rope.
rope_params.angLimit = .4
#TODO--Find out what the linStopErp is
#This could be the tolerance for error when the joint is at or near the joint limit
rope_params.linStopErp = .2
bt_env = bulletsimpy.BulletEnvironment(env, [])
bt_env.SetGravity([0,0,-0.1])
rope = bulletsimpy.CapsuleRope(bt_env, 'rope', rope_nodes, rope_params)
continue
#==============================================================================
# rope_nodes = rope.GetNodes()
# #print "rope nodes in camera frame"
# R = init_tfm[:3,:3].T
# t = - R.dot(init_tfm[:3,3])
# rope_in_camera_frame = rope_nodes.dot(R.T) + t[None,:]
# #print rope_in_camera_frame
# uvs = XYZ_to_xy(rope_in_camera_frame[:,0], rope_in_camera_frame[:,1], rope_in_camera_frame[:,2], asus_xtion_pro_f)
# uvs = np.vstack(uvs)
# #print uvs
# #print "uvs"
# uvs = uvs.astype(int)
#
# n_rope_nodes = len(rope_nodes)
#
# DEPTH_OCCLUSION_DIST = .03
# occ_dist = DEPTH_OCCLUSION_DIST
#
# vis = np.ones(n_rope_nodes)
#
# rope_depth_in_camera = np.array(rope_in_camera_frame)
# depth_xyz = depth_to_xyz(depth, asus_xtion_pro_f)
#
# for i in range(n_rope_nodes):
# u = uvs[0, i]
# v = uvs[1, i]
#
# neighbor_radius = 10;
# v_range = [max(0, v-neighbor_radius), v+neighbor_radius+1]
# u_range = [max(0, u-neighbor_radius), u+neighbor_radius+1]
#
# xyzs = depth_xyz[v_range[0]:v_range[1], u_range[0]:u_range[1]]
#
# xyzs = np.reshape(xyzs, (xyzs.shape[0]*xyzs.shape[1], xyzs.shape[2]))
# dists_to_origin = np.linalg.norm(xyzs, axis=1)
#
# dists_to_origin = dists_to_origin[np.isfinite(dists_to_origin)]
#
# #print dists_to_origin
# min_dist_to_origin = np.min(dists_to_origin)
#
# print v, u, min_dist_to_origin, np.linalg.norm(rope_in_camera_frame[i])
#
# if min_dist_to_origin + occ_dist > np.linalg.norm(rope_in_camera_frame[i]):
# vis[i] = 1
# else:
# vis[i] = 0
#
# #print "vis result"
# #print vis
#
# rope_depth_in_global = rope_depth_in_camera.dot(init_tfm[:3,:3].T) + init_tfm[:3,3][None,:]
#==============================================================================
depth_cloud = extract_cloud(depth, T_w_k)
depth_cloud[:,:3] = depth_cloud[:,:3].dot(init_tfm[:3,:3].T) + init_tfm[:3,3][None,:] # depth_cloud now is in global frame
[tracked_nodes, new_stdev] = bulletsimpy.py_tracking(rope, bt_env, init_tfm, color_cloud, rgb, depth, 5, stdev)
stdev = new_stdev
#print tracked_nodes
#if index % 10 != 0:
# continue
print index
xx, yy = np.mgrid[-1:3, -1:3]
zz = np.ones(xx.shape) * table_height
table_cloud = [xx, yy, zz]
fig.clf()
ax = fig.gca(projection='3d')
ax.set_autoscale_on(False)
print init_tfm[:,3]
ax.plot(depth_cloud[:,0], depth_cloud[:,1], depth_cloud[:,2], 'go', alpha=0.1)
ax.plot(color_cloud[:,0], color_cloud[:,1], color_cloud[:,2]-0.1, 'go')
ax.plot(raw_color_cloud[:,0], raw_color_cloud[:,1], raw_color_cloud[:,2] -0.2, 'ro')
#ax.plot(rope_depth_in_global[:,0], rope_depth_in_global[:,1], rope_depth_in_global[:,2], 'ro')
ax.plot_surface(table_cloud[0], table_cloud[1], table_cloud[2], color = (0,1,0,0.5))
ax.plot(tracked_nodes[:,0], tracked_nodes[:,1], tracked_nodes[:,2], 'bo')
ax.plot([init_tfm[0,3]], [init_tfm[1,3]], [init_tfm[2,3]], 'ro')
fig.show()
raw_input()
annotation_file = osp.join(demo_dir,"ann.yaml")
with open(annotation_file, "r") as fh: annotations = yaml.load(fh)
look_stamps = [seg_info['look'] for seg_info in annotations]
rgb_imgs, depth_imgs= get_video_frames(rgbd_dir, look_stamps)
if demo_name in perturb_demofile.keys():
demo_group = perturb_demofile[demo_name]
else:
demo_group = perturb_demofile.create_group(demo_name)
n_perturb_existed = len(demo_group.keys()) # number of perturbations
object_xyz = cloud_proc_func(rgb_imgs[0], depth_imgs[0], np.eye(4))
object_xyz = clouds.downsample(object_xyz, .01)
hitch_xyz = None
hitch_pos = None
if args.has_hitch:
hitch_normal = clouds.clouds_plane(object_xyz)
hitch_xyz, hitch_pos = hitch_proc_func(rgb_imgs[0], depth_imgs[0], np.eye(4), hitch_normal)
hitch_xyz = clouds.downsample(hitch_xyz, .01)
xyz = np.r_[object_xyz, hitch_xyz]
else:
xyz = object_xyz
mlab.figure(0)
mlab.clf()
mlab.points3d(xyz[:,0], xyz[:,1], xyz[:,2], color=(1,0,0), scale_factor=.005)
try:
print "1", seg_info.keys()
print "2", del_fields
if field in seg_info: del seg_info[field]
except Exception as e:
import IPython
IPython.embed()
if args.has_hitch:
if not hitch_found:
hitch_normal = clouds.clouds_plane(cloud)
hitch, hitch_pos = hitch_proc_func(rgb_image, np.asarray(seg_info["depth"]), np.eye(4), hitch_normal)
hitch_found = True
seg_info["full_hitch"] = hitch
seg_info["full_object"] = cloud
seg_info["hitch"] = clouds.downsample(hitch, .01)
seg_info["object"] = clouds.downsample(cloud, .01)
seg_info["hitch_pos"] = hitch_pos
seg_info["cloud_xyz"] = np.r_[seg_info["hitch"], seg_info["object"]]
else:
seg_info["full_cloud_xyz"] = cloud
seg_info["cloud_xyz"] = clouds.downsample(cloud, .01)
seg_info["cloud_proc_func"] = args.cloud_proc_func
seg_info["cloud_proc_mod"] = args.cloud_proc_mod
seg_info["cloud_proc_code"] = inspect.getsource(cloud_proc_func)
if table_cloud is None:
table_cloud, table_plane = cloud_proc_mod.extract_table_ransac(rgb_image, np.asarray(seg_info["depth"]), np.eye(4))