mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-14 09:00:53 +00:00
Optimize aikit code
This commit is contained in:
weiquan
parent
c723b2bc0f
commit
c213331a31
2 changed files with 257 additions and 222 deletions
|
|
@ -1,4 +1,4 @@
|
|||
#encoding:utf-8
|
||||
# encoding:utf-8
|
||||
|
||||
from tokenize import Pointfloat
|
||||
import cv2
|
||||
|
|
@ -15,6 +15,7 @@ IS_CV_4 = cv2.__version__[0] == '4'
|
|||
__version__ = "1.0"
|
||||
# Adaptive seeed
|
||||
|
||||
|
||||
class Object_detect(Movement):
|
||||
|
||||
def __init__(self, camera_x=150, camera_y=-10):
|
||||
|
|
@ -31,24 +32,25 @@ class Object_detect(Movement):
|
|||
# 移动坐标
|
||||
self.move_coords = [
|
||||
[120.1, -141.6, 240.9, -173.34, -8.15, -83.11], # above the red bucket
|
||||
[228.2, -127.8, 260.9, -157.51, -17.5, -71.18], # above the yello bucket
|
||||
# above the yello bucket
|
||||
[208.2, -127.8, 260.9, -157.51, -17.5, -71.18],
|
||||
[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],
|
||||
]
|
||||
# which robot
|
||||
self.robot = os.popen("ls /dev/ttyUSB*")
|
||||
self.robot = os.popen("ls /dev/ttyUSB*").readline()[:-1]
|
||||
if "dev" in self.robot:
|
||||
self.Pin = [2,5]
|
||||
self.Pin = [2, 5]
|
||||
else:
|
||||
self.Pin = [20,21]
|
||||
self.Pin = [20, 21]
|
||||
for i in self.move_coords:
|
||||
i[2] -= 20
|
||||
|
||||
# choose place to set cube
|
||||
self.color = 0
|
||||
# parameters to calculate camera clipping parameters
|
||||
self.x1 = self.x2 = self.y1 = self.y2 =0
|
||||
self.x1 = self.x2 = self.y1 = self.y2 = 0
|
||||
# set cache of real coord
|
||||
self.cache_x = self.cache_y = 0
|
||||
# set color HSV
|
||||
|
|
@ -60,11 +62,11 @@ class Object_detect(Movement):
|
|||
"cyan": [np.array([78, 43, 46]), np.array([99, 255, 255])],
|
||||
}
|
||||
# use to calculate coord between cube and mycobot
|
||||
self.sum_x1= self.sum_x2= self.sum_y2= self.sum_y1= 0
|
||||
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
|
||||
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.
|
||||
|
|
@ -88,7 +90,6 @@ class Object_detect(Movement):
|
|||
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
|
||||
|
|
@ -99,7 +100,7 @@ class Object_detect(Movement):
|
|||
self.marker.pose.orientation.w = 1.0
|
||||
|
||||
# publish marker
|
||||
def pub_marker(self, x, y , z=0.03):
|
||||
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
|
||||
|
|
@ -108,7 +109,7 @@ class Object_detect(Movement):
|
|||
self.pub.publish(self.marker)
|
||||
|
||||
# Grasping motion
|
||||
def move(self, x,y,color):
|
||||
def move(self, x, y, color):
|
||||
# send Angle to move mycobot
|
||||
print color
|
||||
self.pub_angles(self.move_angles[0], 20)
|
||||
|
|
@ -126,49 +127,54 @@ class Object_detect(Movement):
|
|||
|
||||
h = 0
|
||||
|
||||
if 165<x<180:
|
||||
if 165 < x < 180:
|
||||
h = 10
|
||||
elif x>180:
|
||||
elif x > 180:
|
||||
h = 20
|
||||
elif x<135:
|
||||
elif x < 135:
|
||||
h = -20
|
||||
print 'down_1:',[x, y, 31.9+h, -178.9, -1, -25.95]
|
||||
print 'down_1:', [x, y, 31.9+h, -178.9, -1, -25.95]
|
||||
self.pub_coords([x, y, 31.9+h, -178.9, -1, -25.95], 20, 1)
|
||||
time.sleep(1.5)
|
||||
# open pump
|
||||
self.pub_pump(True,self.Pin)
|
||||
self.pub_pump(True, self.Pin)
|
||||
time.sleep(0.5)
|
||||
self.pub_angles(self.move_angles[2], 20)
|
||||
time.sleep(3)
|
||||
self.pub_marker(self.move_coords[2][0]/1000.0, self.move_coords[2][1]/1000.0, self.move_coords[2][2]/1000.0)
|
||||
self.pub_marker(
|
||||
self.move_coords[2][0]/1000.0, self.move_coords[2][1]/1000.0, self.move_coords[2][2]/1000.0)
|
||||
|
||||
self.pub_angles(self.move_angles[1], 20)
|
||||
time.sleep(1.5)
|
||||
self.pub_marker(self.move_coords[3][0]/1000.0, self.move_coords[3][1]/1000.0, self.move_coords[3][2]/1000.0)
|
||||
self.pub_marker(
|
||||
self.move_coords[3][0]/1000.0, self.move_coords[3][1]/1000.0, self.move_coords[3][2]/1000.0)
|
||||
|
||||
self.pub_angles(self.move_angles[0], 20)
|
||||
time.sleep(2)
|
||||
self.pub_marker(self.move_coords[4][0]/1000.0, self.move_coords[4][1]/1000.0, self.move_coords[4][2]/1000.0)
|
||||
self.pub_marker(
|
||||
self.move_coords[4][0]/1000.0, self.move_coords[4][1]/1000.0, self.move_coords[4][2]/1000.0)
|
||||
|
||||
print 'down:',self.move_coords[color]
|
||||
print 'down:', self.move_coords[color]
|
||||
self.pub_coords(self.move_coords[color], 20, 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)
|
||||
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(2)
|
||||
# close pump
|
||||
self.pub_pump(False,self.Pin)
|
||||
if color==1:
|
||||
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_pump(False, self.Pin)
|
||||
if color == 1:
|
||||
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)
|
||||
time.sleep(3)
|
||||
|
||||
|
||||
# decide whether grab cube
|
||||
|
||||
def decide_move(self, x, y, color):
|
||||
|
||||
|
||||
print(x, y,self.cache_x, self.cache_y)
|
||||
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
|
||||
|
|
@ -177,28 +183,34 @@ class Object_detect(Movement):
|
|||
self.cache_x = self.cache_y = 0
|
||||
if "dev" not in self.robot:
|
||||
|
||||
if (y<-30 and x>140) or (x>150 and y<-10):
|
||||
if (y < -30 and x > 140) or (x > 150 and y < -10):
|
||||
x -= 10
|
||||
y += 10
|
||||
elif y>-10:
|
||||
elif y > -10:
|
||||
y += 10
|
||||
elif x>170:
|
||||
x -=10
|
||||
y +=10
|
||||
print x,y
|
||||
self.move(x,y,color)
|
||||
elif x > 170:
|
||||
x -= 10
|
||||
y += 10
|
||||
print x, y
|
||||
else:
|
||||
if x > 160:
|
||||
y += 10
|
||||
elif y < -20:
|
||||
x -= 10
|
||||
y += 10
|
||||
self.move(x, y, color)
|
||||
|
||||
# init mycobot
|
||||
def run(self):
|
||||
|
||||
for _ in range(10):
|
||||
for _ in range(5):
|
||||
self.pub_angles([-7.11, -6.94, -55.01, -24.16, 0, -38.84], 20)
|
||||
print(_)
|
||||
time.sleep(0.5)
|
||||
self.pub_pump(False,self.Pin)
|
||||
self.pub_pump(False, self.Pin)
|
||||
|
||||
# draw aruco
|
||||
def draw_marker(self,img,x,y):
|
||||
def draw_marker(self, img, x, y):
|
||||
# draw rectangle on img
|
||||
cv2.rectangle(
|
||||
img,
|
||||
|
|
@ -209,10 +221,11 @@ class Object_detect(Movement):
|
|||
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,)
|
||||
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):
|
||||
def get_calculate_params(self, img):
|
||||
# Convert the image to a gray image
|
||||
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
|
||||
# Detect ArUco marker.
|
||||
|
|
@ -227,14 +240,16 @@ class Object_detect(Movement):
|
|||
"""
|
||||
if len(corners) > 0:
|
||||
if ids is not None:
|
||||
if len(corners) <= 1 or ids[0]==1:
|
||||
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
|
||||
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
|
||||
|
|
@ -243,7 +258,7 @@ class Object_detect(Movement):
|
|||
self.y1 = int(y1)
|
||||
self.x2 = int(x2)
|
||||
self.y2 = int(y2)
|
||||
print(self.x1,self.y1,self.x2,self.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):
|
||||
|
|
@ -260,14 +275,17 @@ class Object_detect(Movement):
|
|||
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)
|
||||
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)]
|
||||
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
|
||||
|
|
@ -284,7 +302,8 @@ class Object_detect(Movement):
|
|||
# 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)
|
||||
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
|
||||
|
|
@ -327,8 +346,6 @@ class Object_detect(Movement):
|
|||
return None
|
||||
|
||||
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# open the camera
|
||||
cap_num = 0
|
||||
|
|
@ -347,30 +364,29 @@ if __name__ == "__main__":
|
|||
real_sx = real_sy = 0
|
||||
while cv2.waitKey(1) < 0:
|
||||
# read camera
|
||||
_,frame = cap.read()
|
||||
_, frame = cap.read()
|
||||
# deal img
|
||||
frame = detect.transform_frame(frame)
|
||||
|
||||
|
||||
if _init_ > 0:
|
||||
_init_-=1
|
||||
_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)
|
||||
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
|
||||
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:
|
||||
elif init_num == 20:
|
||||
detect.set_cut_params(
|
||||
(detect.sum_x1)/20.0,
|
||||
(detect.sum_y1)/20.0,
|
||||
|
|
@ -378,31 +394,32 @@ if __name__ == "__main__":
|
|||
(detect.sum_y2)/20.0,
|
||||
)
|
||||
detect.sum_x1 = detect.sum_x2 = detect.sum_y1 = detect.sum_y2 = 0
|
||||
init_num+=1
|
||||
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)
|
||||
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
|
||||
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
|
||||
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
|
||||
abs(detect.sum_x1-detect.sum_x2)/10.0 +
|
||||
abs(detect.sum_y1-detect.sum_y2)/10.0
|
||||
)
|
||||
print "ok"
|
||||
continue
|
||||
|
|
@ -410,7 +427,7 @@ if __name__ == "__main__":
|
|||
# get detect result
|
||||
detect_result = detect.color_detect(frame)
|
||||
if detect_result is None:
|
||||
cv2.imshow("figure",frame)
|
||||
cv2.imshow("figure", frame)
|
||||
continue
|
||||
else:
|
||||
x, y = detect_result
|
||||
|
|
@ -426,7 +443,4 @@ if __name__ == "__main__":
|
|||
real_sy += real_y
|
||||
real_sx += real_x
|
||||
|
||||
cv2.imshow("figure",frame)
|
||||
|
||||
|
||||
|
||||
cv2.imshow("figure", frame)
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
#encoding:utf-8
|
||||
# encoding:utf-8
|
||||
|
||||
from tokenize import Pointfloat
|
||||
import cv2
|
||||
|
|
@ -17,6 +17,7 @@ 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=150, camera_y=-10):
|
||||
# inherit the parent class
|
||||
|
|
@ -32,38 +33,38 @@ class Object_detect(Movement):
|
|||
# 移动坐标
|
||||
self.move_coords = [
|
||||
[120.1, -141.6, 240.9, -173.34, -8.15, -83.11], # above the red bucket
|
||||
[228.2, -127.8, 260.9, -157.51, -17.5, -71.18], # above the yello bucket
|
||||
[208.2, -127.8, 260.9, -157.51, -17.5, -71.18], # above the yello bucket
|
||||
[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],
|
||||
]
|
||||
# 判断连接设备:ttyUSB*为M5，ttyACM*为seeed
|
||||
self.robot = os.popen("ls /dev/ttyUSB*")
|
||||
self.robot = os.popen("ls /dev/ttyUSB*").readline()[:-1]
|
||||
if "dev" in self.robot:
|
||||
self.Pin = [2,5]
|
||||
self.Pin = [2, 5]
|
||||
else:
|
||||
self.Pin = [20,21]
|
||||
self.Pin = [20, 21]
|
||||
for i in self.move_coords:
|
||||
i[2] -= 20
|
||||
|
||||
# choose place to set cube
|
||||
self.color = 0
|
||||
# parameters to calculate camera clipping parameters
|
||||
self.x1 = self.x2 = self.y1 = self.y2 =0
|
||||
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")
|
||||
# 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
|
||||
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
|
||||
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.
|
||||
|
|
@ -92,7 +93,6 @@ class Object_detect(Movement):
|
|||
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
|
||||
|
|
@ -104,7 +104,8 @@ class Object_detect(Movement):
|
|||
|
||||
self.cache_x = self.cache_y = 0
|
||||
# publish marker
|
||||
def pub_marker(self, x, y , z=0.03):
|
||||
|
||||
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
|
||||
|
|
@ -113,7 +114,7 @@ class Object_detect(Movement):
|
|||
self.pub.publish(self.marker)
|
||||
|
||||
# Grasping motion
|
||||
def move(self, x,y,color):
|
||||
def move(self, x, y, color):
|
||||
# send Angle to move mycobot
|
||||
self.pub_angles(self.move_angles[0], 20)
|
||||
time.sleep(1.5)
|
||||
|
|
@ -130,47 +131,53 @@ class Object_detect(Movement):
|
|||
else:
|
||||
|
||||
h = 0
|
||||
if 165<x<180:
|
||||
if 165 < x < 180:
|
||||
h = 10
|
||||
elif x>180:
|
||||
elif x > 180:
|
||||
h = 20
|
||||
elif x<135:
|
||||
elif x < 135:
|
||||
h = -20
|
||||
#print 'down_1:',[x, y, 31.9+h, -178.9, -1, -25.95]
|
||||
# print 'down_1:',[x, y, 31.9+h, -178.9, -1, -25.95]
|
||||
self.pub_coords([x, y, 31.9+h, -178.9, -1, -25.95], 20, 1)
|
||||
time.sleep(1.5)
|
||||
# open pump
|
||||
self.pub_pump(True,self.Pin)
|
||||
self.pub_pump(True, self.Pin)
|
||||
time.sleep(0.5)
|
||||
self.pub_angles(self.move_angles[2], 20)
|
||||
time.sleep(3)
|
||||
self.pub_marker(self.move_coords[2][0]/1000.0, self.move_coords[2][1]/1000.0, self.move_coords[2][2]/1000.0)
|
||||
self.pub_marker(
|
||||
self.move_coords[2][0]/1000.0, self.move_coords[2][1]/1000.0, self.move_coords[2][2]/1000.0)
|
||||
|
||||
self.pub_angles(self.move_angles[1], 20)
|
||||
time.sleep(1.5)
|
||||
self.pub_marker(self.move_coords[3][0]/1000.0, self.move_coords[3][1]/1000.0, self.move_coords[3][2]/1000.0)
|
||||
self.pub_marker(
|
||||
self.move_coords[3][0]/1000.0, self.move_coords[3][1]/1000.0, self.move_coords[3][2]/1000.0)
|
||||
|
||||
self.pub_angles(self.move_angles[0], 20)
|
||||
time.sleep(1.5)
|
||||
self.pub_marker(self.move_coords[4][0]/1000.0, self.move_coords[4][1]/1000.0, self.move_coords[4][2]/1000.0)
|
||||
self.pub_marker(
|
||||
self.move_coords[4][0]/1000.0, self.move_coords[4][1]/1000.0, self.move_coords[4][2]/1000.0)
|
||||
|
||||
self.pub_coords(self.move_coords[color], 20, 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)
|
||||
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(2)
|
||||
# close pump
|
||||
self.pub_pump(False,self.
|
||||
self.pub_pump(False, self.
|
||||
Pin)
|
||||
if color==1:
|
||||
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)
|
||||
if color == 1:
|
||||
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)
|
||||
time.sleep(3)
|
||||
|
||||
|
||||
# decide whether grab cube
|
||||
|
||||
def decide_move(self, x, y, color):
|
||||
print(x, y,self.cache_x, self.cache_y)
|
||||
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
|
||||
|
|
@ -178,16 +185,21 @@ Pin)
|
|||
else:
|
||||
self.cache_x = self.cache_y = 0
|
||||
if "dev" not in self.robot:
|
||||
if (y<-30 and x>140) or (x>150 and y<-10):
|
||||
if (y < -30 and x > 140) or (x > 150 and y < -10):
|
||||
x -= 10
|
||||
y += 10
|
||||
elif y>-10:
|
||||
elif y > -10:
|
||||
y += 10
|
||||
elif x>170:
|
||||
x -=10
|
||||
y +=10
|
||||
#print x,y
|
||||
self.move(x,y,color)
|
||||
elif x > 170:
|
||||
x -= 10
|
||||
y += 10
|
||||
else:
|
||||
y += 10
|
||||
x -= 5
|
||||
if y < -20:
|
||||
y += 5
|
||||
# print x,y
|
||||
self.move(x, y, color)
|
||||
|
||||
# init mycobot
|
||||
def run(self):
|
||||
|
|
@ -195,10 +207,10 @@ Pin)
|
|||
self.pub_angles([-7.11, -6.94, -55.01, -24.16, 0, -38.84], 20)
|
||||
print(_)
|
||||
time.sleep(0.5)
|
||||
self.pub_pump(False,self.Pin)
|
||||
self.pub_pump(False, self.Pin)
|
||||
|
||||
# draw aruco
|
||||
def draw_marker(self,img,x,y):
|
||||
def draw_marker(self, img, x, y):
|
||||
# draw rectangle on img
|
||||
cv2.rectangle(
|
||||
img,
|
||||
|
|
@ -209,10 +221,11 @@ Pin)
|
|||
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,)
|
||||
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):
|
||||
def get_calculate_params(self, img):
|
||||
# Convert the image to a gray image
|
||||
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
|
||||
# Detect ArUco marker.
|
||||
|
|
@ -227,14 +240,16 @@ Pin)
|
|||
"""
|
||||
if len(corners) > 0:
|
||||
if ids is not None:
|
||||
if len(corners) <= 1 or ids[0]==1:
|
||||
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
|
||||
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
|
||||
|
|
@ -243,7 +258,7 @@ Pin)
|
|||
self.y1 = int(y1)
|
||||
self.x2 = int(x2)
|
||||
self.y2 = int(y2)
|
||||
print(self.x1,self.y1,self.x2,self.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):
|
||||
|
|
@ -260,14 +275,17 @@ Pin)
|
|||
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)
|
||||
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)]
|
||||
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
|
||||
|
|
@ -275,9 +293,8 @@ Pin)
|
|||
for key, value in self.labels.items():
|
||||
if class_id == int(key):
|
||||
return value
|
||||
|
||||
|
||||
# detect object
|
||||
|
||||
def obj_detect(self, img, goal):
|
||||
# rows, cols = frame.shape[:-1]
|
||||
# Resize image and swap BGR to RGB.
|
||||
|
|
@ -331,7 +348,7 @@ Pin)
|
|||
des = []
|
||||
|
||||
for i in goal:
|
||||
kp0,des0 = sift.detectAndCompute(i, None)
|
||||
kp0, des0 = sift.detectAndCompute(i, None)
|
||||
kp.append(kp0)
|
||||
des.append(des0)
|
||||
# kp1, des1 = sift.detectAndCompute(goal, None)
|
||||
|
|
@ -364,7 +381,8 @@ Pin)
|
|||
[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)
|
||||
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
|
||||
|
|
@ -375,8 +393,10 @@ Pin)
|
|||
cv2.putText(img, "{}".format(ccoord), (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
|
||||
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(
|
||||
|
|
@ -398,6 +418,7 @@ Pin)
|
|||
return x, y
|
||||
else:
|
||||
return None
|
||||
|
||||
def take_photo(self):
|
||||
# 提醒用户操作字典
|
||||
print("*********************************************")
|
||||
|
|
@ -486,14 +507,14 @@ Pin)
|
|||
return goal
|
||||
|
||||
|
||||
def run(stop):
|
||||
def run():
|
||||
|
||||
#Object_detect().take_photo()
|
||||
#Object_detect().cut_photo()
|
||||
# Object_detect().take_photo()
|
||||
# Object_detect().cut_photo()
|
||||
# goal = Object_detect().distinguist()
|
||||
goal = []
|
||||
path = os.getcwd()+'/local_photo/img'
|
||||
print path
|
||||
|
||||
for i,j,k in os.walk(path):
|
||||
for l in k:
|
||||
goal.append(cv2.imread('local_photo/img/{}'.format(l)))
|
||||
|
|
@ -596,7 +617,7 @@ def run(stop):
|
|||
|
||||
|
||||
if __name__ == "__main__":
|
||||
run(0)
|
||||
#Object_detect().take_photo()
|
||||
#Object_detect().cut_photo()
|
||||
run()
|
||||
# Object_detect().take_photo()
|
||||
# Object_detect().cut_photo()
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue