#%% grasp_policy = CrossEntropyRobustGraspingPolicy(cfg['policy']) # grasp_policy = RobustGraspingPolicy(cfg['policy']) #%% img = rosco.rgb d = rosco.depth #%% plt.imshow(img) #%% plt.imshow(d) #print(img) #print(d) #%% color_im = ColorImage(img.astype(np.uint8), encoding="bgr8", frame='pcl') depth_im = DepthImage(d.astype(np.float32), frame='pcl') color_im = color_im.inpaint(rescale_factor=cfg['inpaint_rescale_factor']) depth_im = depth_im.inpaint(rescale_factor=cfg['inpaint_rescale_factor']) rgbd_im = RgbdImage.from_color_and_depth(color_im, depth_im) rgbd_state = RgbdImageState(rgbd_im, camera_int) #%% grasp = grasp_policy(rgbd_state) #%% img2 = cv2.cvtColor(img, cv2.COLOR_BGR2RGB) img2 = cv2.circle(img2,(int(grasp.grasp.center.x),int(grasp.grasp.center.y)),2,(255,0,0),3) plt.imshow(img2) #%% img3 = cv2.cvtColor(d, cv2.COLOR_BGR2RGB) img3 = cv2.circle(img3,(int(grasp.grasp.center.x),int(grasp.grasp.center.y)),2,(255,0,0),3) plt.imshow(img3) #%%
def plan_grasp(self, req):
""" Grasp planner request handler .
Parameters
---------
req: :obj:`ROS ServiceRequest`
ROS ServiceRequest for grasp planner service
"""
rospy.loginfo('Planning Grasp')
# set min dimensions
pad = max(
math.ceil(
np.sqrt(2) *
(float(self.cfg['policy']['metric']['crop_width']) / 2)),
math.ceil(
np.sqrt(2) *
(float(self.cfg['policy']['metric']['crop_height']) / 2)))
min_width = 2 * pad + self.cfg['policy']['metric']['crop_width']
min_height = 2 * pad + self.cfg['policy']['metric']['crop_height']
# get the raw depth and color images as ROS Image objects
raw_color = req.color_image
raw_depth = req.depth_image
segmask = None
raw_segmask = req.segmask
# get the raw camera info as ROS CameraInfo object
raw_camera_info = req.camera_info
# get the bounding box as a custom ROS BoundingBox msg
bounding_box = req.bounding_box
# wrap the camera info in a perception CameraIntrinsics object
camera_intrinsics = CameraIntrinsics(
raw_camera_info.header.frame_id, raw_camera_info.K[0],
raw_camera_info.K[4], raw_camera_info.K[2], raw_camera_info.K[5],
raw_camera_info.K[1], raw_camera_info.height,
raw_camera_info.width)
### create wrapped Perception RGB and Depth Images by unpacking the ROS Images using CVBridge ###
try:
color_image = ColorImage(self.cv_bridge.imgmsg_to_cv2(
raw_color, "rgb8"),
frame=camera_intrinsics.frame)
depth_image = DepthImage(self.cv_bridge.imgmsg_to_cv2(
raw_depth, desired_encoding="passthrough"),
frame=camera_intrinsics.frame)
segmask = BinaryImage(self.cv_bridge.imgmsg_to_cv2(
raw_segmask, desired_encoding="passthrough"),
frame=camera_intrinsics.frame)
except CvBridgeError as cv_bridge_exception:
rospy.logerr(cv_bridge_exception)
# check image sizes
if color_image.height != depth_image.height or \
color_image.width != depth_image.width:
rospy.logerr(
'Color image and depth image must be the same shape! Color is %d x %d but depth is %d x %d'
% (color_image.height, color_image.width, depth_image.height,
depth_image.width))
raise rospy.ServiceException(
'Color image and depth image must be the same shape! Color is %d x %d but depth is %d x %d'
% (color_image.height, color_image.width, depth_image.height,
depth_image.width))
if color_image.height < min_height or color_image.width < min_width:
rospy.logerr(
'Color image is too small! Must be at least %d x %d resolution but the requested image is only %d x %d'
%
(min_height, min_width, color_image.height, color_image.width))
raise rospy.ServiceException(
'Color image is too small! Must be at least %d x %d resolution but the requested image is only %d x %d'
%
(min_height, min_width, color_image.height, color_image.width))
# inpaint images
color_image = color_image.inpaint(
rescale_factor=self.cfg['inpaint_rescale_factor'])
depth_image = depth_image.inpaint(
rescale_factor=self.cfg['inpaint_rescale_factor'])
# visualize
if self.cfg['vis']['color_image']:
vis.imshow(color_image)
vis.show()
if self.cfg['vis']['depth_image']:
vis.imshow(depth_image)
vis.show()
if self.cfg['vis']['segmask'] and segmask is not None:
vis.imshow(segmask)
vis.show()
# aggregate color and depth images into a single perception rgbdimage
rgbd_image = RgbdImage.from_color_and_depth(color_image, depth_image)
# calc crop parameters
minX = bounding_box.minX - pad
minY = bounding_box.minY - pad
maxX = bounding_box.maxX + pad
maxY = bounding_box.maxY + pad
# contain box to image->don't let it exceed image height/width bounds
if minX < 0:
minX = 0
if minY < 0:
minY = 0
if maxX > rgbd_image.width:
maxX = rgbd_image.width
if maxY > rgbd_image.height:
maxY = rgbd_image.height
centroidX = (maxX + minX) / 2
centroidY = (maxY + minY) / 2
# compute width and height
width = maxX - minX
height = maxY - minY
# crop camera intrinsics and rgbd image
cropped_camera_intrinsics = camera_intrinsics.crop(
height, width, centroidY, centroidX)
cropped_rgbd_image = rgbd_image.crop(height, width, centroidY,
centroidX)
cropped_segmask = None
if segmask is not None:
cropped_segmask = segmask.crop(height, width, centroidY, centroidX)
# visualize
if self.cfg['vis']['cropped_rgbd_image']:
vis.imshow(cropped_rgbd_image)
vis.show()
# create an RGBDImageState with the cropped RGBDImage and CameraIntrinsics
image_state = RgbdImageState(cropped_rgbd_image,
cropped_camera_intrinsics,
segmask=cropped_segmask)
# execute policy
try:
return self.execute_policy(image_state, self.grasping_policy,
self.grasp_pose_publisher,
cropped_camera_intrinsics.frame)
except NoValidGraspsException:
rospy.logerr(
'While executing policy found no valid grasps from sampled antipodal point pairs. Aborting Policy!'
)
raise rospy.ServiceException(
'While executing policy found no valid grasps from sampled antipodal point pairs. Aborting Policy!'
)