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https://github.com/elephantrobotics/mycobot_ros.git
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add aikit_320_pi for gripper scripts
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weijian
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3 changed files with 1396 additions and 0 deletions
491
mycobot_ai/aikit_320_pi/scripts/aikit_gripper_color.py
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491
mycobot_ai/aikit_320_pi/scripts/aikit_gripper_color.py
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#!/usr/bin/env python3
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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 os,sys
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import rospy
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from visualization_msgs.msg import Marker
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from moving_utils import Movement
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from pymycobot.mycobot import MyCobot
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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 = 265, camera_y = 5):
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# inherit the parent class
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super(Object_detect, self).__init__()
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# declare mycobot320
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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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[0.61, 45.87, -92.37, -41.3, 89.56, 9.58], # 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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[16.96, -6.85, -54.93, -19.68, 89.47, 12.83],
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]
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# 移动坐标
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self.move_coords = [
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[30.3, -214.9, 302.3, -169.77, -8.64, -91.55], # D Sorting area
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[240.3, -202.2, 317.1, -152.12, -10.15, -95.73], # C Sorting area
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[244.5, 193.2, 330.3, -160.54, 17.35, -74.59], # A Sorting area
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[33.2, 205.3, 322.5, -170.22, -13.93, 92.28], # B Sorting area
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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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# choose place to set cube 选择放置立方体的地方
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self.color = 0
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# parameters to calculate camera clipping parameters 计算相机裁剪参数的参数
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self.x1 = self.x2 = self.y1 = self.y2 = 0
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# set cache of real coord 设置真实坐标的缓存
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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, 85, 70]), np.array([59, 255, 245])],
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# "yellow": [np.array([22, 93, 0]), np.array([45, 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, 35]), np.array([90, 255, 255])],
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"blue": [np.array([78, 43, 46]), np.array([110, 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 mycobot320
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# 用于计算立方体和 mycobot 之间的坐标
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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 mycobot320
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# 抓取中心点相对于 mycobot 的坐标
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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 mycobot320
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# 立方体相对于 mycobot 的坐标
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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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# 像素与实际值的比值
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self.ratio = 0
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# Get ArUco marker dict that can be detected.
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# 获取可以检测到的 ArUco 标记字典。
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self.aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
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# Get ArUco marker params. 获取 ArUco 标记参数
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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 = "base"
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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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# pump_control pi
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def gpio_status(self, flag):
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if flag:
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"""start the suction pump"""
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self.mc.set_basic_output(1, 0)
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self.mc.set_basic_output(2, 1)
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else:
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"""stop suction pump"""
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self.mc.set_basic_output(1, 1)
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self.mc.set_basic_output(2, 0)
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time.sleep(1)
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self.mc.set_basic_output(2, 1)
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def gripper_on(self):
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"""start gripper"""
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self.mc.set_gripper_state(0, 100)
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time.sleep(1.5)
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def gripper_off(self):
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"""stop gripper"""
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self.mc.set_gripper_state(1, 100)
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time.sleep(1.5)
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# Grasping motion
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def move(self, x, y, color):
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# send Angle to move mycobot320
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print(color)
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print('x,y:', round(x, 2), round(y, 2))
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self.mc.send_angles(self.move_angles[2], 50)
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time.sleep(3)
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# open gripper
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self.gripper_on()
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# send coordinates to move mycobot
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self.mc.send_coords([x, y, 250, -174.51, 0.86, -85.93], 100, 1)
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time.sleep(2.5)
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self.mc.send_coords([x, y, 203, -174.51, 0.86, -85.93], 100, 1)
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time.sleep(3)
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# close gripper
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self.gripper_off()
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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, 89.56, 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(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], 100, 1)
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self.pub_marker(self.move_coords[color][0]/1000.0, self.move_coords[color][1]/1000.0, self.move_coords[color][2]/1000.0)
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time.sleep(6.5)
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# open gripper
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self.gripper_on()
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time.sleep(6.5)
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if color == 1:
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self.pub_marker(
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self.move_coords[color][0]/1000.0+0.03, self.move_coords[color][1]/1000.0-0.02
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)
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elif color == 0:
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self.pub_marker(
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self.move_coords[color][0]/1000.0+0.03, self.move_coords[color][1]/1000.0
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)
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# close gripper
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self.gripper_off()
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self.mc.send_angles(self.move_angles[0], 25)
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time.sleep(4.5)
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# decide whether grab cube 决定是否抓取立方体
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def decide_move(self, x, y, color):
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print(x, y, self.cache_x, self.cache_y)
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# detect the cube status move or run 检测立方体状态移动或运行
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if (abs(x - self.cache_x) + abs(y - self.cache_y)) / 2 > 5: # mm
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self.cache_x, self.cache_y = x, y
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return
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else:
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self.cache_x = self.cache_y = 0
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# 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
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self.move(x, y, color)
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# init mycobot320
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def run(self):
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if "dev" in self.robot_raspi:
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self.mc = MyCobot(self.robot_raspi, 115200)
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self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 89.56, 9.58], 20)
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time.sleep(2.5)
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self.gripper_off()
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# draw aruco
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def draw_marker(self, img, x, y):
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# draw rectangle on img 在 img 上绘制矩形
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cv2.rectangle(
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img,
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(x - 20, y - 20),
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(x + 20, y + 20),
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(0, 255, 0),
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thickness=2,
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lineType=cv2.FONT_HERSHEY_COMPLEX,
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)
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# add text on rectangle
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cv2.putText(img, "({},{})".format(x, y), (x, y),
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cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (243, 0, 0), 2,)
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# get points of two aruco 获得两个 aruco 的点位
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def get_calculate_params(self, img):
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# Convert the image to a gray image 将图像转换为灰度图像
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gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
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# Detect ArUco marker.
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corners, ids, rejectImaPoint = cv2.aruco.detectMarkers(
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gray, self.aruco_dict, parameters=self.aruco_params
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)
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"""
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Two Arucos must be present in the picture and in the same order.
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There are two Arucos in the Corners, and each aruco contains the pixels of its four corners.
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Determine the center of the aruco by the four corners of the aruco.
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"""
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if len(corners) > 0:
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if ids is not None:
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if len(corners) <= 1 or ids[0] == 1:
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return None
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x1 = x2 = y1 = y2 = 0
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point_11, point_21, point_31, point_41 = corners[0][0]
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x1, y1 = int((point_11[0] + point_21[0] + point_31[0] + point_41[0]) / 4.0), int(
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(point_11[1] + point_21[1] + point_31[1] + point_41[1]) / 4.0)
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point_1, point_2, point_3, point_4 = corners[1][0]
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x2, y2 = int((point_1[0] + point_2[0] + point_3[0] + point_4[0]) / 4.0), int(
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(point_1[1] + point_2[1] + point_3[1] + point_4[1]) / 4.0)
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return x1, x2, y1, y2
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return None
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# set camera clipping parameters 设置相机裁剪参数
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def set_cut_params(self, x1, y1, x2, y2):
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self.x1 = int(x1)
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self.y1 = int(y1)
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self.x2 = int(x2)
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self.y2 = int(y2)
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# set parameters to calculate the coords between cube and mycobot320
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# 设置参数以计算立方体和 mycobot 之间的坐标
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def set_params(self, c_x, c_y, ratio):
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self.c_x = c_x
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self.c_y = c_y
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self.ratio = 220.0/ratio
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# calculate the coords between cube and mycobot320
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# 计算立方体和 mycobot 之间的坐标
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def get_position(self, x, y):
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return ((y - self.c_y)*self.ratio + self.camera_x), ((x - self.c_x)*self.ratio + self.camera_y)
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"""
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Calibrate the camera according to the calibration parameters.
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Enlarge the video pixel by 1.5 times, which means enlarge the video size by 1.5 times.
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If two ARuco values have been calculated, clip the video.
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"""
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def transform_frame(self, frame):
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# enlarge the image by 1.5 times
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fx = 1.5
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fy = 1.5
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frame = cv2.resize(frame, (0, 0), fx=fx, fy=fy,
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interpolation=cv2.INTER_CUBIC)
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if self.x1 != self.x2:
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# the cutting ratio here is adjusted according to the actual situation
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frame = frame[int(self.y2*0.78):int(self.y1*1.1),
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int(self.x1*0.86):int(self.x2*1.08)]
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return frame
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# detect cube color
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def color_detect(self, img):
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# set the arrangement of color'HSV
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x = y = 0
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for mycolor, item in self.HSV.items():
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# print("mycolor:",mycolor)
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redLower = np.array(item[0])
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redUpper = np.array(item[1])
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# transfrom the img to model of gray 将图像转换为灰度模型
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hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
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# print("hsv",hsv)
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# wipe off all color expect color in range 擦掉所有颜色期望范围内的颜色
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mask = cv2.inRange(hsv, item[0], item[1])
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# a etching operation on a picture to remove edge roughness
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# 对图片进行蚀刻操作以去除边缘粗糙度
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erosion = cv2.erode(mask, np.ones((1, 1), np.uint8), iterations=2)
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# the image for expansion operation, its role is to deepen the color depth in the picture
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# 用于扩展操作的图像，其作用是加深图片中的颜色深度
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dilation = cv2.dilate(erosion, np.ones(
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(1, 1), np.uint8), iterations=2)
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# adds pixels to the image 向图像添加像素
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target = cv2.bitwise_and(img, img, mask=dilation)
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# the filtered image is transformed into a binary image and placed in binary
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# 将过滤后的图像转换为二值图像并放入二值
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ret, binary = cv2.threshold(dilation, 127, 255, cv2.THRESH_BINARY)
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# get the contour coordinates of the image, where contours is the coordinate value, here only the contour is detected
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# 获取图像的轮廓坐标，其中contours为坐标值，这里只检测轮廓
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contours, hierarchy = cv2.findContours(
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dilation, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
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if len(contours) > 0:
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# do something about misidentification
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boxes = [
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box
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for box in [cv2.boundingRect(c) for c in contours]
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if min(img.shape[0], img.shape[1]) / 10
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< min(box[2], box[3])
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< min(img.shape[0], img.shape[1]) / 1
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]
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if boxes:
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for box in boxes:
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x, y, w, h = box
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# find the largest object that fits the requirements 找到符合要求的最大对象
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c = max(contours, key=cv2.contourArea)
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# get the lower left and upper right points of the positioning object
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# 获取定位对象的左下和右上点
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x, y, w, h = cv2.boundingRect(c)
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# locate the target by drawing rectangle 通过绘制矩形来定位目标
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cv2.rectangle(img, (x, y), (x+w, y+h), (153, 153, 0), 2)
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# calculate the rectangle center 计算矩形中心
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x, y = (x*2+w)/2, (y*2+h)/2
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# calculate the real coordinates of mycobot320 relative to the target
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# 计算 mycobot 相对于目标的真实坐标
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if mycolor == "yellow":
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self.color = 3
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break
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elif mycolor == "red":
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self.color = 0
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break
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elif mycolor == "cyan":
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self.color = 2
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break
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elif mycolor == "blue":
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self.color =2
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break
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elif mycolor == "green":
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self.color = 1
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break
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# 判断是否正常识别
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if abs(x) + abs(y) > 0:
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return x, y
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else:
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return None
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if __name__ == "__main__":
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# open the camera
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cap_num = 0
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cap = cv2.VideoCapture(cap_num, cv2.CAP_V4L)
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if not cap.isOpened():
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cap.open()
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# init a class of Object_detect
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detect = Object_detect()
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# init mycobot320
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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 mycobot320 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 mycobot320
|
||||
# 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 mycobot320 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.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)
|
||||
|
||||
# close the window
|
||||
if cv2.waitKey(1) & 0xFF == ord('q'):
|
||||
cap.release()
|
||||
cv2.destroyAllWindows()
|
||||
sys.exit()
|
||||
302
mycobot_ai/aikit_320_pi/scripts/aikit_gripper_encode.py
Normal file
302
mycobot_ai/aikit_320_pi/scripts/aikit_gripper_encode.py
Normal file
|
|
@ -0,0 +1,302 @@
|
|||
#encoding: UTF-8
|
||||
import platform
|
||||
import cv2
|
||||
import numpy as np
|
||||
from pymycobot.mycobot import MyCobot
|
||||
import time
|
||||
import os
|
||||
import rospy
|
||||
from visualization_msgs.msg import Marker
|
||||
from moving_utils import Movement
|
||||
|
||||
# y轴偏移量
|
||||
pump_y = -55
|
||||
# x轴偏移量
|
||||
pump_x = 15
|
||||
|
||||
class Detect_marker(Movement):
|
||||
def __init__(self):
|
||||
# set cache of real coord
|
||||
self.cache_x = self.cache_y = 0
|
||||
|
||||
# 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]
|
||||
|
||||
# Creating a Camera Object
|
||||
if platform.system() == "Windows":
|
||||
cap_num = 1
|
||||
self.cap = cv2.VideoCapture(cap_num, cv2.CAP_DSHOW)
|
||||
self.cap.set(3, 640)
|
||||
self.cap.set(4, 480)
|
||||
elif platform.system() == "Linux":
|
||||
cap_num = 0
|
||||
self.cap = cv2.VideoCapture(cap_num, cv2.CAP_V4L)
|
||||
self.cap.set(3, 640)
|
||||
self.cap.set(4, 480)
|
||||
|
||||
# Determine the placement point of the QR code
|
||||
self.color = 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()
|
||||
# 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]]))
|
||||
|
||||
# init a node and a publisher
|
||||
rospy.init_node("encode_marker", anonymous=True)
|
||||
self.pub = rospy.Publisher('/cube', Marker, queue_size=1)
|
||||
|
||||
self.marker = Marker()
|
||||
self.marker.header.frame_id = "base"
|
||||
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
|
||||
self.marker.color.r = 0.3
|
||||
self.marker.color.g = 0.3
|
||||
self.marker.color.b = 0.3
|
||||
|
||||
# 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
|
||||
|
||||
|
||||
|
||||
# 控制吸泵
|
||||
def pub_pump(self, flag):
|
||||
if flag:
|
||||
"""start the suction pump"""
|
||||
self.mc.set_basic_output(1, 0)
|
||||
self.mc.set_basic_output(2, 1)
|
||||
else:
|
||||
"""stop suction pump"""
|
||||
self.mc.set_basic_output(1, 1)
|
||||
self.mc.set_basic_output(2, 0)
|
||||
time.sleep(1)
|
||||
self.mc.set_basic_output(2, 1)
|
||||
|
||||
def gripper_on(self):
|
||||
"""start gripper"""
|
||||
self.mc.set_gripper_state(0, 100)
|
||||
time.sleep(1.5)
|
||||
|
||||
def gripper_off(self):
|
||||
"""stop gripper"""
|
||||
self.mc.set_gripper_state(1, 100)
|
||||
time.sleep(1.5)
|
||||
|
||||
# Grasping motion
|
||||
def move(self, x, y, color, yaw_degrees):
|
||||
|
||||
print(color, yaw_degrees)
|
||||
|
||||
angles = [
|
||||
[0.61, 45.87, -92.37, -41.3, 89.56, 9.58], # init to point
|
||||
[18.8, -7.91, -54.49, -23.02, 89.56, -14.76],
|
||||
[16.96, -5.27, -52.38, -17.66, 89.82, 0.0],
|
||||
]
|
||||
|
||||
coords = [
|
||||
[145.0, -65.5, 280.1, 178.99, 7.67, -179.9], # 初始化点 init point
|
||||
[244.5, 193.2, 330.3, -160.54, 17.35, -74.59], # A分拣区 A sorting area
|
||||
[33.2, 205.3, 322.5, -170.22, -13.93, 92.28], # B分拣区 B sorting area
|
||||
[240.3, -202.2, 317.1, -152.12, -10.15, -95.73], # C分拣区 C sorting area
|
||||
[30.3, -214.9, 302.3, -169.77, -8.64, -91.55], # D分拣区 D sorting area
|
||||
]
|
||||
if yaw_degrees > 169:
|
||||
yaw_degrees = 169
|
||||
elif yaw_degrees < -169:
|
||||
yaw_degrees = -169
|
||||
else:
|
||||
yaw_degrees = yaw_degrees
|
||||
|
||||
yaw_degrees_opt = yaw_degrees + 5
|
||||
|
||||
if yaw_degrees_opt > 170:
|
||||
yaw_degrees_opt = 170
|
||||
elif yaw_degrees_opt < -173:
|
||||
yaw_degrees_opt = -173
|
||||
else:
|
||||
yaw_degrees_opt = yaw_degrees_opt
|
||||
print('yaw_degrees_opt:', yaw_degrees_opt)
|
||||
print('real_x, real_y:', round(coords[0][0] + x, 2), round(coords[0][1] + y, 2))
|
||||
|
||||
|
||||
# publish marker
|
||||
self.marker.header.stamp = rospy.Time.now()
|
||||
self.marker.pose.position.x = (coords[0][0]-x)/1000.0
|
||||
self.marker.pose.position.y = (coords[0][1]-y)/1000.0
|
||||
self.pub.publish(self.marker)
|
||||
|
||||
# send coordinates to move mycobot
|
||||
self.mc.send_angles(angles[2], 50)
|
||||
time.sleep(3)
|
||||
self.mc.send_angle(6, yaw_degrees_opt, 80)
|
||||
self.gripper_on()
|
||||
|
||||
time.sleep(2.5)
|
||||
tmp_coords = []
|
||||
while True:
|
||||
if not tmp_coords:
|
||||
tmp_coords = self.mc.get_coords()
|
||||
else:
|
||||
break
|
||||
time.sleep(0.5)
|
||||
|
||||
self.mc.send_coords([coords[0][0] + x, coords[0][1] + y, 250, tmp_coords[3], tmp_coords[4], tmp_coords[5]], 100,
|
||||
1)
|
||||
time.sleep(2)
|
||||
self.mc.send_coords([coords[0][0] + x, coords[0][1] + y, 203, tmp_coords[3], tmp_coords[4], tmp_coords[5]], 100,
|
||||
1)
|
||||
time.sleep(3)
|
||||
|
||||
# close gripper
|
||||
if "dev" in self.robot_raspi:
|
||||
self.gripper_off()
|
||||
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, 89.56, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76]
|
||||
time.sleep(3)
|
||||
|
||||
self.mc.send_coords(coords[color], 100, 1) # coords[1] 为A分拣区，coords[2] 为B分拣区, coords[3] 为C分拣区，coords[4] 为D分拣区
|
||||
time.sleep(6.5)
|
||||
|
||||
# open gripper
|
||||
if "dev" in self.robot_raspi:
|
||||
self.gripper_on()
|
||||
time.sleep(6.5)
|
||||
|
||||
# publish marker
|
||||
time.sleep(1)
|
||||
self.marker.header.stamp = rospy.Time.now()
|
||||
self.marker.pose.position.x = coords[1][0]/1000.0
|
||||
self.marker.pose.position.y = coords[1][1]/1000.0
|
||||
self.pub.publish(self.marker)
|
||||
|
||||
self.mc.send_angles(angles[0], 25)
|
||||
time.sleep(4.5)
|
||||
self.gripper_off()
|
||||
|
||||
# decide whether grab cube
|
||||
def decide_move(self, x, y, color, yaw_degrees):
|
||||
|
||||
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 + 100, y + 140, color, yaw_degrees)
|
||||
|
||||
# init mycobot
|
||||
def init_mycobot(self):
|
||||
if "dev" in self.robot_raspi:
|
||||
self.mc = MyCobot(self.robot_raspi, 115200)
|
||||
self.gripper_off()
|
||||
self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 89.56, 9.58], 20)
|
||||
time.sleep(2.5)
|
||||
|
||||
|
||||
|
||||
def run(self):
|
||||
global pump_y, pump_x
|
||||
self.init_mycobot()
|
||||
print('ok')
|
||||
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
|
||||
)
|
||||
|
||||
# Determine the placement point of the QR code
|
||||
if ids == np.array([[1]]):
|
||||
self.color = 1
|
||||
elif ids == np.array([[2]]):
|
||||
self.color = 2
|
||||
elif ids == np.array([[3]]):
|
||||
self.color = 3
|
||||
elif ids == np.array([[4]]):
|
||||
self.color = 4
|
||||
|
||||
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)]
|
||||
# 从旋转向量（rvec）计算旋转矩阵
|
||||
rotation_matrix, _ = cv2.Rodrigues(rvec)
|
||||
|
||||
# 从旋转矩阵提取欧拉角（yaw、pitch、roll）
|
||||
euler_angles = cv2.decomposeProjectionMatrix(np.hstack((rotation_matrix, tvec.reshape(3, 1))))[6]
|
||||
|
||||
# 提取yaw角度（绕Z轴旋转角度）
|
||||
yaw_degrees = euler_angles[2]
|
||||
|
||||
# 输出ArUco码的旋转角
|
||||
# print("Rotation (Yaw):", yaw_degrees)
|
||||
self.yaw_degrees = round(yaw_degrees[0], 2)
|
||||
# cv2.putText(img, str(xyz[:2]), (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, self.color, self.yaw_degrees)
|
||||
num = sum_x = sum_y = 0
|
||||
|
||||
cv2.imshow("encode_image", img)
|
||||
|
||||
if __name__ == "__main__":
|
||||
detect = Detect_marker()
|
||||
detect.run()
|
||||
|
||||
603
mycobot_ai/aikit_320_pi/scripts/aikit_object.py
Normal file
603
mycobot_ai/aikit_320_pi/scripts/aikit_object.py
Normal file
|
|
@ -0,0 +1,603 @@
|
|||
from multiprocessing import Process, Pipe
|
||||
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(Movement):
|
||||
|
||||
def __init__(self, camera_x = 265, camera_y = 5):
|
||||
# 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, -32.16, 89.56, 1.66], # init the point
|
||||
[18.8, -7.91, -54.49, -23.02, 89.56, -14.76], # point to grab
|
||||
[16.96, -6.85, -54.93, -19.68, 89.47, 12.83],
|
||||
]
|
||||
|
||||
# 移动坐标
|
||||
self.move_coords = [
|
||||
[30.3, -214.9, 302.3, -169.77, -8.64, -91.55], # D Sorting area
|
||||
[240.3, -202.2, 317.1, -152.12, -10.15, -95.73], # C Sorting area
|
||||
[244.5, 193.2, 330.3, -160.54, 17.35, -74.59], # A Sorting area
|
||||
[33.2, 205.3, 322.5, -170.22, -13.93, 92.28], # 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]
|
||||
|
||||
# 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()
|
||||
|
||||
# init a Marker
|
||||
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 = "base"
|
||||
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)
|
||||
|
||||
# pump_control pi
|
||||
def gpio_status(self, flag):
|
||||
if flag:
|
||||
"""start the suction pump"""
|
||||
self.mc.set_basic_output(1, 0)
|
||||
self.mc.set_basic_output(2, 1)
|
||||
else:
|
||||
"""stop suction pump"""
|
||||
self.mc.set_basic_output(1, 1)
|
||||
self.mc.set_basic_output(2, 0)
|
||||
time.sleep(1)
|
||||
self.mc.set_basic_output(2, 1)
|
||||
|
||||
def gripper_on(self):
|
||||
"""start gripper"""
|
||||
self.mc.set_gripper_state(0, 100)
|
||||
time.sleep(1.5)
|
||||
|
||||
def gripper_off(self):
|
||||
"""stop gripper"""
|
||||
self.mc.set_gripper_state(1, 100)
|
||||
time.sleep(1.5)
|
||||
|
||||
# Grasping motion
|
||||
def move(self, x, y, color):
|
||||
print(color)
|
||||
print('x,y:', round(x, 2), round(y, 2))
|
||||
# send Angle to move mycobot320
|
||||
self.mc.send_angles(self.move_angles[2], 50)
|
||||
time.sleep(3)
|
||||
|
||||
# open gripper
|
||||
self.gripper_on()
|
||||
# send coordinates to move mycobot
|
||||
self.mc.send_coords([x, y, 250, -174.51, 0.86, -85.93], 100, 1)
|
||||
time.sleep(2.5)
|
||||
self.mc.send_coords([x, y, 203, -174.51, 0.86, -85.93], 100, 1)
|
||||
time.sleep(3)
|
||||
# close gripper
|
||||
self.gripper_off()
|
||||
|
||||
time.sleep(2)
|
||||
|
||||
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, 89.56, 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], 100, 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(6.5)
|
||||
|
||||
# open gripper
|
||||
self.gripper_on()
|
||||
time.sleep(6.5)
|
||||
|
||||
self.mc.send_angles(self.move_angles[0], 50)
|
||||
self.gripper_off()
|
||||
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_raspi:
|
||||
self.mc = MyCobot(self.robot_raspi, 115200)
|
||||
self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 89.56, 9.58], 20)
|
||||
time.sleep(2.5)
|
||||
self.gripper_off()
|
||||
|
||||
|
||||
# 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
|
||||
|
||||
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 = []
|
||||
path = '/home/er/catkin_ws/src/mycobot_ros/mycobot_ai/aikit_320_pi/' + folder # pi
|
||||
|
||||
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 * 0.7):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()
|
||||
Loading…
Add table
Reference in a new issue