mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
96 lines
3.5 KiB
Python
Executable file
96 lines
3.5 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 geometry_msgs.msg import Twist
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from cv_bridge import CvBridge, CvBridgeError
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from sensor_msgs.msg import Image
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from visualization_msgs.msg import Marker
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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_ros.srv import (
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GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus)
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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('calibrationFileName.xml', cv.FILE_STORAGE_READ)
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self.dist_coeffs = calibrationParams.getNode('distCoeffs').mat()
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self.camera_matrix = None
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# rospy.wait_for_service('get_joint_coords')
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# rospy.wait_for_service('set_joint_coords')
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# try:
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# self.get_coords = rospy.ServiceProxy('get_joint_coords', GetCoords)
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# self.set_coords = rospy.ServiceProxy('set_joint_coords', SetCoords)
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# except:
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# print('Error: cannot connect service...')
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# exit(1)
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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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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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self.camera_matrix = np.array([
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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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], dtype=np.float32)
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gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY)
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corners, ids, rejectImaPoint = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
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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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rvec, tvec, _ = cv.aruco.estimatePoseSingleMarkers(corners, 0.05, self.camera_matrix, self.dist_coeffs)
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(rvec - tvec).any()
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print('rvec:', rvec, 'tvec:', tvec)
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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(cv_image, self.camera_matrix, self.dist_coeffs, rvec[i, :, :], tvec[i, :, :], 0.03)
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# Just process first one detected.
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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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euler = rvec[0, 0, :]
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tf_change = tf.transformations.quaternion_from_euler(euler[0], euler[1], euler[2])
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print('tf_change:', tf_change)
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self.br.sendTransform(xyz, tf_change, rospy.Time.now(), 'basic_shapes', 'joint6_flange' )
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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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