mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
update
This commit is contained in:
2929ss
parent
f9b0792623
commit
7051e28bf9
10 changed files with 1232 additions and 105 deletions
|
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@ -66,6 +66,11 @@ Visualization Manager:
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Show Axes: false
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Show Trail: false
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Value: true
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env:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link1:
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Alpha: 1
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Show Axes: false
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@ -109,6 +114,8 @@ Visualization Manager:
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All Enabled: true
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base:
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Value: true
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env:
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Value: true
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link1:
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Value: true
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link2:
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@ -128,6 +135,8 @@ Visualization Manager:
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Show Names: true
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Tree:
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base:
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env:
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{}
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link1:
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link2:
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link3:
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@ -162,7 +171,7 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 0.949513793
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Distance: 1.49407828
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.0599999987
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Stereo Focal Distance: 1
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@ -177,10 +186,10 @@ Visualization Manager:
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.00999999978
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Pitch: 0.629796803
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Pitch: 0.344796687
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 2.05177665
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Yaw: 1.20677686
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Saved: ~
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Window Geometry:
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Displays:
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@ -9,7 +9,7 @@ Panels:
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- /RobotModel1
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- /TF1
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Splitter Ratio: 0.5
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Tree Height: 775
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Tree Height: 607
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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@ -62,6 +62,11 @@ Visualization Manager:
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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env:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint1:
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Alpha: 1
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Show Axes: false
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@ -108,6 +113,8 @@ Visualization Manager:
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Frame Timeout: 15
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Frames:
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All Enabled: true
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env:
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Value: true
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joint1:
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Value: true
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joint2:
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@ -129,6 +136,8 @@ Visualization Manager:
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Show Names: true
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Tree:
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joint1:
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env:
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{}
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joint2:
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joint3:
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joint4:
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@ -186,10 +195,10 @@ Visualization Manager:
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1056
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Height: 888
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd00000004000000000000016a000002eefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002ee000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c2000002eefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002ee000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000069f0000003efc0100000002fb0000000800540069006d006501000000000000069f0000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000367000002ee00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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@ -198,6 +207,6 @@ Window Geometry:
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collapsed: false
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Views:
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collapsed: false
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Width: 1855
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X: 65
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Y: 24
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Width: 1695
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X: 180
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Y: 34
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3
mycobot_280/mycobot_280/scripts/listen_real_of_topic.py
Normal file → Executable file
3
mycobot_280/mycobot_280/scripts/listen_real_of_topic.py
Normal file → Executable file
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@ -1,6 +1,7 @@
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#!/usr/bin/env python2
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import math
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# encoding:utf-8
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import math
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import rospy
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from sensor_msgs.msg import JointState
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from std_msgs.msg import Header
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@ -34,7 +34,7 @@ class Object_detect(Movement):
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# get path of file
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dir_path = os.path.dirname(__file__)
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# declare mypal260
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# declare 270
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self.mc = None
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# 移动角度
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self.move_angles = [
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@ -83,6 +83,7 @@ class Object_detect(Movement):
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self.raspi = True
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if self.raspi:
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self.gpio_status(False)
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# choose place to set cube
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self.color = 0
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# parameters to calculate camera clipping parameters
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@ -236,7 +237,9 @@ class Object_detect(Movement):
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# init 270
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def run(self):
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if "dev" in self.robot_m5:
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if "dev" in self.robot_wio :
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self.mc = MyCobot(self.robot_wio, 115200)
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elif "dev" in self.robot_m5:
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self.mc = MyCobot(self.robot_m5, 115200)
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elif "dev" in self.robot_raspi:
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self.mc = MyCobot(self.robot_raspi, 1000000)
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27
mycobot_ai/myCobot_280/launch/vision_m5.launch
Normal file
27
mycobot_ai/myCobot_280/launch/vision_m5.launch
Normal file
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@ -0,0 +1,27 @@
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<launch>
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<arg name="port" default="/dev/ttyUSB0" />
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<arg name="baud" default="115200" />
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_vision.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
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<!-- <arg name="gui" default="false" /> -->
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" >
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<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
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</node>
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<!-- mycobot-topics -->
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<include file="$(find mycobot_communication)/launch/communication_topic.launch">
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<arg name="port" value="$(arg port)" />
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<arg name="baud" value="$(arg baud)" />
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</include>
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<!-- listen and pub the real angles -->
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<node name="real_listener" pkg="mycobot_280" type="listen_real_of_topic.py" />
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<!-- Show in Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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472
mycobot_ai/myCobot_280/scripts/combine_detect_obj_color .py
Executable file
472
mycobot_ai/myCobot_280/scripts/combine_detect_obj_color .py
Executable file
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@ -0,0 +1,472 @@
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# encoding:utf-8
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#!/usr/bin/env python2
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from tokenize import Pointfloat
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import cv2
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import numpy as np
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import time
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import json
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import os,sys
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import rospy
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from visualization_msgs.msg import Marker
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from pymycobot.mycobot import MyCobot
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from moving_utils import Movement
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IS_CV_4 = cv2.__version__[0] == '4'
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__version__ = "1.0"
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# Adaptive seeed
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class Object_detect(Movement):
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def __init__(self, camera_x = 170, camera_y = -10):
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# inherit the parent class
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super(Object_detect, self).__init__()
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# get path of file
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dir_path = os.path.dirname(__file__)
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self.mc = None
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# 移动角度
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self.move_angles = [
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[-7.11, -6.94, -55.01, -24.16, 0, -15], # init the point
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[18.8, -7.91, -54.49, -23.02, -0.79, -14.76], # point to grab
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]
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# 移动坐标
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self.move_coords = [
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[120.8, -134.4, 258.0, -172.72, -5.31, -109.09], # above the red bucket
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[219.8, -126.4, 249.7, -158.68, -7.93, -101.6], # green
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[124.7, 145.3, 250.4, -173.5, -2.23, -11.7], # blue
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[14.6, 175.9, 250.4, -177.42, -0.08, 25.93], # gray
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]
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# which robot: USB* is m5; ACM* is wio; AMA* is raspi
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self.robot_m5 = os.popen("ls /dev/ttyUSB*").readline()[:-1]
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self.robot_wio = os.popen("ls /dev/ttyACM*").readline()[:-1]
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self.robot_raspi = os.popen("ls /dev/ttyAMA*").readline()[:-1]
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self.robot_jes = os.popen("ls /dev/ttyTHS1").readline()[:-1]
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self.raspi = False
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if "dev" in self.robot_m5:
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self.Pin = [2, 5]
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elif "dev" in self.robot_wio:
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self.Pin = [20, 21]
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for i in self.move_coords:
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i[2] -= 20
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elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
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import RPi.GPIO as GPIO
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GPIO.setwarnings(False)
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self.GPIO = GPIO
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(20, GPIO.OUT)
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GPIO.setup(21, GPIO.OUT)
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GPIO.output(20, 1)
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GPIO.output(21, 1)
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self.raspi = True
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if self.raspi:
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self.gpio_status(False)
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# choose place to set cube
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self.color = 0
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# parameters to calculate camera clipping parameters
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self.x1 = self.x2 = self.y1 = self.y2 = 0
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# set cache of real coord
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self.cache_x = self.cache_y = 0
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# set color HSV
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self.HSV = {
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"yellow": [np.array([11, 115, 70]), np.array([40, 255, 245])],
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"red": [np.array([0, 43, 46]), np.array([8, 255, 255])],
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"green": [np.array([35, 43, 46]), np.array([77, 255, 255])],
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"blue": [np.array([100, 43, 46]), np.array([124, 255, 255])],
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"cyan": [np.array([78, 43, 46]), np.array([99, 255, 255])],
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}
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# use to calculate coord between cube and mycobot
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self.sum_x1 = self.sum_x2 = self.sum_y2 = self.sum_y1 = 0
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# The coordinates of the grab center point relative to the mycobot
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self.camera_x, self.camera_y = camera_x, camera_y
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# The coordinates of the cube relative to the mycobot
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self.c_x, self.c_y = 0, 0
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# The ratio of pixels to actual values
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self.ratio = 0
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# Get ArUco marker dict that can be detected.
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self.aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
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# Get ArUco marker params.
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self.aruco_params = cv2.aruco.DetectorParameters_create()
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# init a node and a publisher
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rospy.init_node("marker", anonymous=True)
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self.pub = rospy.Publisher('/cube', Marker, queue_size=1)
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# init a Marker
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self.marker = Marker()
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self.marker.header.frame_id = "/joint1"
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self.marker.ns = "cube"
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self.marker.type = self.marker.CUBE
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self.marker.action = self.marker.ADD
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self.marker.scale.x = 0.04
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self.marker.scale.y = 0.04
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self.marker.scale.z = 0.04
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self.marker.color.a = 1.0
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self.marker.color.g = 1.0
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self.marker.color.r = 1.0
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# marker position initial
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self.marker.pose.position.x = 0
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self.marker.pose.position.y = 0
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self.marker.pose.position.z = 0.03
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self.marker.pose.orientation.x = 0
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self.marker.pose.orientation.y = 0
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self.marker.pose.orientation.z = 0
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self.marker.pose.orientation.w = 1.0
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# publish marker
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def pub_marker(self, x, y, z=0.03):
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self.marker.header.stamp = rospy.Time.now()
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self.marker.pose.position.x = x
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self.marker.pose.position.y = y
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self.marker.pose.position.z = z
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self.marker.color.g = self.color
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self.pub.publish(self.marker)
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def gpio_status(self, flag):
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if flag:
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self.GPIO.output(20, 0)
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self.GPIO.output(21, 0)
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else:
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self.GPIO.output(20, 1)
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self.GPIO.output(21, 1)
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# 开启吸泵 m5
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def pump_on(self):
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# 让2号位工作
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self.mc.set_basic_output(2, 0)
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# 让5号位工作
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self.mc.set_basic_output(5, 0)
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# 停止吸泵 m5
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def pump_off(self):
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# 让2号位停止工作
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self.mc.set_basic_output(2, 1)
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# 让5号位停止工作
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self.mc.set_basic_output(5, 1)
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# Grasping motion
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def move(self, x, y, color):
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# send Angle to move mycobot
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print (color)
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self.mc.send_angles(self.move_angles[1], 25)
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time.sleep(3)
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# send coordinates to move mycobot
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self.mc.send_coords([x, y, 190.6, -173.3, -5.48, -57.9], 25, 1)
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time.sleep(3)
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self.mc.send_coords([x, y, 150, -173.3, -5.48, -57.9], 25, 0)
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time.sleep(3)
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self.mc.send_coords([x, y, 123, -173.3, -5.48, -57.9], 10, 0)
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time.sleep(3)
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# open pump
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if "dev" in self.robot_m5:
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self.pump_on()
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elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
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self.gpio_status(True)
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time.sleep(1.5)
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tmp = []
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while True:
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if not tmp:
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tmp = self.mc.get_angles()
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else:
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break
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time.sleep(0.5)
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# print(tmp)
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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]
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time.sleep(3)
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self.pub_marker(
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self.move_coords[2][0]/1000.0, self.move_coords[2][1]/1000.0, self.move_coords[2][2]/1000.0)
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self.mc.send_coords(self.move_coords[color], 25, 1)
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self.pub_marker(self.move_coords[color][0]/1000.0, self.move_coords[color]
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[1]/1000.0, self.move_coords[color][2]/1000.0)
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time.sleep(3)
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# close pump
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if "dev" in self.robot_m5:
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self.pump_off()
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elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
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self.gpio_status(False)
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time.sleep(6)
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if color == 1:
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self.pub_marker(
|
||||
self.move_coords[color][0]/1000.0+0.04, self.move_coords[color][1]/1000.0-0.02)
|
||||
elif color == 0:
|
||||
self.pub_marker(
|
||||
self.move_coords[color][0]/1000.0+0.03, self.move_coords[color][1]/1000.0)
|
||||
# self.pub_angles(self.move_angles[0], 20)
|
||||
self.mc.send_angles(self.move_angles[0], 25)
|
||||
time.sleep(3)
|
||||
|
||||
# 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([-7.11, -6.94, -55.01, -24.16, 0, -15], 20)
|
||||
time.sleep(3)
|
||||
|
||||
# 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
|
||||
|
||||
# detect cube color
|
||||
def color_detect(self, img):
|
||||
# set the arrangement of color'HSV
|
||||
x = y = 0
|
||||
for mycolor, item in self.HSV.items():
|
||||
redLower = np.array(item[0])
|
||||
redUpper = np.array(item[1])
|
||||
# transfrom the img to model of gray
|
||||
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
|
||||
# wipe off all color expect color in range
|
||||
mask = cv2.inRange(hsv, item[0], item[1])
|
||||
# a etching operation on a picture to remove edge roughness
|
||||
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
|
||||
dilation = cv2.dilate(erosion, np.ones(
|
||||
(1, 1), np.uint8), iterations=2)
|
||||
# adds pixels to the image
|
||||
target = cv2.bitwise_and(img, img, mask=dilation)
|
||||
# the filtered image is transformed into a binary image and placed in binary
|
||||
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
|
||||
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
|
||||
c = max(contours, key=cv2.contourArea)
|
||||
# get the lower left and upper right points of the positioning object
|
||||
x, y, w, h = cv2.boundingRect(c)
|
||||
# locate the target by drawing rectangle
|
||||
cv2.rectangle(img, (x, y), (x+w, y+h), (153, 153, 0), 2)
|
||||
# calculate the rectangle center
|
||||
x, y = (x*2+w)/2, (y*2+h)/2
|
||||
# calculate the real coordinates of mycobot relative to the target
|
||||
if mycolor == "red":
|
||||
self.color = 0
|
||||
elif mycolor == "green":
|
||||
self.color = 1
|
||||
elif mycolor == "cyan":
|
||||
self.color = 2
|
||||
else:
|
||||
self.color = 3
|
||||
|
||||
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 mycobot
|
||||
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 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
|
||||
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
|
||||
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 mycobot
|
||||
real_x, real_y = detect.get_position(x, y)
|
||||
if num == 20:
|
||||
detect.pub_marker(real_sx/20.0/1000.0, real_sy/20.0/1000.0)
|
||||
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)
|
||||
|
|
@ -0,0 +1,668 @@
|
|||
# encoding:utf-8
|
||||
#!/usr/bin/env python2
|
||||
|
||||
from multiprocessing import Process, Pipe
|
||||
|
||||
from cgi import parse
|
||||
from difflib import restore
|
||||
# import queue
|
||||
from sys import path
|
||||
from tokenize import Pointfloat
|
||||
from turtle import color
|
||||
# from typing_extensions import Self
|
||||
import cv2
|
||||
import numpy as np
|
||||
import time
|
||||
import json
|
||||
import os,sys
|
||||
import rospy
|
||||
from visualization_msgs.msg import Marker
|
||||
from PIL import Image
|
||||
from threading import Thread
|
||||
import tkFileDialog as filedialog
|
||||
import Tkinter as tk
|
||||
from pymycobot.mycobot import MyCobot
|
||||
from moving_utils import Movement
|
||||
|
||||
IS_CV_4 = cv2.__version__[0] == '4'
|
||||
__version__ = "1.0" # Adaptive seeed
|
||||
|
||||
|
||||
class Object_detect(Movement):
|
||||
|
||||
def __init__(self, camera_x = 170, camera_y = -5):
|
||||
# inherit the parent class
|
||||
super(Object_detect, self).__init__()
|
||||
# get path of file
|
||||
dir_path = os.path.dirname(__file__)
|
||||
self.mc = None
|
||||
|
||||
# 移动角度
|
||||
self.move_angles = [
|
||||
[-7.11, -6.94, -55.01, -24.16, 0, -15], # 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 = [
|
||||
[120.8, -134.4, 258.0, -172.72, -5.31, -109.09], # above the red bucket
|
||||
[219.8, -126.4, 249.7, -158.68, -7.93, -101.6], # green
|
||||
[124.7, 145.3, 250.4, -173.5, -2.23, -11.7], # blue
|
||||
[14.6, 175.9, 250.4, -177.42, -0.08, 25.93], # gray
|
||||
]
|
||||
|
||||
# 判断连接设备:ttyUSB*为M5，ttyACM*为seeed
|
||||
self.raspi = False
|
||||
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]
|
||||
if "dev" in self.robot_m5:
|
||||
self.Pin = [2, 5]
|
||||
elif "dev" in self.robot_wio:
|
||||
self.Pin = [20, 21]
|
||||
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
|
||||
# load model of img recognition
|
||||
# self.model_path = os.path.join(dir_path, "frozen_inference_graph.pb")
|
||||
# self.pbtxt_path = os.path.join(dir_path, "graph.pbtxt")
|
||||
# self.label_path = os.path.join(dir_path, "labels.json")
|
||||
# # load class labels
|
||||
# self.labels = json.load(open(self.label_path))
|
||||
|
||||
# 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()
|
||||
|
||||
# if IS_CV_4:
|
||||
# self.net = cv2.dnn.readNetFromTensorflow(self.model_path, self.pbtxt_path)
|
||||
# else:
|
||||
# print('Load tensorflow model need the version of opencv is 4.')
|
||||
# exit(0)
|
||||
# init a node and a publisher
|
||||
rospy.init_node("marker", anonymous=True)
|
||||
self.pub = rospy.Publisher('/cube', Marker, queue_size=1)
|
||||
# init a Marker
|
||||
self.marker = Marker()
|
||||
self.marker.header.frame_id = "/joint1"
|
||||
self.marker.ns = "cube"
|
||||
self.marker.type = self.marker.CUBE
|
||||
self.marker.action = self.marker.ADD
|
||||
self.marker.scale.x = 0.04
|
||||
self.marker.scale.y = 0.04
|
||||
self.marker.scale.z = 0.04
|
||||
self.marker.color.a = 1.0
|
||||
self.marker.color.g = 1.0
|
||||
self.marker.color.r = 1.0
|
||||
|
||||
# marker position initial
|
||||
self.marker.pose.position.x = 0
|
||||
self.marker.pose.position.y = 0
|
||||
self.marker.pose.position.z = 0.03
|
||||
self.marker.pose.orientation.x = 0
|
||||
self.marker.pose.orientation.y = 0
|
||||
self.marker.pose.orientation.z = 0
|
||||
self.marker.pose.orientation.w = 1.0
|
||||
|
||||
self.cache_x = self.cache_y = 0
|
||||
|
||||
# publish marker
|
||||
def pub_marker(self, x, y, z=0.03):
|
||||
self.marker.header.stamp = rospy.Time.now()
|
||||
self.marker.pose.position.x = x
|
||||
self.marker.pose.position.y = y
|
||||
self.marker.pose.position.z = z
|
||||
self.marker.color.g = self.color
|
||||
self.pub.publish(self.marker)
|
||||
|
||||
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 mycobot
|
||||
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, -173.3, -5.48, -57.9], 25, 1)
|
||||
time.sleep(2.5)
|
||||
|
||||
self.mc.send_coords([x, y, 150, -173.3, -5.48, -57.9], 25, 0)
|
||||
time.sleep(2.5)
|
||||
|
||||
self.mc.send_coords([x, y, 123, -173.3, -5.48, -57.9], 10, 0)
|
||||
time.sleep(3)
|
||||
|
||||
# open pump
|
||||
if "dev" in self.robot_m5:
|
||||
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(3)
|
||||
|
||||
|
||||
|
||||
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:
|
||||
self.pump_off()
|
||||
elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
|
||||
self.gpio_status(False)
|
||||
time.sleep(6)
|
||||
|
||||
self.mc.send_angles(self.move_angles[0], 25)
|
||||
time.sleep(3)
|
||||
|
||||
# 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([-7.11, -6.94, -55.01, -24.16, 0, -15], 20)
|
||||
time.sleep(3)
|
||||
|
||||
# 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/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/myCobot_280' + folder
|
||||
path2 = '/home/h/catkin_ws/src/mycobot_ros/mycobot_ai/myCobot_280/' + folder
|
||||
if os.path.exists(path1):
|
||||
path = path1
|
||||
elif os.path.exists(path2):
|
||||
path = path2
|
||||
for i, j, k in os.walk(path):
|
||||
for l in k:
|
||||
restore.append(cv2.imread(folder + '/{}'.format(l)))
|
||||
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)
|
||||
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()
|
||||
|
||||
# Object_detect().take_photo()
|
||||
# Object_detect().cut_photo()
|
||||
# goal = Object_detect().distinguist()
|
||||
|
||||
res_queue = [[], [], [], []]
|
||||
res_queue[0] = parse_folder('res/red')
|
||||
res_queue[1] = parse_folder('res/green')
|
||||
res_queue[2] = parse_folder('res/blue')
|
||||
res_queue[3] = parse_folder('res/gray')
|
||||
|
||||
# res_queue = []
|
||||
# res_queue.extend(parse_folder('res/red'))
|
||||
# res_queue.extend(parse_folder('res/green'))
|
||||
# res_queue.extend(parse_folder('res/gray'))
|
||||
# res_queue.extend(parse_folder('res/blue'))
|
||||
|
||||
sift = cv2.xfeatures2d.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()
|
||||
|
|
@ -1,104 +1,42 @@
|
|||
# -*- coding: utf-8 -*-
|
||||
|
||||
# from fileinput import filename
|
||||
# from genericpath import isfile
|
||||
# import os
|
||||
# from sys import path
|
||||
# import cv2
|
||||
# from PIL import Image
|
||||
|
||||
|
||||
# # #count=0
|
||||
# for file in dirs:
|
||||
# pic_dir=os.path.join(path,file) # res中子文件夹的路径
|
||||
# print(pic_dir)
|
||||
# for i in os.listdir(pic_dir):
|
||||
# imgdir=os.path.join(pic_dir,i)
|
||||
# print(imgdir)
|
||||
# for i in os.listdir(pic_dir):
|
||||
# image_dir=os.path.join(pic_dir,i) #res中每个子文件夹中图片的路径
|
||||
# img1 = cv2.imread(image_dir) # 读取res中每个子文件夹中的图片
|
||||
# #count+=1
|
||||
# print(image_dir)#输出图片的路径
|
||||
#print(img1)#输出图片
|
||||
#print(count)#图片个数
|
||||
# dir_path = os.path.dirname(__file__)
|
||||
# print(dir_path)
|
||||
# # path1 = os.path.split(os.path.realpath(__file__))[0]
|
||||
# # print(path1)
|
||||
# path3=os.path.join(os.path.split(dir_path)[0]+'/res/')
|
||||
|
||||
# print(path3)
|
||||
# #for file in os.listdir(path3):
|
||||
# pic_dir=os.path.join(path3+'red')
|
||||
# # print(pic_dir)
|
||||
# for i in os.listdir(pic_dir):
|
||||
# img=os.path.join(pic_dir,i)
|
||||
# print(img)
|
||||
# print(os.getcwd()+'/mycobot_ai/res/red')
|
||||
|
||||
# list1 = [[1, 2, 3], [4, 5, 6], [7, 8, 9], [10, 11, 12]]
|
||||
# print(list1[0][0])
|
||||
# for i, v in enumerate(list1):
|
||||
# print(i)
|
||||
|
||||
# res = []
|
||||
# for i in list1:
|
||||
# res.append(i)
|
||||
# print(res)
|
||||
|
||||
# # for i in list1:
|
||||
# # print(i)
|
||||
|
||||
# color=i
|
||||
# print(color)
|
||||
# for color in range(0,4):
|
||||
# print(color)
|
||||
|
||||
from pymycobot.mycobot import MyCobot
|
||||
from pymycobot.genre import Angle
|
||||
from pymycobot import PI_PORT, PI_BAUD # 当使用树莓派版本的mycobot时，可以引用这两个变量进行MyCobot初始化
|
||||
import time
|
||||
|
||||
# mc = MyCobot("/dev/ttyACM0", 115200)
|
||||
mc = MyCobot("/dev/ttyUSB0", 115200)
|
||||
# mc = MyCobot("/dev/ttyAMA0", 1000000)
|
||||
|
||||
mc = MyCobot("/dev/ttyAMA0", 1000000)
|
||||
# mc.send_angles([0,0,0,0,0,0], 20)
|
||||
# mc.send_angles([0,0,0,0,90,0], 20)
|
||||
mc.send_angles([-7.11, -6.94, -55.01, -24.16, 0, -15], 30)
|
||||
time.sleep(4)
|
||||
|
||||
time.sleep(2)
|
||||
# move_coords = [
|
||||
# [120.1, -141.6, 240.9, -173.34, -8.15, -110.11], # above the red bucket
|
||||
# # above the green bucket
|
||||
# #[208.2, -127.8, 260.9, -157.51, -17.5, -71.18],
|
||||
# [205.6, -130.5, 263.0, -150.99, -0.07, -107.35],
|
||||
# [209.7, -18.6, 230.4, -168.48, -9.86, -39.38],
|
||||
# [196.9, -64.7, 232.6, -166.66, -9.44, -52.47],
|
||||
# [126.6, -118.1, 305.0, -157.57, -13.72, -75.3],
|
||||
# ]
|
||||
# mc.send_coords([120.8, -134.4, 258.0, -172.72, -5.31, -109.09], 30, 1) # red bucket
|
||||
# time.sleep(4)
|
||||
|
||||
# mc.send_coords([126.6, -118.1, 305.0, -157.57, -13.72, -75.3],20,1)
|
||||
# time.sleep(2)
|
||||
# mc.send_coords([104.9, 176.7, 242.6, -166.66, -9.44, -52.47],20,1) # above the blue bucket
|
||||
# time.sleep(2)
|
||||
# mc.send_coords([-20.0, 176.7, 242.6, -166.66, -9.44, -52.47],20,1) # abobe the gray bucket
|
||||
# time.sleep(2)
|
||||
# mc.send_coords([120.1,151.6,250.0,-173.34,-8.15,-110.11],20,1)
|
||||
# time.sleep(2)
|
||||
# mc.send_coords([104.9, 176.7, 242.6, -166.66, -9.44, -52.47],20,1)
|
||||
# mc.send_coords([219.8, -126.4, 249.7, -158.68, -7.93, -101.6], 30, 1) # green bucket
|
||||
# time.sleep(4)
|
||||
|
||||
# mc.send_coords([124.7, 145.3, 250.4, -173.5, -2.23, -11.7], 30, 1) # above the blue bucket
|
||||
# time.sleep(4)
|
||||
|
||||
# mc.send_coords([14.6, 175.9, 250.4, -177.42, -0.08, 25.93], 30, 1) # abobe the gray bucket
|
||||
# time.sleep(4)
|
||||
|
||||
# mc.send_angles([-7.11, -6.94, -55.01, -24.16, 0, -15], 20, 0)
|
||||
# mc.send_angles([1.4, 0, -53.61, -33.39, -3.51, -20.3],20)
|
||||
# time.sleep(3)
|
||||
|
||||
# mc.send_coords([155.8, -8.4, 140, -173.3, -5.48, -57.9], 30, 1)
|
||||
# time.sleep(6)
|
||||
|
||||
# mc.send_coords([161.5, -1.1, 115.6, -177.4, 1.09, -51.97], 30, 1)
|
||||
# time.sleep(3)
|
||||
|
||||
mc.send_angles([-26.11, -6.94, -55.01, -24.16, 0, 15],20)
|
||||
# mc.release_all_servos()
|
||||
time.sleep(3)
|
||||
print(mc.get_angles())
|
||||
# mc.send_angles([-1.14, 3.63, -87.8, 9.05, -3.07, 15],20)
|
||||
time.sleep(2)
|
||||
# print(mc.get_angles())
|
||||
# mc.send_angles([17.4, -10.1, -87.27, 5.8, -2.02, 15],20)
|
||||
# time.sleep(2)
|
||||
# print(mc.get_angles())
|
||||
|
||||
# mc.release_servo(6)
|
||||
mc.release_all_servos()
|
||||
# mc.set_servo_calibration(6)
|
||||
# if os.listdir(path,filename='blue'):
|
||||
# pass
|
||||
# time.sleep(1)
|
||||
# while True:
|
||||
# print("angles:%s"% mc.get_angles())
|
||||
# print("coords:%s"% mc.get_coords())
|
||||
# print("\n")
|
||||
|
|
|
|||
|
|
@ -6,7 +6,7 @@
|
|||
<link name="env">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/260_pi/suit_env.dae" scale="1.3 1.3 1.3"/>
|
||||
<mesh filename="package://mycobot_description/urdf/260_pi/suit_env.dae" scale="1.4 1.4 1.4"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
|
||||
</visual>
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue