visual-pushing-grasping/my_object.py at master · Neutrino331/visual-pushing-grasping · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
import cv2
import pyrealsense2 as rs
import numpy as np
import sys
import asyncio
import time
import techmanpy
from techmanpy import TechmanException
import numpy as np
# intrinsics = [[909.52093506,   0,   630.67175293],
#               [0, 907.04144287, 368.20245361],
#               [0,           0,           1]]
# mat = [[-9.96839521e-01,  7.88023563e-02, - 1.00576964e-02,  3.09193760e+01],
#        [-7.89827349e-02, - 9.96694660e-01, 1.90127014e-02,  8.67676315e+01],
#        [-8.52620663e-03, 1.97469965e-02,  9.99768653e-01, - 2.58392194e+02],
#        [0.00000000e+00, 0.00000000e+00,  0.00000000e+00,  1.00000000e+00]]
# xy = (0, 0)

# mtx = [[-9.36577766e-01, -2.34645006e-01,  2.60314829e-01,  3.99353520e+01],
#        [-3.45894427e-01, 7.38404973e-01, -5.78891303e-01, -4.60562420e+02],
#        [-5.63838108e-02, -6.32218172e-01, -7.72736080e-01, 3.36979498e+02],
#        [0, 0, 0, 1]]
new = [[-9.96962121e-01,  7.54158173e-02,  1.94674879e-02 ,-9.78117213e+01],
        [ 7.45148239e-02,  9.96272080e-01, -4.34681821e-02, -4.03826213e+02],
        [-2.26731031e-02, -4.18855146e-02, -9.98865123e-01 , 3.83424606e+02],
        [ 0.00000000e+00 , 0.00000000e+00,  0.00000000e+00,  1.00000000e+00]]
new2 =[[ 9.85542974e-01,  1.22230038e-02 , 1.68984156e-01 ,-1.76360883e+02],
        [-1.03600499e-02 ,-9.91180150e-01,  1.32115777e-01, -4.63236680e+02],
        [ 1.69108593e-01, -1.31956460e-01 ,-9.76724002e-01 , 3.45491991e+02],
        [ 0.00000000e+00,  0.00000000e+00 , 0.00000000e+00 , 1.00000000e+00]]
mtx = np.asarray(new2)
pose = [-149.9984, -339.9976, 151.0007, 180, 0, 0]

async def move_to_point(pose):
    async with techmanpy.connect_sct(robot_ip='192.168.10.13') as conn:
        await conn.move_to_point_ptp(pose, 0.5, 200) # x 不能低於350 z 不能低於95
async def close():
    async with techmanpy.connect_svr(robot_ip='192.168.10.13') as conn:
        await conn.set_value('End_DO0',1)
async def open():
    async with techmanpy.connect_svr(robot_ip='192.168.10.13') as conn:
        await conn.set_value('End_DO0',0)
class object():
    def __init__(self):
        self.a = []
        self.b = []
        self.img, self.dimg, self.inintrinsics = self.take_picture()
        self.d = []

    def take_picture(self):

        pipeline = rs.pipeline()
        config = rs.config()
        config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30)
        config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
        cfg = pipeline.start(config)
        profile = cfg.get_stream(rs.stream.color)

        intr = profile.as_video_stream_profile().get_intrinsics()
        intrinsics = np.asarray( [[intr.fx, 0, intr.ppx], [0,  intr.fy, intr.ppy], [0, 0, 1]])
        print(intrinsics)
        for i in range(0, 100):
            frames = pipeline.wait_for_frames()
            depth_frame = frames.get_depth_frame()
            color_frame = frames.get_color_frame()
            if not depth_frame or not color_frame:
                continue

            # Convert images to numpy arrays
            depth_image = np.asanyarray(depth_frame.get_data())
            color_image = np.asanyarray(color_frame.get_data())

            # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
            depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(
                depth_image, alpha=0.03), cv2.COLORMAP_JET)

        # cv2.imshow("live", color_image)
        # cv2.imwrite("test.jpg", color_image)
        # cv2.imshow("depth", depth_colormap)
        # cv2.imwrite("test_depth.jpg", depth_colormap)
        # depth = depth_frame.get_distance(536 ,387)
        # self.d.append(depth)
        # print(d)
        # cv2.waitKey(10)
        return color_image, depth_frame, intrinsics

    def get_distance(self):
        pipeline = rs.pipeline()
        config = rs.config()
        config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30)
        config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
        cfg = pipeline.start(config)
        profile = cfg.get_stream(rs.stream.color)

        intr = profile.as_video_stream_profile().get_intrinsics()
        print(intr)
        for i in range(0, 100):
            frames = pipeline.wait_for_frames()
            depth_frame = frames.get_depth_frame()
            color_frame = frames.get_color_frame()
            if not depth_frame or not color_frame:
                continue
        depth = depth_frame.get_distance(self.a[-1] ,self.b[-1])
        self.d.append(depth)


    def on_EVENT_LBUTTONDOWN(self,event, x, y, flags, param):  # 定義滑鼠事件
        if event == cv2.EVENT_LBUTTONDOWN:
            xy = (x, y)
            self.a.append(x)
            self.b.append(y)
            img2 =self.img
            cv2.circle(img2, (x, y), 2, (0, 0, 255), thickness=-1)  # 將點標在圖上
            cv2.putText(img2, f"({x},{y})", (x, y), cv2.FONT_HERSHEY_PLAIN,
                        1, (0, 255, 0), thickness=1)
            cv2.imshow("Please click 3 times at photo(eyes and nose)", img2)
            print(x, y)


    def click(self):
        cv2.namedWindow("Please click 3 times at photo(eyes and nose)")
        cv2.setMouseCallback(
            "Please click 3 times at photo(eyes and nose)", self.on_EVENT_LBUTTONDOWN)
        cv2.imshow("Please click 3 times at photo(eyes and nose)", self.img)
        cv2.waitKey(0)
        cv2.destroyWindow('Please click 3 times at photo(eyes and nose)')
asyncio.run(move_to_point(pose))
object = object()
# # c, d = take_picture()
object.click()
object.get_distance()
new_z = int(object.d[-1] * 1000)
new_x = np.multiply(int(object.a[-1]) - object.inintrinsics[0][2],new_z/object.inintrinsics[0][0])
new_y = np.multiply(int(object.b[-1])-object.inintrinsics[1][2],new_z/object.inintrinsics[1][1])
print(new_x, new_y)
print(f"深度:{new_z}mm")
point = np.asarray([new_x, new_y, new_z,1])

coord = mtx @ point
print(coord)
asyncio.run(move_to_point([coord[0], coord[1],coord[2],-180,0,0]))
time.sleep(3)
asyncio.run(close())
time.sleep(5)
asyncio.run(move_to_point(pose))
time.sleep(3)
asyncio.run(open())