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rover_node_mouseclick.py
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rover_node_mouseclick.py
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import numpy as np
from pyrealsense2 import pyrealsense2 as rs
import px4_msgs_main
import rclpy
from rclpy.node import Node
from px4_msgs.msg import TrajectorySetpoint
from std_msgs.msg import String
from stream_transform import camera_to_world_calibrate
import socket
import apriltag
import cv2
clicked = False
endpoint = False
#coordinates = ()
def drawfunction(event,x,y,flags,param):
if event == cv2.EVENT_LBUTTONDBLCLK:
global clicked
clicked = True
global coordinates
# print(clicked)
# print("x: ", x)
# print("y: ", y)
coordinates = (tuple((x,y)))
class MinimalPublisher(Node):
def __init__(self):
super().__init__('minimal_publisher')
# self.HOST = '192.168.1.134' # Server IP address
# self.PORT = 9999
# self.server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# self.server_socket.bind((self.HOST, self.PORT))
# self.server_socket.listen(1)
# print(f"Server listening on {self.HOST}:{self.PORT}")
# self.client_socket, self.addr = self.server_socket.accept()
# print(f"Connected to client: {self.addr}")
self.pixel_coordinates = (200, 160)
self.pipe = None
self.cfg = None
#self.cfg.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8,30)
#self.cfg.enable_stream(rs.stream.depth, 640, 480, rs.format.z16,30)
#self.c = self.pipe.start(self.cfg)
self.profile = None
self.depth_frame = None
self.color_intr = None
self.depth_intrin = None
# self.pipe = rs.pipeline()
# self.cfg = rs.config()
# self.cfg.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8,30)
# self.cfg.enable_stream(rs.stream.depth, 640, 480, rs.format.z16,30)
# self.c = self.pipe.start(self.cfg)
# self.profile = self.c.get_stream(rs.stream.color)
# self.depth_image = self.c.get_stream(rs.stream.depth)
# self.color_intr = self.profile.as_video_stream_profile().get_intrinsics()
# self.depth_intrin = self.depth_image.as_video_stream_profile().get_intrinsics()
self.publisher_ = self.create_publisher(TrajectorySetpoint, '/px4_1/fmu/in/trajectory_setpoint', 10)
self.timer_period = 1./30. # seconds
self.timer = self.create_timer(self.timer_period, self.timer_callback)
self.i = 0
def timer_callback(self):
# frame = self.pipe.wait_for_frames()
# depth_frame = frame.get_depth_frame().as_depth_frame()
# depth_image = np.asanyarray(depth_frame.get_data())
# depth_cm = cv2.applyColorMap(cv2.convertScaleAbs(depth_image,alpha = 0.5), cv2.COLORMAP_JET)
# color_frame = frame.get_color_frame()
# color_image = np.asanyarray(color_frame.get_data())
# #depth = depth_frame.get_distance(pixel_coordinates[0],pixel_coordinates[1])
# cv2.imshow('rgb', color_image)
# cv2.imshow('depth', depth_cm)
msg = self.create_TrajectorySetpoint_msg(self.pixel_to_world_trans(self.pixel_coordinates))
self.publisher_.publish(msg)
self.get_logger().info('Publishing coordinates')
self.i += 1
def world_to_robot(self, world_coordinates):
robot_coordinates = (world_coordinates[1], world_coordinates[0], -1 * world_coordinates[2])
return robot_coordinates
def pixel_to_world_trans(self, pixel_coordinates):
# frame = self.pipe.wait_for_frames()
# depth_frame = frame.get_depth_frame()
# depth_image = np.asanyarray(depth_frame.get_data())
# depth_cm = cv2.applyColorMap(cv2.convertScaleAbs(depth_image,alpha = 0.5), cv2.COLORMAP_JET)
# color_frame = frame.get_color_frame()
# color_image = np.asanyarray(color_frame.get_data())
# cv2.namedWindow('rgb')
# cv2.setMouseCallback('rgb', drawfunction)
# if clicked:
# color_image = cv2.circle(color_image, coordinates, 6, (255,0,0),-1)
# cv2.imshow('rgb', color_image)
# cv2.imshow('depth', depth_cm)
# key = cv2.waitKey(50)
# #output.write(color_image)
# if cv2.waitKey(1) & 0xFF == ord('q'):
# rclpy.shutdown()
depth = self.depth_frame.get_distance(pixel_coordinates[0],pixel_coordinates[1])
x = max(pixel_coordinates[0],0)
x = min(pixel_coordinates[0],640)
y = max(pixel_coordinates[1],0)
y = min(pixel_coordinates[1],480)
predicted = rs.rs2_deproject_pixel_to_point(self.depth_intrin, [pixel_coordinates[0],pixel_coordinates[1]], depth)
predicted = camera_to_world_calibrate(predicted)
world_coordinates = self.world_to_robot(predicted)
return world_coordinates
def create_TrajectorySetpoint_msg(self, world_coordinates):
msg = TrajectorySetpoint()
#msg.raw_mode = False
msg.position[0] = world_coordinates[0]
msg.position[1] = world_coordinates[1]
msg.position[2] = world_coordinates[2]
#msg.yaw = (3.1415926 / 180.) * (float)(setpoint_yaw->value())
msg.yaw = 0.0
for i in range(3):
msg.velocity[i] = 0.0
msg.acceleration[i] = 0.0
msg.jerk[i] = 0.0
#msg.velocity = [0.2, 0.2, 0.2]
msg.yawspeed = 0.0
return msg
def main(args=None):
rclpy.init(args=args)
minimal_publisher = MinimalPublisher()
pipe = rs.pipeline()
cfg = rs.config()
align_to = rs.stream.color
align = rs.align(align_to)
cfg.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8,30)
cfg.enable_stream(rs.stream.depth, 640, 480, rs.format.z16,30)
c = pipe.start(cfg)
profile = c.get_stream(rs.stream.color)
depth_image = c.get_stream(rs.stream.depth)
color_intr = profile.as_video_stream_profile().get_intrinsics()
depth_intrin = depth_image.as_video_stream_profile().get_intrinsics()
minimal_publisher.depth_intrin = depth_intrin
minimal_publisher.color_intr = color_intr
while True:
frame = pipe.wait_for_frames()
aligned_frames = align.process(frame)
aligned_depth_frame = aligned_frames.get_depth_frame()
depth_frame = frame.get_depth_frame()
color_frame = frame.get_color_frame()
aligned_depth_image = np.asanyarray(aligned_depth_frame.get_data())
depth_image = np.asanyarray(depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
cv2.namedWindow('rgb')
cv2.setMouseCallback('rgb', drawfunction)
#print(coordinates_list)
#color_image = cv2.circle(color_image, (200, 160), 4, (255,0,0),-1)
if clicked:
minimal_publisher.depth_frame = depth_frame
minimal_publisher.pixel_coordinates = coordinates
color_image = cv2.circle(color_image, coordinates, 4, (255,0,0),-1)
#print(type(coordinates_list))
rclpy.spin_once(minimal_publisher)
#print(type(coordinates_list))
cv2.imshow('rgb', color_image)
cv2.imshow('depth', depth_image)
cv2.imshow('aligned image',aligned_depth_image)
key = cv2.waitKey(50)
#output.write(color_image)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
pipe.stop()
#rclpy.spin(minimal_publisher)
# Destroy the node explicitly
# (optional - otherwise it will be done automatically
# when the garbage collector destroys the node object)
minimal_publisher.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()