mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
106 lines
No EOL
3.8 KiB
Python
Executable file
106 lines
No EOL
3.8 KiB
Python
Executable file
#!/usr/bin/env python
|
|
import rospy
|
|
import cv2 as cv
|
|
import numpy as np
|
|
from geometry_msgs.msg import Twist
|
|
from cv_bridge import CvBridge, CvBridgeError
|
|
from sensor_msgs.msg import Image
|
|
from visualization_msgs.msg import Marker
|
|
import tf_conversions
|
|
from mycobot_ros.srv import (
|
|
GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus)
|
|
|
|
|
|
class image_converter:
|
|
def __init__(self):
|
|
self.mark_pub = rospy.Publisher("/bebop/marker", Marker, queue_size=1)
|
|
self.bridge = CvBridge()
|
|
self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250)
|
|
self.aruo_params = cv.aruco.DetectorParameters_create()
|
|
calibrationParams = cv.FileStorage('calibrationFileName.xml', cv.FILE_STORAGE_READ)
|
|
self.dist_coeffs = calibrationParams.getNode('distCoeffs').mat()
|
|
self.camera_matrix = None
|
|
# rospy.wait_for_service('get_joint_coords')
|
|
# rospy.wait_for_service('set_joint_coords')
|
|
|
|
try:
|
|
self.get_coords = rospy.ServiceProxy('get_joint_coords', GetCoords)
|
|
self.set_coords = rospy.ServiceProxy('set_joint_coords', SetCoords)
|
|
except:
|
|
print('Error: cannot connect service...')
|
|
exit(1)
|
|
self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback)
|
|
|
|
|
|
def callback(self, data):
|
|
try:
|
|
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
|
|
# sucess, cv_image = self.cap.read()
|
|
except CvBridgeError as e:
|
|
print(e)
|
|
size = cv_image.shape
|
|
focal_length = size[1]
|
|
center = [size[1]/2, size[0]/2]
|
|
if self.camera_matrix is None:
|
|
self.camera_matrix = np.array([
|
|
[focal_length,0,center[0]],
|
|
[0, focal_length, center[1]],
|
|
[0,0,1],
|
|
], dtype=np.float32)
|
|
gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY)
|
|
corners, ids, rejectImaPoint = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
|
|
if len(corners) > 0:
|
|
if ids is not None:
|
|
# print('corners:', corners, 'ids:', ids)
|
|
rvec, tvec, _ = cv.aruco.estimatePoseSingleMarkers(corners, 0.05, self.camera_matrix, self.dist_coeffs)
|
|
(rvec - tvec).any()
|
|
|
|
print('rvec:', rvec, 'tvec:', tvec)
|
|
|
|
for i in range(rvec.shape[0]):
|
|
cv.aruco.drawDetectedMarkers(cv_image, corners)
|
|
cv.aruco.drawAxis(cv_image, self.camera_matrix, self.dist_coeffs, rvec[i, :, :], tvec[i, :, :], 0.03)
|
|
|
|
res = self.get_coords()
|
|
if res.x == res.y == 0.0:
|
|
return
|
|
record_coords = [
|
|
res.x, res.y, res.z, res.rx, res.ry, res.rz, 60, 1
|
|
]
|
|
print(record_coords)
|
|
|
|
# [x, y, z, -172, 3, -46.8]
|
|
cv.imshow("Image", cv_image)
|
|
|
|
|
|
# marker = Marker()
|
|
# marker.header.frame_id = '/joint1'
|
|
# marker.header.stamp = rospy.Time.now()
|
|
# marker.type = marker.SPHERE
|
|
# marker.action = marker.ADD
|
|
# marker.scale.x = 0.04
|
|
# marker.scale.y = 0.04
|
|
# marker.scale.z = 0.04
|
|
|
|
# marker.pose.position.x = center_x / 100
|
|
# marker.pose.position.y = center_y / 100
|
|
# marker.pose.position.z = 0
|
|
|
|
# marker.color.a = 1.0
|
|
# marker.color.g = 1.0
|
|
|
|
cv.waitKey(3)
|
|
try:
|
|
# self.mark_pub.publish(marker)
|
|
pass
|
|
except CvBridgeError as e:
|
|
print e
|
|
if __name__ == '__main__':
|
|
try:
|
|
rospy.init_node("cv_bridge_test")
|
|
rospy.loginfo("Starting cv_bridge_test node")
|
|
image_converter()
|
|
rospy.spin()
|
|
except KeyboardInterrupt:
|
|
print "Shutting down cv_bridge_test node."
|
|
cv.destroyAllWindows() |