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https://github.com/elephantrobotics/mycobot_ros.git
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123 lines
4 KiB
Python
Executable file
123 lines
4 KiB
Python
Executable file
#!/usr/bin/env python
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import rospy
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import cv2 as cv
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import numpy as np
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from cv_bridge import CvBridge, CvBridgeError
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from sensor_msgs.msg import Image
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import tf
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from tf.broadcaster import TransformBroadcaster
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import tf_conversions
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from mycobot_communication.srv import (
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GetCoords,
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SetCoords,
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GetAngles,
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SetAngles,
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GripperStatus,
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)
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class ImageConverter:
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def __init__(self):
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self.br = TransformBroadcaster()
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self.bridge = CvBridge()
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self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250)
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self.aruo_params = cv.aruco.DetectorParameters_create()
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calibrationParams = cv.FileStorage(
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"calibrationFileName.xml", cv.FILE_STORAGE_READ
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)
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self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat()
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self.camera_matrix = None
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# subscriber, listen wether has img come in.
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self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback)
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def callback(self, data):
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"""Callback function.
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Process image with OpenCV, detect Mark to get the pose. Then acccording the
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pose to transforming.
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"""
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try:
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# trans `rgb` to `gbr` for opencv.
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cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
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except CvBridgeError as e:
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print(e)
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size = cv_image.shape
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focal_length = size[1]
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center = [size[1] / 2, size[0] / 2]
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if self.camera_matrix is None:
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# calc the camera matrix, if don't have.
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self.camera_matrix = np.array(
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[
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[focal_length, 0, center[0]],
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[0, focal_length, center[1]],
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[0, 0, 1],
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],
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dtype=np.float32,
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)
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gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY)
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# detect aruco marker.
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ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
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corners, ids = ret[0], ret[1]
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# process marker data.
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if len(corners) > 0:
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if ids is not None:
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# print('corners:', corners, 'ids:', ids)
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# detect marker pose.
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# argument:
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# marker corners
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# marker size (meter)
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ret = cv.aruco.estimatePoseSingleMarkers(
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corners, 0.05, self.camera_matrix, self.dist_coeffs
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)
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(rvec, tvec) = (ret[0], ret[1])
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(rvec - tvec).any()
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print("rvec:", rvec, "tvec:", tvec)
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# just select first one detected marker.
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for i in range(rvec.shape[0]):
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cv.aruco.drawDetectedMarkers(cv_image, corners)
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cv.aruco.drawAxis(
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cv_image,
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self.camera_matrix,
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self.dist_coeffs,
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rvec[i, :, :],
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tvec[i, :, :],
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0.03,
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)
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xyz = tvec[0, 0, :]
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xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03]
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# get quaternion for ros.
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euler = rvec[0, 0, :]
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tf_change = tf.transformations.quaternion_from_euler(
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euler[0], euler[1], euler[2]
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)
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print("tf_change:", tf_change)
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# trans pose according [joint1]
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self.br.sendTransform(
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xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange"
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)
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# [x, y, z, -172, 3, -46.8]
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cv.imshow("Image", cv_image)
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cv.waitKey(3)
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try:
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pass
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except CvBridgeError as e:
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print(e)
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if __name__ == "__main__":
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try:
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rospy.init_node("detect_marker")
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rospy.loginfo("Starting cv_bridge_test node")
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ImageConverter()
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rospy.spin()
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except KeyboardInterrupt:
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print("Shutting down cv_bridge_test node.")
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cv.destroyAllWindows()
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