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task08_garbage_classification.py
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task08_garbage_classification.py
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#!/usr/bin/env python
# coding=utf-8
from __future__ import print_function
from collections import Iterable
import threading
from math import *
import cv2 as cv
from mpl_toolkits.mplot3d import Axes3D # 空间三维画图
import matplotlib.pyplot as plt
from tf.transformations import *
import numpy as np
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image
from lss_roban.motion_control import *
import rospy
import sys
import rospkg
sys.path.append(rospkg.RosPack().get_path('lss_roban'))
x, y, w, h = 320, 240, 0, 0
mask_select = np.zeros((480, 640), dtype='uint8')
color_type = 4
see_trash = False
stable = False
# 4 表示 未选择, 0 表示 蓝色, 1 表示 红色, 2 表示黄色, 3 表示 黑色
color_mask = [
lambda img: cv.inRange(cv.cvtColor(img,cv.COLOR_BGR2HSV), np.array([96, 220, 140]), np.array([104,255,255])),
lambda img: cv.bitwise_or(cv.inRange(cv.cvtColor(img,cv.COLOR_BGR2HSV), np.array([0, 160, 80]), np.array([10,255,255])),
cv.inRange(cv.cvtColor(img,cv.COLOR_BGR2HSV), np.array([170, 160, 80]), np.array([180,255,255]))),
lambda img: cv.inRange(cv.cvtColor(img,cv.COLOR_BGR2HSV), np.array([20,200,80]), np.array([40,255,255])),
lambda img: cv.inRange(cv.cvtColor(img,cv.COLOR_BGR2HSV), np.array([0, 0, 50]), np.array([30,30,125]))
]
see_trash=False
bridge = CvBridge()
global is_want
is_want = 'trash'
class TrackingThread(threading.Thread):
def __init__(self, pause, over):
threading.Thread.__init__(self)
self.pause = pause
self.over = over
def run(self):
rate = rospy.Rate(4)
rospy.loginfo("视觉追踪线程就绪")
while(not rospy.is_shutdown()):
if(self.over.is_set()):
break
if(not self.pause.is_set()):
mat_pos = getCoordinateFromDepthImage(x+w/2, 479-(y+h/2))
if(isinstance(mat_pos, Iterable) and see_trash):
visualTrack(mat_pos)
rate.sleep()
rospy.loginfo("视觉追踪线程结束")
class UpdateThread(threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
self.daemon = True
def run(self):
rate = rospy.Rate(15)
matQ = []
rospy.loginfo("自身稳态检测线程就绪")
while(not rospy.is_shutdown()):
mat_pos = getCoordinateFromDepthImage(x+w/2, 479-(y+h/2))
if(isinstance(mat_pos, Iterable)):
matQ.append(mat_pos)
if(len(matQ)>20):
matQ.pop(0)
global stable
if(np.amax(np.ptp(matQ, axis=0))/(mat_pos[0]+0.1)>0.015):
stable=False
else:
stable=True
rate.sleep()
rospy.loginfo("稳态检测线程结束")
def cnt_pos(cnt):
x, y, w, h = cv.boundingRect(cnt)
center_pos = getCoordinateFromDepthImage(x+w/2, 479-(y+h/2))
return center_pos
def getTargetObjPos(stupid = False):
'''
返回shape=(3)的ndarray
当stupid, 不判断是不是想要的垃圾
'''
if(not (see_trash or stupid)):
return None
t0 = rospy.get_time()
cloud = []
w_x = []
w_y = []
if(w < 50):
xs = range(x, x+w)
else:
xs = [x+(w-1)*i/50 for i in range(51)]
if(h < 50):
ys = range(y, y+h)
else:
ys = [y+(h-1)*i/50 for i in range(51)]
for xi in xs:
for yi in ys:
if(mask_select[yi][xi] > 0):
w_x.append(xi)
w_y.append(yi)
cloud = getCoordinatesFromDepthImage(w_x, w_y)
BETWEEN = np.median(cloud, axis=1)
if(is_want == 'trash'):
mat = cloud[:, (np.abs(cloud[1]-BETWEEN[1]) < 0.03) & (np.abs(cloud[2]-BETWEEN[2]) < 0.07)
& (np.abs(cloud[0]-BETWEEN[0]) < 0.03)]
elif(is_want == 'bin'):
mat = cloud[:, (np.abs(cloud[1]-BETWEEN[1]) < 0.2) & (np.abs(cloud[2]-BETWEEN[2]) < 0.5)
& (np.abs(cloud[0]-BETWEEN[0]) < 0.2)]
if(len(mat[0])==0):
return None
mat_pos = (np.amax(mat, axis=1)+np.amin(mat, axis=1))*0.5
# 绘制散点图
'''
fig = plt.figure()
ax = Axes3D(fig)
ax.scatter(mat[0], mat[1], mat[2], color='blue', s=1)
#ax.scatter(BETWEEN[0], BETWEEN[1], BETWEEN[2], color='green', s=3)
ax.scatter(mat_pos[0], mat_pos[1], mat_pos[2], color='red', s=5)
#ax.scatter(cloud[0],cloud[1],cloud[2],color='blue',s=3)
ax.set_zlabel('Z', fontdict={'size': 15, 'color': 'red'})
ax.set_ylabel('Y', fontdict={'size': 15, 'color': 'red'})
ax.set_xlabel('X', fontdict={'size': 15, 'color': 'red'})
plt.show()
'''
t = rospy.get_time()
#print("计算耗时%f s" % (t-t0))
return mat_pos
color_callback_lock=threading.Lock()
def D435Colorcallback(data):
try:
cv_image = bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
color_callback_lock.acquire()
global see_trash,color_type,see_trash
global mask_select
for i in (range(4) if color_type==4 else [color_type]):
mask_select= color_mask[i](cv_image)
opened = cv.morphologyEx(mask_select, cv.MORPH_OPEN, np.ones((5, 5), np.uint8))
closing = cv.morphologyEx(opened, cv.MORPH_CLOSE,
np.ones((3, 3), np.uint8))
ret, thresh = cv.threshold(closing, 127, 255, cv.THRESH_BINARY)
im2, contours, hierarchy = cv.findContours(
thresh, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
copy = cv_image.copy()
copy = cv.cvtColor(copy, cv.COLOR_BGR2HSV)
if(is_want == 'trash'):
condition = lambda cnt:(cnt_pos(cnt)[2]>-0.18 and cnt_pos(cnt)[0]<1)
elif(is_want == 'bin'):
condition = lambda cnt:cnt_pos(cnt)[2]<-0.25
contours=[cnt for cnt in contours if condition(cnt)]
if(len(contours) > 0):
contours.sort(key=lambda cnt: cv.contourArea(cnt), reverse=True)
cnt = contours[0]
x0, y0, w0, h0 = cv.boundingRect(cnt)
if(w0 < 20 or cv.contourArea(cnt) < 300):
continue
cv.drawContours(copy, contours, 0, (0, 255, 0), 1)
color_type=i
global x, y, w, h
x, y, w, h = cv.boundingRect(cnt)
see_trash = True
cv.rectangle(copy, (x, y), (x+w, y+h), (0, 255, 0), 2)
roi = cv.rectangle(np.zeros((480, 640), dtype='uint8'),
(x, y), (x+w, y+h), (255), -1)
cv.imshow("Image window",copy)
cv.waitKey(25)
break
else:
see_trash=False
cv.imshow("Image window", copy)
cv.waitKey(25)
color_callback_lock.release()
def main():
rospy.loginfo("开始了")
sub=rospy.Subscriber("/sim/camera/D435/colorImage", Image, D435Colorcallback)
setBodyhubNoStand(1)
setArmMode(0)
walkingInit()
rospy.sleep(0.5)
UpdateTargets()
headCtrl(yaw=10, pitch=25)
global color_type
if(color_type == 4):
headCtrl(yaw=40, pitch=25)
pause = threading.Event()
goto_trash = threading.Event()
tracking = TrackingThread(pause, goto_trash)
tracking.start()
updating = UpdateThread()
updating.start()
waitForActionExecute()
print('color type:%d' % color_type)
#------------------------------------------------------------------------------------------------
#去抓垃圾
rh = [-0.033929,-0.05522365,-0.01340744]
while(not goto_trash.is_set()):
pause.set()
yaw0 = measures[20]
pitch0 = measures[21]
if(not see_trash):
headCtrl(yaw=yaw0, pitch=pitch0+30)
if(not see_trash):
headCtrl(yaw=yaw0+30, pitch=pitch0+30)
if(not see_trash):
headCtrl(yaw=yaw0+30, pitch=pitch0-30)
if(not see_trash):
headCtrl(yaw=yaw0-30, pitch=pitch0-30)
if(not see_trash):
headCtrl(yaw=yaw0-30, pitch=pitch0+30)
pause.clear()
trash_pos = getTargetObjPos()
while(not isinstance(trash_pos, Iterable)):
rospy.sleep(0.1)
trash_pos = getTargetObjPos()
print("trash_pos:"+str(trash_pos))
angles = ikRightArm(trash_pos+[0,0,0.14+0.06], rh)
if(isinstance(angles, Iterable) and len(angles) == 3):
#等稳定下来再测一次
while(not stable):
print('等不晃了')
rospy.sleep(0.2)
angles = ikRightArm(trash_pos+[0,0,0.14], rh)
if(isinstance(angles, Iterable) and len(angles) == 3):
goto_trash.set()
break
else:
print('看来还是有点问题，再挪一挪')
arm_prepare = [0.14, -0.18, trash_pos[2]+0.14]
walk_dist = (trash_pos[0]-0.16, trash_pos[1]-(-0.14))
print("walk_dist:"+str(walk_dist))
w_thread = WalkingThread(walk_dist[0], walk_dist[1], 0)
w_thread.start()
gripperCtrl(right=90)
bodyMoveTo(right_arm=[arm_prepare, rh], count=30)
w_thread.join()
motionInit()
linearTrajMoveTo(torso=[(0,0,-0.14)])
trash_pos = getTargetObjPos()
tracking.join()
global is_want
is_want = 'bin'
rospy.logerr('抓取动作:%s', str(trash_pos+(0,-0.01,0)))
linearTrajMoveTo(right_arm=[trash_pos+(0,-0.01, 0), rh], divide=10)
gripperCtrl(right=20)
linearTrajMove(right_arm=[(0,+0.01, 0), rh], divide=5)
waitForActionExecute()
#-----------------------------------------------------------------------------------------------------------------------------
#强行走一段
linearTrajMoveTo(torso=[[0,0,0.14]], right_arm=[(0, -0.15, -0.16)])
walkingInit()
rospy.sleep(0.5)
pause = threading.Event()
goto_bin = threading.Event()
tracking = TrackingThread(pause, goto_bin)
tracking.start()
rospy.loginfo('开始固定走路段')
t0=sim_time.time()
name=['蓝','红','黄','灰']
rospy.logerr('t0=%f s, 颜色%s',t0,name[color_type])
if(color_type==0):
headCtrl(yaw=20,pitch=15, wait=False)
for i in range(3):
sendGaitCommand(0,0,-30)
for i in range(6):
sendGaitCommand(0.10,0,0)
for i in range(6):
sendGaitCommand(0.07,0,10)
waitForWalkingDone()
while(not stable):
print('等不晃了')
rospy.sleep(0.2)
bin_pos = getTargetObjPos()
while(not isinstance(bin_pos, Iterable)):
rospy.sleep(0.1)
bin_pos = getTargetObjPos()
walk_dist = (bin_pos[0]-0.20, bin_pos[1]-(-0.14))
if(abs(walk_dist[1])>0.05):
theta = 0.8*degrees(atan2(walk_dist[1], walk_dist[0]))
sendGaitCommand(0,0, theta)
rospy.logerr('转%f deg', theta)
elif(color_type==1):
headCtrl(yaw=20,pitch=15, wait=False)
for i in range(3):
sendGaitCommand(0,0,-30)
for i in range(6):
sendGaitCommand(0.10,0,0)
for i in range(6):
sendGaitCommand(0.07,0,10)
waitForWalkingDone()
while(not stable):
print('等不晃了')
rospy.sleep(0.2)
bin_pos = getTargetObjPos()
while(not isinstance(bin_pos, Iterable)):
rospy.sleep(0.1)
bin_pos = getTargetObjPos()
walk_dist = (bin_pos[0]-0.20, bin_pos[1]-(-0.14))
if(abs(walk_dist[1])>0.05):
theta = 0.8*degrees(atan2(walk_dist[1], walk_dist[0]))
sendGaitCommand(0,0, theta)
rospy.logerr('转%f deg', theta)
elif(color_type==2):
headCtrl(yaw=20,pitch=15, wait=False)
for i in range(3):
sendGaitCommand(0,0,-30)
for i in range(4):
sendGaitCommand(0.10,0,0)
for i in range(7):
sendGaitCommand(0.10,0,10)
waitForWalkingDone()
while(not stable):
print('等不晃了')
rospy.sleep(0.2)
bin_pos = getTargetObjPos()
while(not isinstance(bin_pos, Iterable)):
rospy.sleep(0.1)
bin_pos = getTargetObjPos()
walk_dist = (bin_pos[0]-0.20, bin_pos[1]-(-0.14))
if(abs(walk_dist[1])>0.05):
theta = 0.8*degrees(atan2(walk_dist[1], walk_dist[0]))
sendGaitCommand(0,0, theta)
rospy.logerr('转%f deg', theta)
elif(color_type==3):
headCtrl(yaw=-30,pitch=15, wait=False)
for i in range(3):
sendGaitCommand(0,0,-30)
for i in range(4):
sendGaitCommand(0.10,0,0)
for i in range(8):
sendGaitCommand(0.10,0,10)
waitForWalkingDone()
while(not stable):
print('等不晃了')
rospy.sleep(0.2)
bin_pos = getTargetObjPos()
while(not isinstance(bin_pos, Iterable)):
rospy.sleep(0.1)
bin_pos = getTargetObjPos()
walk_dist = (bin_pos[0]-0.20, bin_pos[1]-(-0.14))
if(abs(walk_dist[1])>0.05):
theta = 0.8*degrees(atan2(walk_dist[1], walk_dist[0]))
sendGaitCommand(0,0, theta)
rospy.logerr('转%f deg', theta)
waitForWalkingDone()
rospy.loginfo('固定阶段已经结束了')
t1=sim_time.time()
rospy.logerr('t1=%f s, 阶段性花费%f s',t1, t1-t0)
#-----------------------------------------------------------------------------------------------------------------------------
#去扔垃圾
above = 0.15
while(not goto_bin.is_set()):
pause.set()
yaw0 = measures[20]
pitch0 = measures[21]
if(not see_trash):
headCtrl(yaw=yaw0, pitch=pitch0+30)
if(not see_trash):
headCtrl(yaw=yaw0+30, pitch=pitch0+30)
if(not see_trash):
headCtrl(yaw=yaw0+30, pitch=pitch0-30)
if(not see_trash):
headCtrl(yaw=yaw0-30, pitch=pitch0-30)
if(not see_trash):
headCtrl(yaw=yaw0-30, pitch=pitch0+30)
pause.clear()
bin_pos = getTargetObjPos()
while(not isinstance(bin_pos, Iterable)):
rospy.sleep(0.1)
bin_pos = getTargetObjPos()
print("bin_pos:"+str(bin_pos))
angles = ikRightArm(bin_pos+[-0.04,0,0.14+above], rh)
if(isinstance(angles, Iterable) and len(angles) == 3):
#等稳定下来再测一次
while(not stable):
print('等不晃了')
rospy.sleep(0.2)
angles = ikRightArm(bin_pos+[-0.04,0,0.14+above], rh)
if(isinstance(angles, Iterable) and len(angles) == 3):
goto_bin.set()
break
else:
print('看来还是有点问题，再挪一挪')
walk_dist = (bin_pos[0]-0.20, bin_pos[1]-(-0.14))
print("walk_dist:"+str(walk_dist))
w_thread = WalkingThread(walk_dist[0], walk_dist[1], 0)
w_thread.start()
#gripperCtrl(right=90)
#bodyMoveTo(right_arm=[arm_prepare, rh], count=30)
w_thread.join()
t2=sim_time.time()
rospy.logerr('t2=%f s, 共花费%f s',t0, t2-t0)
goto_bin.set()
motionInit()
bin_pos = getTargetObjPos()
linearTrajMoveTo(right_arm=[bin_pos+(-0.04,0,0.14+above)], torso=[(0.04,0,-0.14)])
gripperCtrl(right=25)
linearTrajMove(right_arm=[(0, 0.003, 0)], divide=5)
tracking.join()
if __name__ == '__main__':
def rosShutdownHook():
setBodyhubNoStand(0)
setArmMode(1)
resetBodyhub()
rospy.signal_shutdown('node_close')
rospy.init_node('test_motion_control', anonymous=True)
rospy.on_shutdown(rosShutdownHook)
main()