From 6f53de994bb43a73d5f25de1cf107c46b3dc727e Mon Sep 17 00:00:00 2001 From: weijian Date: Wed, 7 Dec 2022 11:07:18 +0800 Subject: [PATCH] add aikit_280 2.0 version --- mycobot_ai/aikit_280_pi/CMakeLists.txt | 205 + .../aikit_280_pi/launch/vision_m5.launch | 27 + .../aikit_280_pi/launch/vision_pi.launch | 27 + .../aikit_280_pi/launch/vision_wio.launch | 27 + .../aikit_280_pi/local_photo/goal5.jpeg | Bin 0 -> 4413 bytes .../aikit_280_pi/local_photo/img/goal01.jpeg | Bin 0 -> 5593 bytes .../aikit_280_pi/local_photo/img/goal03.jpeg | Bin 0 -> 5451 bytes .../aikit_280_pi/local_photo/img/goal2.jpeg | Bin 0 -> 5168 bytes .../aikit_280_pi/local_photo/takephoto.jpeg | Bin 0 -> 51011 bytes mycobot_ai/aikit_280_pi/package.xml | 62 + mycobot_ai/aikit_280_pi/prof.calltree | 21703 ++++++++++++++++ mycobot_ai/aikit_280_pi/prof.out | Bin 0 -> 554273 bytes mycobot_ai/aikit_280_pi/res/A/goal1.jpeg | Bin 0 -> 2554 bytes mycobot_ai/aikit_280_pi/res/A/goal2.jpeg | Bin 0 -> 3017 bytes mycobot_ai/aikit_280_pi/res/A/goal3.jpeg | Bin 0 -> 2829 bytes mycobot_ai/aikit_280_pi/res/A/goal4.jpeg | Bin 0 -> 3663 bytes mycobot_ai/aikit_280_pi/res/A/goal5.jpeg | Bin 0 -> 3302 bytes mycobot_ai/aikit_280_pi/res/A/goal6.jpeg | Bin 0 -> 3156 bytes mycobot_ai/aikit_280_pi/res/A/goal7.jpeg | Bin 0 -> 3864 bytes mycobot_ai/aikit_280_pi/res/B/goal13.jpeg | Bin 0 -> 3332 bytes mycobot_ai/aikit_280_pi/res/B/goal14.jpeg | Bin 0 -> 2897 bytes mycobot_ai/aikit_280_pi/res/B/goal15.jpeg | Bin 0 -> 2916 bytes mycobot_ai/aikit_280_pi/res/B/goal4.jpeg | Bin 0 -> 3855 bytes mycobot_ai/aikit_280_pi/res/B/goal5.jpeg | Bin 0 -> 3517 bytes mycobot_ai/aikit_280_pi/res/B/goal6.jpeg | Bin 0 -> 3487 bytes mycobot_ai/aikit_280_pi/res/C/goal1.jpeg | Bin 0 -> 2877 bytes mycobot_ai/aikit_280_pi/res/C/goal2.jpeg | Bin 0 -> 3214 bytes mycobot_ai/aikit_280_pi/res/C/goal3.jpeg | Bin 0 -> 3176 bytes mycobot_ai/aikit_280_pi/res/C/goal4.jpeg | Bin 0 -> 3621 bytes mycobot_ai/aikit_280_pi/res/C/goal5.jpeg | Bin 0 -> 3334 bytes mycobot_ai/aikit_280_pi/res/C/goal6.jpeg | Bin 0 -> 3594 bytes mycobot_ai/aikit_280_pi/res/C/goal7.jpeg | Bin 0 -> 3717 bytes mycobot_ai/aikit_280_pi/res/D/goal1.jpeg | Bin 0 -> 3217 bytes mycobot_ai/aikit_280_pi/res/D/goal2.jpeg | Bin 0 -> 2570 bytes mycobot_ai/aikit_280_pi/res/D/goal3.jpeg | Bin 0 -> 3005 bytes mycobot_ai/aikit_280_pi/res/D/goal4.jpeg | Bin 0 -> 2327 bytes mycobot_ai/aikit_280_pi/res/D/goal5.jpeg | Bin 0 -> 3547 bytes mycobot_ai/aikit_280_pi/res/D/goal6.jpeg | Bin 0 -> 3519 bytes mycobot_ai/aikit_280_pi/res/D/goal7.jpeg | Bin 0 -> 3487 bytes mycobot_ai/aikit_280_pi/res/takephoto.jpeg | Bin 0 -> 53087 bytes mycobot_ai/aikit_280_pi/scripts/OpenVideo.py | 13 + mycobot_ai/aikit_280_pi/scripts/add_img.py | 143 + .../aikit_280_pi/scripts/aikit_color.py | 476 + .../aikit_280_pi/scripts/aikit_encode.py | 153 + mycobot_ai/aikit_280_pi/scripts/aikit_img.py | 606 + .../aikit_280_pi/scripts/aikit_shape.py | 476 + .../aikit_280_pi/scripts/moving_utils.py | 49 + mycobot_ai/aikit_280_pi/scripts/test.py | 18 + 48 files changed, 23985 insertions(+) create mode 100644 mycobot_ai/aikit_280_pi/CMakeLists.txt create mode 100644 mycobot_ai/aikit_280_pi/launch/vision_m5.launch create mode 100644 mycobot_ai/aikit_280_pi/launch/vision_pi.launch create mode 100644 mycobot_ai/aikit_280_pi/launch/vision_wio.launch create mode 100644 mycobot_ai/aikit_280_pi/local_photo/goal5.jpeg create mode 100644 mycobot_ai/aikit_280_pi/local_photo/img/goal01.jpeg create mode 100644 mycobot_ai/aikit_280_pi/local_photo/img/goal03.jpeg create mode 100644 mycobot_ai/aikit_280_pi/local_photo/img/goal2.jpeg create mode 100644 mycobot_ai/aikit_280_pi/local_photo/takephoto.jpeg create mode 100644 mycobot_ai/aikit_280_pi/package.xml create mode 100644 mycobot_ai/aikit_280_pi/prof.calltree create mode 100644 mycobot_ai/aikit_280_pi/prof.out create mode 100644 mycobot_ai/aikit_280_pi/res/A/goal1.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/A/goal2.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/A/goal3.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/A/goal4.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/A/goal5.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/A/goal6.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/A/goal7.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/B/goal13.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/B/goal14.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/B/goal15.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/B/goal4.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/B/goal5.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/B/goal6.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/C/goal1.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/C/goal2.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/C/goal3.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/C/goal4.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/C/goal5.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/C/goal6.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/C/goal7.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/D/goal1.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/D/goal2.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/D/goal3.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/D/goal4.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/D/goal5.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/D/goal6.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/D/goal7.jpeg create mode 100644 mycobot_ai/aikit_280_pi/res/takephoto.jpeg create mode 100644 mycobot_ai/aikit_280_pi/scripts/OpenVideo.py create mode 100644 mycobot_ai/aikit_280_pi/scripts/add_img.py create mode 100644 mycobot_ai/aikit_280_pi/scripts/aikit_color.py create mode 100644 mycobot_ai/aikit_280_pi/scripts/aikit_encode.py create mode 100644 mycobot_ai/aikit_280_pi/scripts/aikit_img.py create mode 100644 mycobot_ai/aikit_280_pi/scripts/aikit_shape.py create mode 100755 mycobot_ai/aikit_280_pi/scripts/moving_utils.py create mode 100644 mycobot_ai/aikit_280_pi/scripts/test.py diff --git a/mycobot_ai/aikit_280_pi/CMakeLists.txt b/mycobot_ai/aikit_280_pi/CMakeLists.txt new file mode 100644 index 0000000..0d4a2e3 --- /dev/null +++ b/mycobot_ai/aikit_280_pi/CMakeLists.txt @@ -0,0 +1,205 @@ +cmake_minimum_required(VERSION 3.0.2) +project(aikit_280_pi) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + mycobot_280 + mycobot_280pi +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES mycobot_ai +# CATKIN_DEPENDS mycobot_280 +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/mycobot_ai.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/mycobot_ai_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_mycobot_ai.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/mycobot_ai/aikit_280_pi/launch/vision_m5.launch b/mycobot_ai/aikit_280_pi/launch/vision_m5.launch new file mode 100644 index 0000000..a8feb9a --- /dev/null +++ b/mycobot_ai/aikit_280_pi/launch/vision_m5.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + ["joint_states"] + + + + + + + + + + + + + + diff --git a/mycobot_ai/aikit_280_pi/launch/vision_pi.launch b/mycobot_ai/aikit_280_pi/launch/vision_pi.launch new file mode 100644 index 0000000..f86c046 --- /dev/null +++ b/mycobot_ai/aikit_280_pi/launch/vision_pi.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + ["joint_states"] + + + + + + + + + + + + + + diff --git a/mycobot_ai/aikit_280_pi/launch/vision_wio.launch b/mycobot_ai/aikit_280_pi/launch/vision_wio.launch new file mode 100644 index 0000000..654f540 --- /dev/null +++ b/mycobot_ai/aikit_280_pi/launch/vision_wio.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + ["joint_states"] + + + + + + + + + + + + + + diff --git a/mycobot_ai/aikit_280_pi/local_photo/goal5.jpeg b/mycobot_ai/aikit_280_pi/local_photo/goal5.jpeg new file mode 100644 index 0000000000000000000000000000000000000000..42767ceeb08a25e9beba673dd8de81bedd8741fb GIT binary patch literal 4413 zcmbW2bx_pbyT?Dv((}HJBt%3&VoB*10b%Lx zZlo9Xhu`1Kz5m=l?!E6b&ok%DdCr;lYo0T6uoKt?fc%O2V|4%o0szqM0I<`5Du4s} ztG^lNuW-SCGafE37#AN8AOD{qAR@#kAR@rWC%i*QMEqB`Gm<;RB!3rwFZs_=96T@> zkC*_T;GdHJQ^K|Y6oh~)-~?c*C3 z{x%{qDjJcL{4OOm?fr-J+`RmP&xK!#zE)ILp{i?Y>+0LuJ370%dwPEkqen)^#wRAH z7MGS+R@c@yHn$Fsj{lsTo}FJ@{^bGz;QwIV=Kqn4;+6~NZx0Cma)EHXZUan#i^nF6 zPpPa!U+mnyKV<(qu+aY(*?)okH`f$E z0tVeS4@?0l0v9aHSRh7ROV)Tqd=T}Rlhy@BLd$^^&c;nr_hv*o9&Kkw*Qd0a`Na`) z4?Z8~M7FP#X`OFFqUpjtT%63!LYt>);ax5obM!?EHp@(2Wo#plA{USY74@}(&0CA< zG`L7NqB4;r14ccg@-3cL-S~*r8l*z2%V{k}+;Nyc0IeXrN7~+RZh@GZU5O!Sf~YbI z{epgJLAIzNR@gFp?TmwG2Zu{1e_8iQ27}poe`|f2^PM-(BDr4yyKA3}dp!=&Y0$=AxT@*lNZS;qJy=Nsk%v`GUHkBuG ztDDq5tm!(=a;|&UE_C)_kWkdPLJFXe^beZfLRRy$l|)z>mHaM5 z=&tv^1=RbEZnKd3Go!)=lG}Yl&0kL+J%7B4cfzItTi1CkMG^Y#Q}n{feeqs;BfJ2p zaT~`arZi6JmBu(72emXQj$;`9)!_?|H{NT~%hEvRL7hCk1ES8_rO%HXJ`P$3OdVR6RG$wc$?<)Js5?j~GKK308tkk1g2N)7Xxv z*W=;4=2eo($MSe3oC3aZFy#Vrv9RuDj?D1U2d{x=_}o z9R)9$f7`@7tK|$;>+g%Ah;)WAAvTlkn0g%tY&v44xEjfko2vQcy@?D157ha`{%B9E zFLieAr!7s#NvhOLC(A<9?q@4ScLmm#hO$h8TM{(m%$8o1z~64Vd~T)Zp3dT9*61{6 z%AH&kNPJ%dTOo0oa@5!O93^;EyY;zoSaDKwQKXtI=7-vLB9pws@lDShUMjo$e$?eJ z8!Rw5`VN|RB%c25{lzEic1o#}updkd63WQoGR0@$1-_iq=%Re~%KgULiH^mY0$ zZ=rPt^~a$D#ZFCi7l^Bfmt%QyX3(H0^0yJ&q6OILMr3^9;P$=j3_CT1g{?9137usy z1KZELJ0{6a{fBmEf~xY`)@xEHOPf!h4lh+$PO6fFo8T>+>=F z7x_iS%t7t2;AXNw+IC2Zj}xS(B-1BtD*VY|$NVfpAs9S_6rXS|fm2X9lVQ zMv5L^81kor--1hYBza;@vXO7hkIL@tyxN%_%{bbUq$5P9(hsV1AX>7nn?_nRlm}G} z1yE{$FxsKiUvuM+@FO6bKiB-x14r%%h6^|MhUgTeQ`4fK?D5d-w)$X-sZb8OyjzdaUZu1 zq7h5Z)**;}0Fn`BKQ~j+llX|04}gq*&3I76>>=pg-KI#|#Pcb#D~leL<@Q0dhmE|S z;)JA8dmM2f6f+NqBO^AZ#y)ynf68lE6f_C)Aq{$ah`!!S*{2=fu<)%vY?Zo6DSmxv zSm!)-ugo#obe2qTl{C;+{t(T9a@YGh7Cu{0cW9VLmIhkO=fq-6nckZf!4H!srxDv0?uS6$pA~I6L{G_ zj;4d0Kssqv1H&O6y})d_F(-*ek$2mtorOdCP1NsqsV8Q*8Y;wRNwd0?rA!f8`We2+ zx$2V0YC`2_aa1;<)J9@JHLL038;VoR+KW0bHVe@em16;4(QGVW;B!JJ*fo@L zrXKiFru*J(d*%_}eJB>t-kJvGv`}3SQR~BYo z^Qx0>EYm6v^DBsK50`O3C(a>(2N~4co-@gzmnx zPUs&iLMO-^)cu?u80e7<7EKZz`_?Tw^Wfan$z!A79wLR1@M}X zsYco5)VS;NW!Zl*zx;SMrOm2o-1nWA>VXu4)N&crsr^Luc!daDI^#}|j9k^TNeK

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+cap = cv2.VideoCapture(0) +cap.set(3,640) +cap.set(4,480) + +while cv2.waitKey(1)<0: + ret, frame = cap.read() + if not ret: + break + cv2.imshow('', frame) + diff --git a/mycobot_ai/aikit_280_pi/scripts/add_img.py b/mycobot_ai/aikit_280_pi/scripts/add_img.py new file mode 100644 index 0000000..06dff26 --- /dev/null +++ b/mycobot_ai/aikit_280_pi/scripts/add_img.py @@ -0,0 +1,143 @@ +# coding:utf-8 +from fileinput import filename +import os, cv2, sys + + +def take_photo(): + # 提醒用户操作字典 + print("************************************************") + print("* 热键(请在摄像头的窗口使用): *") + print("* hotkey(please use it in the camera window): *") + print("* z: 拍摄图片(take picture) *") + print("* q: 退出(quit) *") + print("************************************************") + + # 创建/使用local_photo文件夹 + class_name = "res" + if (os.path.exists("res")): + pass + else: + os.mkdir(class_name) + + # 设置特定值 + + index = 'takephoto' + cap = cv2.VideoCapture(0) + cap.set(3,640) + cap.set(4, 480) + + while True: + # 读入每一帧 + ret, frame = cap.read() + + cv2.imshow("capture", frame) + + # 存储 + input = cv2.waitKey(1) & 0xFF + # 拍照 + if input == ord('z'): + cv2.imwrite( + "%s/%s.jpeg" % (class_name, index), + cv2.resize(frame, (600, 480), interpolation=cv2.INTER_AREA)) + break + + # 退出 + if input == ord('q'): + + # 关闭窗口 + cap.release() + cv2.destroyAllWindows() + sys.exit() + + +def cut_photo(): + + path1 = '/home/er/AiKit_280PI' # pi + path2 = r'D:/BaiduSyncdisk/PythonProject/OpenCV' # m5 + + if os.path.exists(path1): + path = path1 + elif os.path.exists(path2): + path = path2 + else: + print("invalid file path! Please check whether the file path exists or modify it!") + + + path_red = path + '/res/A' + for i, j, k in os.walk(path_red): + file_len_red = len(k) + + path_gray = path + '/res/B' + for i, j, k in os.walk(path_gray): + file_len_gray = len(k) + + path_green = path + '/res/C' + for i, j, k in os.walk(path_green): + file_len_green = len(k) + + path_blue = path + '/res/D' + for i, j, k in os.walk(path_blue): + file_len_blue = len(k) + print("请截取要识别的部分") + print("Please intercept the part to be identified") + # root = tk.Tk() + # root.withdraw() + # temp1=filedialog.askopenfilename(parent=root) #rgb + # temp2=Image.open(temp1,mode='r') + # temp2= cv.cvtColor(np.asarray(temp2),cv.COLOR_RGB2BGR) + # cut = np.array(temp2) + + cut = cv2.imread(r"res/takephoto.jpeg") + + cv2.imshow('original', cut) + # C:\Users\Elephant\Desktop\pymycobot+opencv\local_photo/takephoto.jpeg + + # 选择ROI + roi = cv2.selectROI(windowName="original", + img=cut, + showCrosshair=False, + fromCenter=False) + x, y, w, h = roi + print(roi) + + msg = """\ + Image save location: + 1 - 保存至A分拣区文件夹 Save to A folder + 2 - 保存至B分拣区文件夹 Save to B folder + 3 - 保存至C分拣区文件夹 Save to C folder + 4 - 保存至D分拣区文件夹 Save to D folder + """ + print(msg) + kw = int(input("请输入保存图片文件夹数字编号(Please enter the number of the folder to save the picture):")) + # print(kw) + + # 显示ROI并保存图片 + if roi != (0, 0, 0, 0): + + crop = cut[y:y + h, x:x + w] + # cv2.imshow('crop', crop) + # 选择D区文件夹 + if kw == 1: + cv2.imwrite(path + '/res/A/goal{}.jpeg'.format(str(file_len_red + 1)),crop) + print('Saved') + # 选择B区文件夹 + elif kw == 2: + cv2.imwrite(path + '/res/B/goal{}.jpeg'.format(str(file_len_gray+1)),crop) + print('Saved') + # 选择C区文件夹 + elif kw == 3: + cv2.imwrite(path + '/res/C/goal{}.jpeg'.format(str(file_len_green+1)),crop) + print('Saved') + # 选择A区文件夹 + elif kw == 4: + cv2.imwrite(path + '/res/D/goal{}.jpeg'.format(str(file_len_blue+1)),crop) + print('Saved') + + # 退出 + cv2.waitKey(0) + cv2.destroyAllWindows() + + +if __name__ == "__main__": + take_photo() + cut_photo() diff --git a/mycobot_ai/aikit_280_pi/scripts/aikit_color.py b/mycobot_ai/aikit_280_pi/scripts/aikit_color.py new file mode 100644 index 0000000..c873705 --- /dev/null +++ b/mycobot_ai/aikit_280_pi/scripts/aikit_color.py @@ -0,0 +1,476 @@ +#!/usr/bin/env python3 +import cv2 +import numpy as np +import time +import os,sys +import rospy +from visualization_msgs.msg import Marker +from moving_utils import Movement +from pymycobot.mycobot import MyCobot + + +IS_CV_4 = cv2.__version__[0] == '4' +__version__ = "1.0" +# Adaptive seeed + + +class Object_detect(): + + def __init__(self, camera_x = 155, camera_y = 10): + # inherit the parent class + super(Object_detect, self).__init__() + # declare mycobot280 + self.mc = None + + # 移动角度 + self.move_angles = [ + [0.61, 45.87, -92.37, -41.3, 2.02, 9.58], # init the point + [18.8, -7.91, -54.49, -23.02, -0.79, -14.76], # point to grab + ] + + # 移动坐标 + self.move_coords = [ + [132.2, -136.9, 200.8, -178.24, -3.72, -107.17], # D Sorting area + [238.8, -124.1, 204.3, -169.69, -5.52, -96.52], # C Sorting area + [115.8, 177.3, 210.6, 178.06, -0.92, -6.11], # A Sorting area + [-6.9, 173.2, 201.5, 179.93, 0.63, 33.83], # B Sorting area + ] + + # which robot: USB* is m5; ACM* is wio; AMA* is raspi + self.robot_m5 = os.popen("ls /dev/ttyUSB*").readline()[:-1] + self.robot_wio = os.popen("ls /dev/ttyACM*").readline()[:-1] + self.robot_raspi = os.popen("ls /dev/ttyAMA*").readline()[:-1] + self.robot_jes = os.popen("ls /dev/ttyTHS1").readline()[:-1] + self.raspi = False + if "dev" in self.robot_m5: + self.Pin = [2, 5] + elif "dev" in self.robot_wio: + # self.Pin = [20, 21] + self.Pin = [2, 5] + + for i in self.move_coords: + i[2] -= 20 + elif "dev" in self.robot_raspi or "dev" in self.robot_jes: + import RPi.GPIO as GPIO + GPIO.setwarnings(False) + self.GPIO = GPIO + GPIO.setmode(GPIO.BCM) + GPIO.setup(20, GPIO.OUT) + GPIO.setup(21, GPIO.OUT) + GPIO.output(20, 1) + GPIO.output(21, 1) + self.raspi = True + if self.raspi: + self.gpio_status(False) + + # choose place to set cube 选择放置立方体的地方 + self.color = 0 + # parameters to calculate camera clipping parameters 计算相机裁剪参数的参数 + self.x1 = self.x2 = self.y1 = self.y2 = 0 + # set cache of real coord 设置真实坐标的缓存 + self.cache_x = self.cache_y = 0 + # set color HSV + self.HSV = { + # "yellow": [np.array([11, 85, 70]), np.array([59, 255, 245])], + "yellow": [np.array([22, 93, 0]), np.array([45, 255, 245])], + "red": [np.array([0, 43, 46]), np.array([8, 255, 255])], + "green": [np.array([35, 43, 35]), np.array([90, 255, 255])], + "blue": [np.array([100, 43, 46]), np.array([124, 255, 255])], + "cyan": [np.array([78, 43, 46]), np.array([99, 255, 255])], + } + + # use to calculate coord between cube and mycobot280 + # 用于计算立方体和 mycobot 之间的坐标 + self.sum_x1 = self.sum_x2 = self.sum_y2 = self.sum_y1 = 0 + # The coordinates of the grab center point relative to the mycobot280 + # 抓取中心点相对于 mycobot 的坐标 + self.camera_x, self.camera_y = camera_x, camera_y + # The coordinates of the cube relative to the mycobot280 + # 立方体相对于 mycobot 的坐标 + self.c_x, self.c_y = 0, 0 + # The ratio of pixels to actual values + # 像素与实际值的比值 + self.ratio = 0 + + # Get ArUco marker dict that can be detected. + # 获取可以检测到的 ArUco 标记字典。 + self.aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250) + # Get ArUco marker params. 获取 ArUco 标记参数 + self.aruco_params = cv2.aruco.DetectorParameters_create() + + + # pump_control pi + def gpio_status(self, flag): + if flag: + # self.GPIO.output(20, 0) + self.GPIO.output(21, 0) + else: + # self.GPIO.output(20, 1) + self.GPIO.output(21, 1) + + # 开启吸泵 m5 + def pump_on(self): + # 让2号位工作 + # self.mc.set_basic_output(2, 0) + # 让5号位工作 + self.mc.set_basic_output(5, 0) + + # 停止吸泵 m5 + def pump_off(self): + # 让2号位停止工作 + # self.mc.set_basic_output(2, 1) + # 让5号位停止工作 + self.mc.set_basic_output(5, 1) + + # Grasping motion + def move(self, x, y, color): + # send Angle to move mycobot280 + print(color) + self.mc.send_angles(self.move_angles[1], 25) + time.sleep(3) + + # send coordinates to move mycobot + self.mc.send_coords([x, y, 190.6, 179.87, -3.78, -62.75], 25, 1) # usb :rx,ry,rz -173.3, -5.48, -57.9 + time.sleep(3) + + # self.mc.send_coords([x, y, 150, 179.87, -3.78, -62.75], 25, 0) + # time.sleep(3) + + self.mc.send_coords([x, y, 103, 179.87, -3.78, -62.75], 25, 0) + time.sleep(3) + + # open pump + if "dev" in self.robot_m5 or "dev" in self.robot_wio: + self.pump_on() + elif "dev" in self.robot_raspi or "dev" in self.robot_jes: + self.gpio_status(True) + time.sleep(1.5) + + tmp = [] + while True: + if not tmp: + tmp = self.mc.get_angles() + else: + break + time.sleep(0.5) + + # print(tmp) + self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, -0.79, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76] + time.sleep(2.5) + + self.mc.send_coords(self.move_coords[color], 25, 1) + # self.pub_marker(self.move_coords[color][0]/1000.0, self.move_coords[color] + # [1]/1000.0, self.move_coords[color][2]/1000.0) + time.sleep(3) + + # close pump + + if "dev" in self.robot_m5 or "dev" in self.robot_wio: + self.pump_off() + elif "dev" in self.robot_raspi or "dev" in self.robot_jes: + self.gpio_status(False) + time.sleep(5) + + self.mc.send_angles(self.move_angles[0], 25) + time.sleep(4.5) + + # decide whether grab cube 决定是否抓取立方体 + def decide_move(self, x, y, color): + print('decide-->',x, y, self.cache_x, self.cache_y) + # detect the cube status move or run 检测立方体状态移动或运行 + if (abs(x - self.cache_x) + abs(y - self.cache_y)) / 2 > 5: # mm + self.cache_x, self.cache_y = x, y + return + else: + self.cache_x = self.cache_y = 0 + # 调整吸泵吸取位置，y增大,向左移动;y减小,向右移动;x增大,前方移动;x减小,向后方移动 + self.move(x, y, color) + + # init mycobot280 + def run(self): + if "dev" in self.robot_wio : + self.mc = MyCobot(self.robot_wio, 115200) + elif "dev" in self.robot_m5: + self.mc = MyCobot(self.robot_m5, 115200) + elif "dev" in self.robot_raspi: + self.mc = MyCobot(self.robot_raspi, 1000000) + if not self.raspi: + self.pub_pump(False, self.Pin) + self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 2.02, 9.58], 20) + time.sleep(4.5) + + # draw aruco + def draw_marker(self, img, x, y): + # draw rectangle on img 在 img 上绘制矩形 + cv2.rectangle( + img, + (x - 20, y - 20), + (x + 20, y + 20), + (0, 255, 0), + thickness=2, + lineType=cv2.FONT_HERSHEY_COMPLEX, + ) + # add text on rectangle + cv2.putText(img, "({},{})".format(x, y), (x, y), + cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (243, 0, 0), 2,) + + # get points of two aruco 获得两个 aruco 的点位 + def get_calculate_params(self, img): + # Convert the image to a gray image 将图像转换为灰度图像 + gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) + # Detect ArUco marker. + corners, ids, rejectImaPoint = cv2.aruco.detectMarkers( + gray, self.aruco_dict, parameters=self.aruco_params + ) + + """ + Two Arucos must be present in the picture and in the same order. + There are two Arucos in the Corners, and each aruco contains the pixels of its four corners. + Determine the center of the aruco by the four corners of the aruco. + """ + if len(corners) > 0: + if ids is not None: + if len(corners) <= 1 or ids[0] == 1: + return None + x1 = x2 = y1 = y2 = 0 + point_11, point_21, point_31, point_41 = corners[0][0] + x1, y1 = int((point_11[0] + point_21[0] + point_31[0] + point_41[0]) / 4.0), int( + (point_11[1] + point_21[1] + point_31[1] + point_41[1]) / 4.0) + point_1, point_2, point_3, point_4 = corners[1][0] + x2, y2 = int((point_1[0] + point_2[0] + point_3[0] + point_4[0]) / 4.0), int( + (point_1[1] + point_2[1] + point_3[1] + point_4[1]) / 4.0) + + return x1, x2, y1, y2 + return None + + # set camera clipping parameters 设置相机裁剪参数 + def set_cut_params(self, x1, y1, x2, y2): + self.x1 = int(x1) + self.y1 = int(y1) + self.x2 = int(x2) + self.y2 = int(y2) + + # set parameters to calculate the coords between cube and mycobot280 + # 设置参数以计算立方体和 mycobot 之间的坐标 + def set_params(self, c_x, c_y, ratio): + self.c_x = c_x + self.c_y = c_y + self.ratio = 220.0/ratio + + # calculate the coords between cube and mycobot280 + # 计算立方体和 mycobot 之间的坐标 + def get_position(self, x, y): + return ((y - self.c_y)*self.ratio + self.camera_x), ((x - self.c_x)*self.ratio + self.camera_y) + + """ + Calibrate the camera according to the calibration parameters. + Enlarge the video pixel by 1.5 times, which means enlarge the video size by 1.5 times. + If two ARuco values have been calculated, clip the video. + """ + def transform_frame(self, frame): + # enlarge the image by 1.5 times + fx = 1.5 + fy = 1.5 + frame = cv2.resize(frame, (0, 0), fx=fx, fy=fy, + interpolation=cv2.INTER_CUBIC) + if self.x1 != self.x2: + # the cutting ratio here is adjusted according to the actual situation + frame = frame[int(self.y2*0.78):int(self.y1*1.1), + int(self.x1*0.86):int(self.x2*1.08)] + return frame + + # detect cube color + def color_detect(self, img): + # set the arrangement of color'HSV + x = y = 0 + for mycolor, item in self.HSV.items(): + # print("mycolor:",mycolor) + redLower = np.array(item[0]) + redUpper = np.array(item[1]) + + # transfrom the img to model of gray 将图像转换为灰度模型 + hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) + # print("hsv",hsv) + + # wipe off all color expect color in range 擦掉所有颜色期望范围内的颜色 + mask = cv2.inRange(hsv, item[0], item[1]) + + # a etching operation on a picture to remove edge roughness + # 对图片进行蚀刻操作以去除边缘粗糙度 + erosion = cv2.erode(mask, np.ones((1, 1), np.uint8), iterations=2) + + # the image for expansion operation, its role is to deepen the color depth in the picture + # 用于扩展操作的图像，其作用是加深图片中的颜色深度 + dilation = cv2.dilate(erosion, np.ones( + (1, 1), np.uint8), iterations=2) + + # adds pixels to the image 向图像添加像素 + target = cv2.bitwise_and(img, img, mask=dilation) + + # the filtered image is transformed into a binary image and placed in binary + # 将过滤后的图像转换为二值图像并放入二值 + ret, binary = cv2.threshold(dilation, 127, 255, cv2.THRESH_BINARY) + + # get the contour coordinates of the image, where contours is the coordinate value, here only the contour is detected + # 获取图像的轮廓坐标，其中contours为坐标值，这里只检测轮廓 + contours, hierarchy = cv2.findContours( + dilation, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) + + if len(contours) > 0: + # do something about misidentification + boxes = [ + box + for box in [cv2.boundingRect(c) for c in contours] + if min(img.shape[0], img.shape[1]) / 10 + < min(box[2], box[3]) + < min(img.shape[0], img.shape[1]) / 1 + ] + if boxes: + for box in boxes: + x, y, w, h = box + # find the largest object that fits the requirements 找到符合要求的最大对象 + c = max(contours, key=cv2.contourArea) + # get the lower left and upper right points of the positioning object + # 获取定位对象的左下和右上点 + x, y, w, h = cv2.boundingRect(c) + # locate the target by drawing rectangle 通过绘制矩形来定位目标 + cv2.rectangle(img, (x, y), (x+w, y+h), (153, 153, 0), 2) + # calculate the rectangle center 计算矩形中心 + x, y = (x*2+w)/2, (y*2+h)/2 + # calculate the real coordinates of mycobot280 relative to the target + # 计算 mycobot 相对于目标的真实坐标 + + if mycolor == "yellow": + + self.color = 3 + break + + elif mycolor == "red": + self.color = 0 + break + + elif mycolor == "cyan": + self.color = 2 + break + + elif mycolor == "blue": + self.color =2 + break + elif mycolor == "green": + self.color = 1 + break + + # 判断是否正常识别 + if abs(x) + abs(y) > 0: + return x, y + else: + return None + +if __name__ == "__main__": + + # open the camera + cap_num = 0 + cap = cv2.VideoCapture(cap_num, cv2.CAP_V4L) + + if not cap.isOpened(): + cap.open() + # init a class of Object_detect + detect = Object_detect() + # init mycobot280 + detect.run() + + _init_ = 20 + init_num = 0 + nparams = 0 + num = 0 + real_sx = real_sy = 0 + while cv2.waitKey(1) < 0: + # read camera + _, frame = cap.read() + # deal img + frame = detect.transform_frame(frame) + if _init_ > 0: + _init_ -= 1 + continue + + # calculate the parameters of camera clipping 计算相机裁剪的参数 + if init_num < 20: + if detect.get_calculate_params(frame) is None: + cv2.imshow("figure", frame) + continue + else: + x1, x2, y1, y2 = detect.get_calculate_params(frame) + detect.draw_marker(frame, x1, y1) + detect.draw_marker(frame, x2, y2) + detect.sum_x1 += x1 + detect.sum_x2 += x2 + detect.sum_y1 += y1 + detect.sum_y2 += y2 + init_num += 1 + continue + elif init_num == 20: + detect.set_cut_params( + (detect.sum_x1)/20.0, + (detect.sum_y1)/20.0, + (detect.sum_x2)/20.0, + (detect.sum_y2)/20.0, + ) + detect.sum_x1 = detect.sum_x2 = detect.sum_y1 = detect.sum_y2 = 0 + init_num += 1 + continue + + # calculate params of the coords between cube and mycobot280 计算立方体和 mycobot 之间坐标的参数 + if nparams < 10: + if detect.get_calculate_params(frame) is None: + cv2.imshow("figure", frame) + continue + else: + x1, x2, y1, y2 = detect.get_calculate_params(frame) + detect.draw_marker(frame, x1, y1) + detect.draw_marker(frame, x2, y2) + detect.sum_x1 += x1 + detect.sum_x2 += x2 + detect.sum_y1 += y1 + detect.sum_y2 += y2 + nparams += 1 + continue + elif nparams == 10: + nparams += 1 + # calculate and set params of calculating real coord between cube and mycobot280 + # 计算和设置计算立方体和mycobot之间真实坐标的参数 + detect.set_params( + (detect.sum_x1+detect.sum_x2)/20.0, + (detect.sum_y1+detect.sum_y2)/20.0, + abs(detect.sum_x1-detect.sum_x2)/10.0 + + abs(detect.sum_y1-detect.sum_y2)/10.0 + ) + print("ok") + continue + + # get detect result 获取检测结果 + detect_result = detect.color_detect(frame) + if detect_result is None: + cv2.imshow("figure", frame) + continue + else: + x, y = detect_result + # calculate real coord between cube and mycobot280 计算立方体和 mycobot 之间的真实坐标 + real_x, real_y = detect.get_position(x, y) + # print('real_x',round(real_x, 3),round(real_y, 3)) + if num == 20: + + detect.decide_move(real_sx/20.0, real_sy/20.0, detect.color) + num = real_sx = real_sy = 0 + + else: + num += 1 + real_sy += real_y + real_sx += real_x + + cv2.imshow("figure", frame) + + # close the window + if cv2.waitKey(1) & 0xFF == ord('q'): + cap.release() + cv2.destroyAllWindows() + sys.exit() diff --git a/mycobot_ai/aikit_280_pi/scripts/aikit_encode.py b/mycobot_ai/aikit_280_pi/scripts/aikit_encode.py new file mode 100644 index 0000000..72194c0 --- /dev/null +++ b/mycobot_ai/aikit_280_pi/scripts/aikit_encode.py @@ -0,0 +1,153 @@ +#encoding: UTF-8 +import cv2 +import numpy as np +from pymycobot.mycobot import MyCobot +from pymycobot import PI_BAUD, PI_PORT +import RPi.GPIO as GPIO +import time + + + +# y轴偏移量 +pump_y = -55 +# x轴偏移量 +pump_x = 15 + +class Detect_marker(): + def __init__(self): + #initialize MyCobot + self.mc = MyCobot(PI_PORT, PI_BAUD) + GPIO.setmode(GPIO.BCM) + # GPIO.setup(20, GPIO.OUT) + GPIO.setup(21, GPIO.OUT) + # set cache of real coord + self.cache_x = self.cache_y = 0 + # Creating a Camera Object + cap_num = 0 + self.cap = cv2.VideoCapture(cap_num) + self.cap.set(3, 640) + self.cap.set(4, 480) + # Get ArUco marker dict that can be detected. + self.aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250) + # Get ArUco marker params. + self.aruco_params = cv2.aruco.DetectorParameters_create() + # 摄像头的内参矩阵 + self.camera_matrix = np.array([ + [781.33379113, 0., 347.53500524], + [0., 783.79074192, 246.67627253], + [0., 0., 1.]]) + + # 摄像头的畸变系数 + self.dist_coeffs = np.array(([[3.41360787e-01, -2.52114260e+00, -1.28012469e-03, 6.70503562e-03, + 2.57018000e+00]])) + + # 控制吸泵 + def pub_pump(self, flag): + if flag: + # GPIO.output(20, 0) + GPIO.output(21, 0) + else: + # GPIO.output(20, 1) + GPIO.output(21, 1) + + # Grasping motion + def move(self, x, y): + + coords = [ + [135.0, -65.5, 280.1, 178.99, 5.38, -179.9], # 初始化点 init point + [132.2, -136.9, 200.8, -178.24, -3.72, -107.17], # D分拣区 D sorting area + [238.8, -124.1, 204.3, -169.69, -5.52, -96.52], # C分拣区 C sorting area + [115.8, 177.3, 210.6, 178.06, -0.92, -6.11], # A分拣区 A sorting area + [-6.9, 173.2, 201.5, 179.93, 0.63, 33.83], # B分拣区 B sorting area + ] + + # send coordinates to move mycobot + self.mc.send_coords(coords[0], 30, 1) + time.sleep(2) + self.mc.send_coords([coords[0][0]+x, coords[0][1]+y, 240, 178.99, 5.38, -179.9], 20, 0) + time.sleep(2) + self.mc.send_coords([coords[0][0]+x, coords[0][1]+y, 200, 178.99, 5.38, -179.9], 20, 0) + time.sleep(2) + self.mc.send_coords([coords[0][0]+x, coords[0][1]+y, 105, 178.99, 5.38, -179.9], 20, 0) + time.sleep(3.5) + self.pub_pump(True) + self.mc.send_coords(coords[0], 30, 1) + time.sleep(4) + self.mc.send_coords(coords[1], 30, 1) + time.sleep(4) + self.pub_pump(False) + time.sleep(5) + self.mc.send_coords(coords[0], 30, 1) + time.sleep(2) + + # decide whether grab cube + def decide_move(self, x, y): + + print(x,y) + # detect the cube status move or run + if (abs(x - self.cache_x) + abs(y - self.cache_y)) / 2 > 5: # mm + self.cache_x, self.cache_y = x, y + return + else: + self.cache_x = self.cache_y = 0 + # 调整吸泵吸取位置，y增大,向左移动;y减小,向右移动;x增大,前方移动;x减小,向后方移动 + self.move(x-10, y+145) + + # init mycobot + def init_mycobot(self): + self.pub_pump(False) + self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 2.02, 9.58], 20) + # self.mc.send_coords([135.0, -65.5, 280.1, 178.99, 5.38, -179.9], 20, 1) + time.sleep(4.5) + + + + def run(self): + global pump_y, pump_x + self.init_mycobot() + num = sum_x = sum_y = 0 + while cv2.waitKey(1) < 0: + success, img = self.cap.read() + if not success: + print("It seems that the image cannot be acquired correctly.") + break + + # transfrom the img to model of gray + gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) + # Detect ArUco marker. + corners, ids, rejectImaPoint = cv2.aruco.detectMarkers( + gray, self.aruco_dict, parameters=self.aruco_params + ) + + if len(corners) > 0: + if ids is not None: + # get informations of aruco + ret = cv2.aruco.estimatePoseSingleMarkers( + corners, 0.03, self.camera_matrix, self.dist_coeffs + ) + # rvec:rotation offset,tvec:translation deviator + (rvec, tvec) = (ret[0], ret[1]) + (rvec - tvec).any() + xyz = tvec[0, 0, :] + # calculate the coordinates of the aruco relative to the pump + xyz = [round(xyz[0]*1000+pump_y, 2), round(xyz[1]*1000+pump_x, 2), round(xyz[2]*1000, 2)] + + cv2.putText(img, 'coords' + str(xyz), (0, 64), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2, cv2.LINE_AA) + for i in range(rvec.shape[0]): + # draw the aruco on img + cv2.aruco.drawDetectedMarkers(img, corners) + + if num < 40 : + sum_x += xyz[1] + sum_y += xyz[0] + num += 1 + elif num ==40 : + self.decide_move(sum_x/40.0, sum_y/40.0) + num = sum_x = sum_y = 0 + + cv2.imshow("encode_image", img) + +if __name__ == "__main__": + detect = Detect_marker() + detect.run() + diff --git a/mycobot_ai/aikit_280_pi/scripts/aikit_img.py b/mycobot_ai/aikit_280_pi/scripts/aikit_img.py new file mode 100644 index 0000000..39933b8 --- /dev/null +++ b/mycobot_ai/aikit_280_pi/scripts/aikit_img.py @@ -0,0 +1,606 @@ +from multiprocessing import Process, Pipe +import cv2 +import numpy as np +import time +import os,sys + +from pymycobot.mycobot import MyCobot + +IS_CV_4 = cv2.__version__[0] == '4' +__version__ = "1.0" # Adaptive seeed + + +class Object_detect(): + + def __init__(self, camera_x = 160, camera_y = 10): + # inherit the parent class + super(Object_detect, self).__init__() + + # declare mycobot 280pi + self.mc = None + # 移动角度 + self.move_angles = [ + [0.61, 45.87, -92.37, -41.3, 2.02, 9.58], # init the point + [18.8, -7.91, -54.49, -23.02, -0.79, -14.76], # point to grab + ] + + # 移动坐标 + self.move_coords = [ + [132.2, -136.9, 200.8, -178.24, -3.72, -107.17], # D Sorting area + [238.8, -124.1, 204.3, -169.69, -5.52, -96.52], # C Sorting area + [115.8, 177.3, 210.6, 178.06, -0.92, -6.11], # A Sorting area + [-6.9, 173.2, 201.5, 179.93, 0.63, 33.83], # B Sorting area + ] + + # which robot: USB* is m5; ACM* is wio; AMA* is raspi + self.robot_m5 = os.popen("ls /dev/ttyUSB*").readline()[:-1] + self.robot_wio = os.popen("ls /dev/ttyACM*").readline()[:-1] + self.robot_raspi = os.popen("ls /dev/ttyAMA*").readline()[:-1] + self.robot_jes = os.popen("ls /dev/ttyTHS1").readline()[:-1] + self.raspi = False + if "dev" in self.robot_m5: + self.Pin = [2, 5] + elif "dev" in self.robot_wio: + # self.Pin = [20, 21] + self.Pin = [2, 5] + + for i in self.move_coords: + i[2] -= 20 + elif "dev" in self.robot_raspi or "dev" in self.robot_jes: + import RPi.GPIO as GPIO + GPIO.setwarnings(False) + self.GPIO = GPIO + GPIO.setmode(GPIO.BCM) + GPIO.setup(20, GPIO.OUT) + GPIO.setup(21, GPIO.OUT) + GPIO.output(20, 1) + GPIO.output(21, 1) + self.raspi = True + if self.raspi: + self.gpio_status(False) + + # choose place to set cube + self.color = 0 + # parameters to calculate camera clipping parameters + self.x1 = self.x2 = self.y1 = self.y2 = 0 + # set cache of real coord + self.cache_x = self.cache_y = 0 + + # use to calculate coord between cube and mycobot + self.sum_x1 = self.sum_x2 = self.sum_y2 = self.sum_y1 = 0 + # The coordinates of the grab center point relative to the mycobot + self.camera_x, self.camera_y = camera_x, camera_y + # The coordinates of the cube relative to the mycobot + self.c_x, self.c_y = 0, 0 + # The ratio of pixels to actual values + self.ratio = 0 + # Get ArUco marker dict that can be detected. + self.aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250) + # Get ArUco marker params. + self.aruco_params = cv2.aruco.DetectorParameters_create() + + # pump_control pi + def gpio_status(self, flag): + if flag: + # self.GPIO.output(20, 0) + self.GPIO.output(21, 0) + else: + # self.GPIO.output(20, 1) + self.GPIO.output(21, 1) + + # 开启吸泵 m5 + def pump_on(self): + # 让2号位工作 + # self.mc.set_basic_output(2, 0) + # 让5号位工作 + self.mc.set_basic_output(5, 0) + + # 停止吸泵 m5 + def pump_off(self): + # 让2号位停止工作 + # self.mc.set_basic_output(2, 1) + # 让5号位停止工作 + self.mc.set_basic_output(5, 1) + + # Grasping motion + def move(self, x, y, color): + # send Angle to move mypal260 + self.mc.send_angles(self.move_angles[1], 25) + time.sleep(3) + + # send coordinates to move mycobot + self.mc.send_coords([x, y, 190.6, 179.87, -3.78, -62.75], 25, 1) # usb :rx,ry,rz -173.3, -5.48, -57.9 + time.sleep(3) + + # self.mc.send_coords([x, y, 150, 179.87, -3.78, -62.75], 25, 0) + # time.sleep(3) + + self.mc.send_coords([x, y, 65, 179.87, -3.78, -62.75], 25, 0) + # self.mc.send_coords([x, y, 103, 179.87, -3.78, -62.75], 25, 0) + + time.sleep(4) + + # open pump + if "dev" in self.robot_m5 or "dev" in self.robot_wio: + self.pump_on() + elif "dev" in self.robot_raspi or "dev" in self.robot_jes: + self.gpio_status(True) + time.sleep(1.5) + + tmp = [] + while True: + if not tmp: + tmp = self.mc.get_angles() + else: + break + time.sleep(0.5) + + # print(tmp) + self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, -0.79, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76] + time.sleep(2.5) + + + + self.mc.send_coords(self.move_coords[color], 25, 1) + time.sleep(4) + + # close pump + if "dev" in self.robot_m5 or "dev" in self.robot_wio: + self.pump_off() + elif "dev" in self.robot_raspi or "dev" in self.robot_jes: + self.gpio_status(False) + time.sleep(5) + + self.mc.send_angles(self.move_angles[0], 25) + time.sleep(4.5) + + # decide whether grab cube + def decide_move(self, x, y, color): + print(x, y, self.cache_x, self.cache_y) + # detect the cube status move or run + if (abs(x - self.cache_x) + abs(y - self.cache_y)) / 2 > 5: # mm + self.cache_x, self.cache_y = x, y + return + else: + self.cache_x = self.cache_y = 0 + # 调整吸泵吸取位置，y增大,向左移动;y减小,向右移动;x增大,前方移动;x减小,向后方移动 + + self.move(x, y, color) + + + # init mycobot + def run(self): + + if "dev" in self.robot_wio : + self.mc = MyCobot(self.robot_wio, 115200) + elif "dev" in self.robot_m5: + self.mc = MyCobot(self.robot_m5, 115200) + elif "dev" in self.robot_raspi: + self.mc = MyCobot(self.robot_raspi, 1000000) + if not self.raspi: + self.pub_pump(False, self.Pin) + self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 2.02, 9.58], 20) + time.sleep(4.5) + + + # draw aruco + def draw_marker(self, img, x, y): + # draw rectangle on img + cv2.rectangle( + img, + (x - 20, y - 20), + (x + 20, y + 20), + (0, 255, 0), + thickness=2, + lineType=cv2.FONT_HERSHEY_COMPLEX, + ) + # add text on rectangle + cv2.putText( + img, + "({},{})".format(x, y), + (x, y), + cv2.FONT_HERSHEY_COMPLEX_SMALL, + 1, + (243, 0, 0), + 2, + ) + + # get points of two aruco + def get_calculate_params(self, img): + # Convert the image to a gray image + gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) + # Detect ArUco marker. + corners, ids, rejectImaPoint = cv2.aruco.detectMarkers( + gray, self.aruco_dict, parameters=self.aruco_params) + + """ + Two Arucos must be present in the picture and in the same order. + There are two Arucos in the Corners, and each aruco contains the pixels of its four corners. + Determine the center of the aruco by the four corners of the aruco. + """ + if len(corners) > 0: + if ids is not None: + if len(corners) <= 1 or ids[0] == 1: + return None + x1 = x2 = y1 = y2 = 0 + point_11, point_21, point_31, point_41 = corners[0][0] + x1, y1 = int( + (point_11[0] + point_21[0] + point_31[0] + point_41[0]) / + 4.0), int( + (point_11[1] + point_21[1] + point_31[1] + point_41[1]) + / 4.0) + point_1, point_2, point_3, point_4 = corners[1][0] + x2, y2 = int( + (point_1[0] + point_2[0] + point_3[0] + point_4[0]) / + 4.0), int( + (point_1[1] + point_2[1] + point_3[1] + point_4[1]) / + 4.0) + return x1, x2, y1, y2 + return None + + # set camera clipping parameters + def set_cut_params(self, x1, y1, x2, y2): + self.x1 = int(x1) + self.y1 = int(y1) + self.x2 = int(x2) + self.y2 = int(y2) + print(self.x1, self.y1, self.x2, self.y2) + + # set parameters to calculate the coords between cube and mycobot + def set_params(self, c_x, c_y, ratio): + self.c_x = c_x + self.c_y = c_y + self.ratio = 220.0 / ratio + + # calculate the coords between cube and mycobot + def get_position(self, x, y): + return ((y - self.c_y) * self.ratio + + self.camera_x), ((x - self.c_x) * self.ratio + self.camera_y) + + """ + Calibrate the camera according to the calibration parameters. + Enlarge the video pixel by 1.5 times, which means enlarge the video size by 1.5 times. + If two ARuco values have been calculated, clip the video. + """ + + def transform_frame(self, frame): + # enlarge the image by 1.5 times + fx = 1.5 + fy = 1.5 + frame = cv2.resize(frame, (0, 0), + fx=fx, + fy=fy, + interpolation=cv2.INTER_CUBIC) + if self.x1 != self.x2: + # the cutting ratio here is adjusted according to the actual situation + frame = frame[int(self.y2 * 0.2):int(self.y1 * 1.15), + int(self.x1 * 0.7):int(self.x2 * 1.15)] + return frame + + # according the class_id to get object name + def id_class_name(self, class_id): + for key, value in self.labels.items(): + if class_id == int(key): + return value + + # detect object + def obj_detect(self, img, goal, kp_img, desc_img, kp_list, desc_list, connection): + i = 0 + MIN_MATCH_COUNT = 5 + # sift = cv2.xfeatures2d.SIFT_create() + + # find the keypoints and descriptors with SIFT + # kp = [] + # des = [] + kp = kp_list + des = desc_list + + # for i in goal: + # kp0, des0 = sift.detectAndCompute(i, None) + # kp.append(kp0) + # des.append(des0) + + # kp1, des1 = sift.detectAndCompute(goal, None) + # kp2, des2 = sift.detectAndCompute(img, None) + kp2, des2 = kp_img, desc_img + + # FLANN parameters + FLANN_INDEX_KDTREE = 0 + index_params = dict(algorithm=FLANN_INDEX_KDTREE, trees=5) + search_params = dict(checks=50) # or pass empty dictionary + flann = cv2.FlannBasedMatcher(index_params, search_params) + + x, y = 0, 0 + try: + for i in range(len(des)): + matches = flann.knnMatch(des[i], des2, k=2) + # store all the good matches as per Lowe's ratio test. 根据Lowe比率测试存储所有良好匹配项。 + good = [] + for m, n in matches: + if m.distance < 0.7 * n.distance: + good.append(m) + + # When there are enough robust matching point pairs 当有足够的健壮匹配点对（至少个MIN_MATCH_COUNT）时 + if len(good) > MIN_MATCH_COUNT: + + # extract corresponding point pairs from matching 从匹配中提取出对应点对 + # query index of small objects, training index of scenarios 小对象的查询索引，场景的训练索引 + src_pts = np.float32([kp[i][m.queryIdx].pt + for m in good]).reshape(-1, 1, 2) + dst_pts = np.float32([kp2[m.trainIdx].pt + for m in good]).reshape(-1, 1, 2) + + # Using matching points to find homography matrix in cv2.ransac 利用匹配点找到CV2.RANSAC中的单应矩阵 + M, mask = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, + 5.0) + matchesMask = mask.ravel().tolist() + # Calculate the distortion of image, that is the corresponding position in frame 计算图1的畸变，也就是在图2中的对应的位置 + h, w, d = goal[i].shape + pts = np.float32([[0, 0], [0, h - 1], [w - 1, h - 1], + [w - 1, 0]]).reshape(-1, 1, 2) + dst = cv2.perspectiveTransform(pts, M) + coord = (dst[0][0] + dst[1][0] + dst[2][0] + + dst[3][0]) / 4.0 + connection.send((DRAW_COORDS, coord)) + # cv2.putText(img, "{}".format(coord), (50, 60), + # fontFace=None, fontScale=1, + # color=(0, 255, 0), lineType=1) + print(format(dst[0][0][0])) + x = (dst[0][0][0] + dst[1][0][0] + dst[2][0][0] + + dst[3][0][0]) / 4.0 + y = (dst[0][0][1] + dst[1][0][1] + dst[2][0][1] + + dst[3][0][1]) / 4.0 + + # bound box 绘制边框 + # img = cv2.polylines(img, [np.int32(dst)], True, 244, 3, cv2.LINE_AA) + connection.send((DRAW_RECT, dst)) + # cv2.polylines(mixture, [np.int32(dst)], True, (0, 255, 0), 2, cv2.LINE_AA) + except Exception as e: + pass + + if x + y > 0: + return x, y + else: + return None + +# The path to save the image folder +def parse_folder(folder): + restore = [] + path1 = '/home/er/AiKit_280PI/' + folder + path2 = r'D:/BaiduSyncdisk/PythonProject/OpenCV/' + folder + + # if os.path.exists(path1): + # path = path1 + # elif os.path.exists(path2): + path = path1 + + for i, j, k in os.walk(path): + for l in k: + restore.append(cv2.imread(folder + '/{}'.format(l))) + # print(restore) + return restore + +def compute_keypoints_and_descriptors(sift, images_lists): + kp_list = [] + desc_list = [] + for images in images_lists: + kp_tmp = [] + desc_tmp = [] + for img in images: + kp, desc = sift.detectAndCompute(img, None) + kp_tmp.append(kp) + desc_tmp.append(desc) + kp_list.append(kp_tmp) + desc_list.append(desc_tmp) + + return kp_list, desc_list + +GET_FRAME = 1 +STOP_PROCESSING = 2 +DRAW_COORDS = 3 +DRAW_RECT = 4 +CLEAR_DRAW = 5 +CROP_FRAME = 6 + +def get_frame(connection): + connection.send(GET_FRAME) + frame = connection.recv() + return frame + +def process_transform_frame(frame, x1, y1, x2, y2): + # enlarge the image by 1.5 times + fx = 1.5 + fy = 1.5 + frame = cv2.resize(frame, (0, 0), + fx=fx, + fy=fy, + interpolation=cv2.INTER_CUBIC) + # if x1 != x2: + # # the cutting ratio here is adjusted according to the actual situation + # frame = frame[int(y2 * 0.2):int(y1 * 1.15), + # int(x1 * 0.7):int(x2 * 1.15)] + return frame + +def process_display_frame(connection): + cap_num = 0 + coord = None + dst = None + x1 = 0 + y1 = 0 + x2 = 0 + y2 = 0 + cap = cv2.VideoCapture(cap_num, cv2.CAP_V4L) + # cap = cv2.VideoCapture(cap_num, cv2.CAP_DSHOW) + if not cap.isOpened(): + cap.open() + while cv2.waitKey(1) < 0: + _, frame = cap.read() + frame = process_transform_frame(frame, x1, y1, x2, y2) + if connection.poll(): + request = connection.recv() + if request == GET_FRAME: + connection.send(frame) + elif request == CLEAR_DRAW: + coord = None + dst = None + elif type(request) is tuple: + if request[0] == DRAW_COORDS: + coord = request[1] + elif request[0] == DRAW_RECT: + dst = request[1] + elif request[0] == CROP_FRAME: + x1 = request[1] + y1 = request[2] + x2 = request[3] + y2 = request[4] + + if not coord is None: + cv2.putText(frame, "{}".format(coord), (50, 60), fontFace=None, + fontScale=1, color=(0, 255, 0), lineType=1) + if not dst is None: + frame = cv2.polylines(frame, [np.int32(dst)], True, 244, 3, cv2.LINE_AA) + cv2.imshow("figure", frame) + time.sleep(0.04) + connection.send(STOP_PROCESSING) + +def run(): + parent_conn, child_conn = Pipe() + child = Process(target = process_display_frame, args=(child_conn,)) + child.start() + + res_queue = [[], [], [], []] + res_queue[0] = parse_folder('res/D') + res_queue[1] = parse_folder('res/C') + res_queue[2] = parse_folder('res/A') + res_queue[3] = parse_folder('res/B') + + sift = cv2.xfeatures2d.SIFT_create() + # sift = cv2.SIFT_create() + kp_list, desc_list = compute_keypoints_and_descriptors(sift, res_queue) + + # init a class of Object_detect + detect = Object_detect() + + # init mycobot + detect.run() + + # _init_ = 20 # + init_num = 0 + nparams = 0 + # num = 0 + # real_sx = real_sy = 0 + while True: + start_time = time.time() + if parent_conn.poll(): + data = parent_conn.recv() + if data == STOP_PROCESSING: + break + # read camera + frame = get_frame(parent_conn) + # deal img + #frame = detect.transform_frame(frame) + + # if _init_ > 0: + # _init_ -= 1 + # continue + # calculate the parameters of camera clipping + if init_num < 20: + if detect.get_calculate_params(frame) is None: + # cv2.imshow("figure", frame) + continue + else: + x1, x2, y1, y2 = detect.get_calculate_params(frame) + detect.draw_marker(frame, x1, y1) + detect.draw_marker(frame, x2, y2) + detect.sum_x1 += x1 + detect.sum_x2 += x2 + detect.sum_y1 += y1 + detect.sum_y2 += y2 + init_num += 1 + continue + elif init_num == 20: + detect.set_cut_params( + (detect.sum_x1) / 20.0, + (detect.sum_y1) / 20.0, + (detect.sum_x2) / 20.0, + (detect.sum_y2) / 20.0, + ) + parent_conn.send((CROP_FRAME, + (detect.sum_x1) / 20.0, + (detect.sum_y1) / 20.0, + (detect.sum_x2) / 20.0, + (detect.sum_y2) / 20.0)) + detect.sum_x1 = detect.sum_x2 = detect.sum_y1 = detect.sum_y2 = 0 + init_num += 1 + continue + + # calculate params of the coords between cube and mycobot + if nparams < 10: + if detect.get_calculate_params(frame) is None: + # cv2.imshow("figure", frame) + continue + else: + x1, x2, y1, y2 = detect.get_calculate_params(frame) + detect.draw_marker(frame, x1, y1) + detect.draw_marker(frame, x2, y2) + detect.sum_x1 += x1 + detect.sum_x2 += x2 + detect.sum_y1 += y1 + detect.sum_y2 += y2 + nparams += 1 + print ("ok") + continue + elif nparams == 10: + nparams += 1 + # calculate and set params of calculating real coord between cube and mycobot + detect.set_params((detect.sum_x1 + detect.sum_x2) / 20.0, + (detect.sum_y1 + detect.sum_y2) / 20.0, + abs(detect.sum_x1 - detect.sum_x2) / 10.0 + + abs(detect.sum_y1 - detect.sum_y2) / 10.0) + print("ok") + continue + + # get detect result + kp_img, desc_img = sift.detectAndCompute(frame, None) + frame = get_frame(parent_conn) + for i, v in enumerate(res_queue): + # HACK: to update frame every time + detect_result = detect.obj_detect(frame, v, kp_img, desc_img, kp_list[i], desc_list[i], parent_conn) + if detect_result: + x, y = detect_result + # calculate real coord between cube and mycobot + real_x, real_y = detect.get_position(x, y) + detect.color = i + # detect.pub_marker(real_x / 1000.0, real_y / 1000.0) + detect.decide_move(real_x, real_y, detect.color) + # if num == 5: + # detect.color = i + # detect.pub_marker(real_sx / 5.0 / 1000.0, + # real_sy / 5.0 / 1000.0) + # detect.decide_move(real_sx / 5.0, real_sy / 5.0, + # detect.color) + # num = real_sx = real_sy = 0 + # else: + # num += 1 + # real_sy += real_y + # real_sx += real_x + parent_conn.send(CLEAR_DRAW) + + # cv2.imshow("figure", frame) + time.sleep(0.05) + end_time = time.time() + # print("loop_time = ", end_time - start_time) + + # close the window + if cv2.waitKey(1) & 0xFF == ord('q'): + # cap.release() + cv2.destroyAllWindows() + sys.exit() + + child.join() + + +if __name__ == "__main__": + run() + # Object_detect().take_photo() + # Object_detect().cut_photo() diff --git a/mycobot_ai/aikit_280_pi/scripts/aikit_shape.py b/mycobot_ai/aikit_280_pi/scripts/aikit_shape.py new file mode 100644 index 0000000..7eadefe --- /dev/null +++ b/mycobot_ai/aikit_280_pi/scripts/aikit_shape.py @@ -0,0 +1,476 @@ +import cv2 +import numpy as np +import time +import os,sys +import math + +from pymycobot.mycobot import MyCobot + + +IS_CV_4 = cv2.__version__[0] == '4' +__version__ = "1.0" +# Adaptive seeed + + +class Object_detect(): + + def __init__(self, camera_x = 162, camera_y = 15): + # inherit the parent class + super(Object_detect, self).__init__() + # declare mycobot280 + self.mc = None + + # 移动角度 + self.move_angles = [ + [0.61, 45.87, -92.37, -41.3, 2.02, 9.58], # init the point + [18.8, -7.91, -54.49, -23.02, -0.79, -14.76], # point to grab + ] + + # 移动坐标 + self.move_coords = [ + [132.2, -136.9, 200.8, -178.24, -3.72, -107.17], # D Sorting area + [238.8, -124.1, 204.3, -169.69, -5.52, -96.52], # C Sorting area + [115.8, 177.3, 210.6, 178.06, -0.92, -6.11], # A Sorting area + [-6.9, 173.2, 201.5, 179.93, 0.63, 33.83], # B Sorting area + ] + + # which robot: USB* is m5; ACM* is wio; AMA* is raspi + self.robot_m5 = os.popen("ls /dev/ttyUSB*").readline()[:-1] + self.robot_wio = os.popen("ls /dev/ttyACM*").readline()[:-1] + self.robot_raspi = os.popen("ls /dev/ttyAMA*").readline()[:-1] + self.robot_jes = os.popen("ls /dev/ttyTHS1").readline()[:-1] + self.raspi = False + if "dev" in self.robot_m5: + self.Pin = [2, 5] + elif "dev" in self.robot_wio: + # self.Pin = [20, 21] + self.Pin = [2, 5] + + for i in self.move_coords: + i[2] -= 20 + elif "dev" in self.robot_raspi or "dev" in self.robot_jes: + import RPi.GPIO as GPIO + GPIO.setwarnings(False) + self.GPIO = GPIO + GPIO.setmode(GPIO.BCM) + GPIO.setup(20, GPIO.OUT) + GPIO.setup(21, GPIO.OUT) + GPIO.output(20, 1) + GPIO.output(21, 1) + self.raspi = True + if self.raspi: + self.gpio_status(False) + + + # choose place to set cube + self.color = 0 + # parameters to calculate camera clipping parameters + self.x1 = self.x2 = self.y1 = self.y2 = 0 + # set cache of real coord + self.cache_x = self.cache_y = 0 + # set color HSV + self.HSV = { + # "yellow": [np.array([11, 85, 70]), np.array([59, 255, 245])], + "yellow": [np.array([22, 93, 0]), np.array([45, 255, 245])], + "red": [np.array([0, 43, 46]), np.array([8, 255, 255])], + "green": [np.array([35, 43, 35]), np.array([90, 255, 255])], + "blue": [np.array([100, 43, 46]), np.array([124, 255, 255])], + "cyan": [np.array([78, 43, 46]), np.array([99, 255, 255])], + } + + # use to calculate coord between cube and mycobot + self.sum_x1 = self.sum_x2 = self.sum_y2 = self.sum_y1 = 0 + # The coordinates of the grab center point relative to the mycobot + self.camera_x, self.camera_y = camera_x, camera_y + # The coordinates of the cube relative to the mycobot + self.c_x, self.c_y = 0, 0 + # The ratio of pixels to actual values + self.ratio = 0 + # Get ArUco marker dict that can be detected. + self.aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250) + # Get ArUco marker params. + self.aruco_params = cv2.aruco.DetectorParameters_create() + + # 初始化背景减法器 + self.mog =cv2.bgsegm.createBackgroundSubtractorMOG() + + # pump_control pi + def gpio_status(self, flag): + if flag: + # self.GPIO.output(20, 0) + self.GPIO.output(21, 0) + else: + # self.GPIO.output(20, 1) + self.GPIO.output(21, 1) + + # 开启吸泵 m5 + def pump_on(self): + # 让2号位工作 + # self.mc.set_basic_output(2, 0) + # 让5号位工作 + self.mc.set_basic_output(5, 0) + + # 停止吸泵 m5 + def pump_off(self): + # 让2号位停止工作 + # self.mc.set_basic_output(2, 1) + # 让5号位停止工作 + self.mc.set_basic_output(5, 1) + + # Grasping motion + def move(self, x, y, color): + # send Angle to move mycobot280 + print(color) + self.mc.send_angles(self.move_angles[1], 25) + time.sleep(3) + + # send coordinates to move mycobot + self.mc.send_coords([x, y, 190.6, 179.87, -3.78, -62.75], 25, 1) # usb :rx,ry,rz -173.3, -5.48, -57.9 + time.sleep(3) + + # self.mc.send_coords([x, y, 150, 179.87, -3.78, -62.75], 25, 0) + # time.sleep(3) + + self.mc.send_coords([x, y, 65.5, 179.87, -3.78, -62.75], 25, 0) + time.sleep(4) + + # open pump + if "dev" in self.robot_m5 or "dev" in self.robot_wio: + self.pump_on() + elif "dev" in self.robot_raspi or "dev" in self.robot_jes: + self.gpio_status(True) + time.sleep(1.5) + + tmp = [] + while True: + if not tmp: + tmp = self.mc.get_angles() + else: + break + time.sleep(0.5) + + # print(tmp) + self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, -0.79, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76] + time.sleep(2.5) + + self.mc.send_coords(self.move_coords[color], 25, 1) + + time.sleep(3) + + # close pump + + if "dev" in self.robot_m5 or "dev" in self.robot_wio: + self.pump_off() + elif "dev" in self.robot_raspi or "dev" in self.robot_jes: + self.gpio_status(False) + time.sleep(5) + + self.mc.send_angles(self.move_angles[0], 25) + time.sleep(4.5) + + # decide whether grab cube + def decide_move(self, x, y, color): + print(x, y, self.cache_x, self.cache_y) + # detect the cube status move or run + if (abs(x - self.cache_x) + abs(y - self.cache_y)) / 2 > 5: # mm + self.cache_x, self.cache_y = x, y + return + else: + self.cache_x = self.cache_y = 0 + # 调整吸泵吸取位置，y增大,向左移动;y减小,向右移动;x增大,前方移动;x减小,向后方移动 + self.move(x, y, color) + + # init mycobot280 + def run(self): + + if "dev" in self.robot_wio : + self.mc = MyCobot(self.robot_wio, 115200) + elif "dev" in self.robot_m5: + self.mc = MyCobot(self.robot_m5, 115200) + elif "dev" in self.robot_raspi: + self.mc = MyCobot(self.robot_raspi, 1000000) + if not self.raspi: + self.pub_pump(False, self.Pin) + self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 2.02, 9.58], 20) + time.sleep(4.5) + + # draw aruco + def draw_marker(self, img, x, y): + # draw rectangle on img + cv2.rectangle( + img, + (x - 20, y - 20), + (x + 20, y + 20), + (0, 255, 0), + thickness=2, + lineType=cv2.FONT_HERSHEY_COMPLEX, + ) + # add text on rectangle + cv2.putText(img, "({},{})".format(x, y), (x, y), + cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (243, 0, 0), 2,) + + # get points of two aruco + def get_calculate_params(self, img): + # Convert the image to a gray image + gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) + # Detect ArUco marker. + corners, ids, rejectImaPoint = cv2.aruco.detectMarkers( + gray, self.aruco_dict, parameters=self.aruco_params + ) + + """ + Two Arucos must be present in the picture and in the same order. + There are two Arucos in the Corners, and each aruco contains the pixels of its four corners. + Determine the center of the aruco by the four corners of the aruco. + """ + if len(corners) > 0: + if ids is not None: + if len(corners) <= 1 or ids[0] == 1: + return None + x1 = x2 = y1 = y2 = 0 + point_11, point_21, point_31, point_41 = corners[0][0] + x1, y1 = int((point_11[0] + point_21[0] + point_31[0] + point_41[0]) / 4.0), int( + (point_11[1] + point_21[1] + point_31[1] + point_41[1]) / 4.0) + point_1, point_2, point_3, point_4 = corners[1][0] + x2, y2 = int((point_1[0] + point_2[0] + point_3[0] + point_4[0]) / 4.0), int( + (point_1[1] + point_2[1] + point_3[1] + point_4[1]) / 4.0) + return x1, x2, y1, y2 + return None + + # set camera clipping parameters + def set_cut_params(self, x1, y1, x2, y2): + self.x1 = int(x1) + self.y1 = int(y1) + self.x2 = int(x2) + self.y2 = int(y2) + print(self.x1, self.y1, self.x2, self.y2) + + # set parameters to calculate the coords between cube and mycobot280 + def set_params(self, c_x, c_y, ratio): + self.c_x = c_x + self.c_y = c_y + self.ratio = 220.0/ratio + + # calculate the coords between cube and mycobot280 + def get_position(self, x, y): + return ((y - self.c_y)*self.ratio + self.camera_x), ((x - self.c_x)*self.ratio + self.camera_y) + + """ + Calibrate the camera according to the calibration parameters. + Enlarge the video pixel by 1.5 times, which means enlarge the video size by 1.5 times. + If two ARuco values have been calculated, clip the video. + """ + def transform_frame(self, frame): + # enlarge the image by 1.5 times + fx = 1.5 + fy = 1.5 + frame = cv2.resize(frame, (0, 0), fx=fx, fy=fy, + interpolation=cv2.INTER_CUBIC) + if self.x1 != self.x2: + # the cutting ratio here is adjusted according to the actual situation + frame = frame[int(self.y2*0.78):int(self.y1*1.1), + int(self.x1*0.88):int(self.x2*1.06)] + return frame + + # 检测物体的形状 + def shape_detect(self,img): + x = 0 + y = 0 + Alpha = 65.6 + Gamma=-8191.5 + cal = cv2.addWeighted(img, Alpha,img, 0, Gamma) + gray = cv2.cvtColor(cal, cv2.COLOR_BGR2GRAY) + + # 转换为灰度图片 + #ray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY) + + # a etching operation on a picture to remove edge roughness + erosion = cv2.erode(gray, np.ones((2, 2), np.uint8), iterations=2) + + # the image for expansion operation, its role is to deepen the color depth in the picture + dilation = cv2.dilate(erosion, np.ones( + (1, 1), np.uint8), iterations=2) + + + # 设定灰度图的阈值 175, 255 + _, threshold = cv2.threshold(dilation, 175, 255, cv2.THRESH_BINARY) + # 边缘检测 + edges = cv2.Canny(threshold,50,100) + # 检测物体边框 + contours,_ = cv2.findContours( + edges, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE) + + + + if len(contours)>0: + for cnt in contours: + # if 6000>cv2.contourArea(cnt) and cv2.contourArea(cnt)>4500: + if cv2.contourArea(cnt)>5500: + objectType = None + peri = cv2.arcLength(cnt,True) + approx = cv2.approxPolyDP(cnt, 0.02 * peri, True) + objCor = len(approx) + x, y, w, h = cv2.boundingRect(approx) + + boxes = [ + box + for box in [cv2.boundingRect(c) for c in contours] + if min(img.shape[0], img.shape[1]) / 10 + < min(box[2], box[3]) + < min(img.shape[0], img.shape[1]) / 1 + ] + if boxes: + for box in boxes: + x, y, w, h = box + # find the largest object that fits the requirements + c = max(contours, key=cv2.contourArea) + rect = cv2.minAreaRect(c) + box = cv2.boxPoints(rect) + box = np.int0(box) + cv2.drawContours(img, [box], 0, (153, 153, 0), 2) + x = int(rect[0][0]) + y = int(rect[0][1]) + + if objCor==3: + objectType = "Triangle(三角形)" + cv2.drawContours(img, [cnt], 0, (0, 0, 255), 3) + self.color = 3 + elif objCor==4: + box = cv2.boxPoints(rect) + box = np.int0(box) + _W = math.sqrt(math.pow((box[0][0] - box[1][0]), 2) + math.pow((box[0][1] - box[1][1]), 2)) + _H = math.sqrt(math.pow((box[0][0] - box[3][0]), 2) + math.pow((box[0][1] - box[3][1]), 2)) + aspRatio = _W/float(_H) + if 0.98 < aspRatio < 1.03: + objectType = "Square(正方形)" + cv2.drawContours(img, [cnt], 0, (0, 0, 255), 3) + self.color=1 + else: + objectType = "Rectangle(长方形)" + cv2.drawContours(img, [cnt], 0, (0, 0, 255), 3) + self.color=2 + elif objCor>=5: + objectType = "Circle(圆形)" + self.color=0 + cv2.drawContours(img, [cnt], 0, (0, 0, 255), 3) + else: + pass + print(objectType) + + if abs(x) + abs(y) > 0: + return x, y + else: + return None + + +if __name__ == "__main__": + + # open the camera + cap_num = 0 + # cap = cv2.VideoCapture(cap_num, cv2.CAP_V4L) + cap = cv2.VideoCapture(cap_num) + cap.set(3, 640) + cap.set(4, 480) + if not cap.isOpened(): + cap.open() + # init a class of Object_detect + detect = Object_detect() + # init mycobot280 + detect.run() + + _init_ = 20 + init_num = 0 + nparams = 0 + num = 0 + real_sx = real_sy = 0 + while cv2.waitKey(1) < 0: + # read camera + _, frame = cap.read() + # deal img + frame = detect.transform_frame(frame) + if _init_ > 0: + _init_ -= 1 + continue + + # calculate the parameters of camera clipping + if init_num < 20: + if detect.get_calculate_params(frame) is None: + cv2.imshow("figure", frame) + continue + else: + x1, x2, y1, y2 = detect.get_calculate_params(frame) + detect.draw_marker(frame, x1, y1) + detect.draw_marker(frame, x2, y2) + detect.sum_x1 += x1 + detect.sum_x2 += x2 + detect.sum_y1 += y1 + detect.sum_y2 += y2 + init_num += 1 + continue + elif init_num == 20: + detect.set_cut_params( + (detect.sum_x1)/20.0, + (detect.sum_y1)/20.0, + (detect.sum_x2)/20.0, + (detect.sum_y2)/20.0, + ) + detect.sum_x1 = detect.sum_x2 = detect.sum_y1 = detect.sum_y2 = 0 + init_num += 1 + continue + + # calculate params of the coords between cube and mycobot280 + if nparams < 10: + if detect.get_calculate_params(frame) is None: + cv2.imshow("figure", frame) + continue + else: + x1, x2, y1, y2 = detect.get_calculate_params(frame) + detect.draw_marker(frame, x1, y1) + detect.draw_marker(frame, x2, y2) + detect.sum_x1 += x1 + detect.sum_x2 += x2 + detect.sum_y1 += y1 + detect.sum_y2 += y2 + nparams += 1 + continue + elif nparams == 10: + nparams += 1 + # calculate and set params of calculating real coord between cube and mycobot280 + detect.set_params( + (detect.sum_x1+detect.sum_x2)/20.0, + (detect.sum_y1+detect.sum_y2)/20.0, + abs(detect.sum_x1-detect.sum_x2)/10.0 + + abs(detect.sum_y1-detect.sum_y2)/10.0 + ) + print("ok") + continue + + # get detect result + # detect_result = detect.color_detect(frame) + # print('调用检测') + detect_result = detect.shape_detect(frame) + # print("完成检测") + if detect_result is None: + cv2.imshow("figure", frame) + continue + else: + x, y = detect_result + # calculate real coord between cube and mycobot280 + real_x, real_y = detect.get_position(x, y) + if num == 20: + + detect.decide_move(real_sx/20.0, real_sy/20.0, detect.color) + num = real_sx = real_sy = 0 + + else: + num += 1 + real_sy += real_y + real_sx += real_x + + cv2.imshow("figure", frame) + + # close the window + if cv2.waitKey(1) & 0xFF == ord('q'): + cap.release() + cv2.destroyAllWindows() + sys.exit() diff --git a/mycobot_ai/aikit_280_pi/scripts/moving_utils.py b/mycobot_ai/aikit_280_pi/scripts/moving_utils.py new file mode 100755 index 0000000..1b6a651 --- /dev/null +++ b/mycobot_ai/aikit_280_pi/scripts/moving_utils.py @@ -0,0 +1,49 @@ +#encoding: UTF-8 +#!/usr/bin/env python2 +import rospy +import time,os + +from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus + + +class Movement(object): + """Tools class: Communication with mycobot.""" + def __init__(self): + super(Movement, self).__init__() + self.angle_pub = rospy.Publisher("mycobot/angles_goal", MycobotSetAngles, queue_size=5) + self.coord_pub = rospy.Publisher("mycobot/coords_goal", MycobotSetCoords, queue_size=5) + + self.pump_pub = rospy.Publisher("mycobot/pump_status", MycobotPumpStatus, queue_size=10) + + self.angles = MycobotSetAngles() + self.coords = MycobotSetCoords() + self.pump = MycobotPumpStatus() + + def pub_coords(self, item, sp=20, m=1): + self.coords.x = item[0] + self.coords.y = item[1] + self.coords.z = item[2] + self.coords.rx = item[3] + self.coords.ry = item[4] + self.coords.rz = item[5] + self.coords.speed = sp + self.coords.model = m + self.coord_pub.publish(self.coords) + + + def pub_angles(self, item, sp): + self.angles.joint_1 = item[0] + self.angles.joint_2 = item[1] + self.angles.joint_3 = item[2] + self.angles.joint_4 = item[3] + self.angles.joint_5 = item[4] + self.angles.joint_6 = item[5] + self.angles.speed = sp + self.angle_pub.publish(self.angles) + + + def pub_pump(self, flag,Pin): + self.pump.Status = flag + self.pump.Pin1 = Pin[0] + self.pump.Pin2 = Pin[1] + self.pump_pub.publish(self.pump) diff --git a/mycobot_ai/aikit_280_pi/scripts/test.py b/mycobot_ai/aikit_280_pi/scripts/test.py new file mode 100644 index 0000000..08b8a27 --- /dev/null +++ b/mycobot_ai/aikit_280_pi/scripts/test.py @@ -0,0 +1,18 @@ +from pymycobot.mycobot import MyCobot +import time +from pymycobot import PI_BAUD, PI_PORT + +mc = MyCobot(PI_PORT, PI_BAUD) + +coords = [ + [135.0, -65.5, 280.1, 178.99, 5.38, -179.9], + [136.1, -141.6, 243.9, 178.99, 5.38, -179.9] + ] + +angles = [0, 0, 0, 0, 0, 0] + +mc.send_coords(coords[0], 20, 1) +time.sleep(3) +mc.send_coords(coords[1], 20, 1) + +