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xavier_node.py
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xavier_node.py
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import rclpy
from rclpy.node import Node
from std_msgs.msg import *
import pdb
from geometry_msgs.msg import TransformStamped
from px4_msgs.msg import TrajectorySetpoint
import numpy as np
import cv2
from geometry_msgs.msg import Quaternion
from tf2_ros.transform_listener import TransformListener
import socket
from pyrealsense2 import pyrealsense2 as rs
from scipy.spatial.transform import Rotation as R
import time
from stream_transform import rot_to_hom, world_to_drone,drone_to_camera, camera_to_world_calibrate
import apriltag
from rover_node import MinimalPublisher
import ast
class MinimalSubscriber(Node):
def __init__(self):
## initializing the camera
super().__init__('minimal_subscriber')
#self.output = cv2.VideoWriter('output.avi', cv2.VideoWriter_fourcc(*'MPEG'), 30, (640,480))
###################################################################################################
####################### Declare and Initialize Preliminary Parameters ######################
###################################################################################################
self.quat = None
self.trans = None
self.robot_quat = None
self.robot_trans = None
self.num_robot = 1
self.radius = 20
self.pixel_coordinates = None
self.pixel_x = None
self.pixel_y = None
self.remove_index = 20
self.frame_count = 0
self.frame_limit = 120
self.is_target_set = False
self.target = None
self.circle_colors = [(255, 0, 0), (0, 255, 0), (0, 0, 255)] #Blue, Green, Red, Orange, Yellow...
self.pos_list = [() for _ in range(0, self.num_robot)]
self.trails = [[] for _ in range(0, self.num_robot)]
###################################################################################################
##################### Setup server ######################
###################################################################################################
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.client_socket.setblocking(False)
##################### Set up Camera Parameters #####################
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.cfg.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8,30)
#self.cfg.enable_stream(rs.stream.depth, 1280, 720, 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()
###################################################################################################
########### Create Subscriber and Publisher ##########
###################################################################################################
########### Subscribers ###########
self.robot_subscription = self.create_subscription(
TransformStamped,
#'/vicon/kepler/kepler',
'/vicon/px4_1/px4_1',
self.listener_callback_robot,
10)
self.camera_subscription = self.create_subscription(
TransformStamped,
'/vicon/px4_1/px4_1',
self.listener_callback_camera,
10)
########### Publisher ###########
self.publisher_ = self.create_publisher(TrajectorySetpoint, '/px4_1/fmu/in/trajectory_setpoint', 10)
self.i = 0
###################################################################################################
########### Set up timers for testing ###########
###################################################################################################
self.timer = self.create_timer(1./30., self.timer_callback)
#self.loop_timer = self.create_timer(1./1000., self.loop_callback)
self.start_time = time.time()
self.curr_time = time.time()
self.image_time = time.time()
self.transmit_time = time.time()
#self.subscription # prevent unused variable warning
###################################################################################################
###################### Set up Callbacks ######################
###################################################################################################
def listener_callback_robot(self, msg):
self.robot_quat = msg.transform.rotation
self.robot_trans = msg.transform.translation
#self.get_logger().info('I heard: "%s"' % msg.data)
def listener_callback_camera(self, msg):
self.quat = msg.transform.rotation
self.trans = msg.transform.translation
#print("camera_info received")
#self.get_logger().info('I heard: "%s"' % msg.data)
# def create_px4_msg(self, world_coordinates):
###################################################################################################
###################### Set up Helpers ######################
###################################################################################################
def target_reached(self, target_pixel_coordinates, actual_pixel_coordinates):
'''
Verify if robot has reached user designated pixel coordinates
'''
def euclidean_distance( point1, point2):
"""
Calculate the Euclidean distance between two 2D points.
Args:
point1 (tuple): Coordinates of the first point in the form (x1, y1).
point2 (tuple): Coordinates of the second point in the form (x2, y2).
Returns:
float: The Euclidean distance between the two points.
"""
x1, y1 = point1
x2, y2 = point2
return np.sqrt((x2 - x1) ** 2 + (y2 - y1) ** 2)
if euclidean_distance(target_pixel_coordinates,actual_pixel_coordinates) < 10:
return True
else:
return False
def draw_circle(self, img, center, radius, color):
cv2.circle(img, center, radius, color, thickness=2)
# Function to send circle data to Unity
def send_circle_data(client_socket, circles):
radius = 2
circle_data = ','.join(f"{x},{y},{radius}" for x, y in circles)
circle_data_bytes = circle_data.encode('utf-8')
client_socket.sendall(len(circle_data_bytes).to_bytes(4, 'big'))
client_socket.sendall(circle_data_bytes)
def in_range(new_pos, trail_pos):
return (new_pos[0]>=trail_pos[0]-3 and new_pos[0]<= trail_pos[0] + 3) and (new_pos[1]>=trail_pos[1]-3 and new_pos[1]<= trail_pos[1] + 3)
def pixel_to_world_trans(self, pixel_coordinates):
def world_to_robot( world_coordinates):
robot_coordinates = (world_coordinates[1], world_coordinates[0], -1 * world_coordinates[2])
return robot_coordinates
frame = self.pipe.wait_for_frames()
depth_frame = frame.get_depth_frame()
depth = depth_frame.get_distance(pixel_coordinates[0],pixel_coordinates[1])
####### safety #######
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, [x,y], depth)
predicted = camera_to_world_calibrate(predicted)
world_coordinates = world_to_robot(predicted)
return world_coordinates
#def loop_callback(self):
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 publish_msg(self):
msg = self.create_TrajectorySetpoint_msg(self.pixel_to_world_trans(self.target))
self.publisher_.publish(msg)
self.get_logger().info('Publishing coordinates')
self.i += 1
def timer_callback(self):
#pdb.set_trace()
frame = self.pipe.wait_for_frames()
depth_frame = frame.get_depth_frame()
color_frame = frame.get_color_frame()
robot_trans = self.robot_trans
robot_quat = self.robot_quat
try:
# Attempt to receive data from the client (non-blocking)
data = self.client_socket.recv(1024)
if data:
data = data.decode('utf-8')
data = ast.literal_eval(data)
self.is_target_set = True
self.target = data
self.publish_msg()
except socket.error as e:
pass
# if data:
# data = data.decode('utf-8')
# data = ast.literal_eval(data)
# self.is_target_set = True
# self.target = data
# if self.is_target_set and (self.target is not None):
############## publish and make the rover move ##############
# self.publish_msg()
# camera_trans = self.trans
# camera_quat = self.quat
if not (not robot_trans or not robot_quat ):
#or not camera_trans or not camera_quat
r_robot = R.from_quat(np.array([robot_quat.x, robot_quat.y, robot_quat.z,robot_quat.w]))
#r_camera = R.from_quat(np.array([camera_quat.x, camera_quat.y, camera_quat.z, camera_quat.w]))
rot_matrix_robot = r_robot.as_matrix()
#rot_matrix_camera = r_camera.as_matrix()
#hom_matrix_robot = rot_to_hom(rot_matrix_robot, robot_trans)
#hom_matrix_camera = rot_to_hom(rot_matrix_camera, camera_trans)
#robot_world_coord = robot_to_world(hom_matrix_robot, robot_trans)
robot_world_coord = np.array([robot_trans.x, robot_trans.y, robot_trans.z, 1])
hom_matrix_camera = np.array([0,0,0,0])
drone_coordinates = world_to_drone(hom_matrix_camera, robot_world_coord)
camera_coordinates = drone_to_camera(drone_coordinates)
#coordinates = (-0.2,-0.1,3)
pixel_coordinates = np.floor(rs.rs2_project_point_to_pixel(self.color_intr, camera_coordinates))
print(pixel_coordinates)
depth_image = np.asanyarray(depth_frame.get_data())
depth_cm = cv2.applyColorMap(cv2.convertScaleAbs(depth_image,alpha = 0.5), cv2.COLORMAP_JET)
color_image = np.asanyarray(color_frame.get_data())
#depth = depth_frame.get_distance(100,100)
#depth_point = rs.rs2_deproject_pixel_to_point(self.depth_intrin, [100,100], depth)
pixel_coordinates = (int(pixel_coordinates[0]), int(pixel_coordinates[1]))
if self.target is not None and self.is_target_set and self.target_reached(pixel_coordinates, self.target):
self.is_target_set = False
self.target = None
self.image_time=time.time()
for i in range(0, self.num_robot):
# Update the position of the circle
pos = pixel_coordinates
# Append the new position to the trail
if pos != (None,None):
if (len(self.trails[i]) > 0 and pos==self.trails[i][-1]):
if self.frame_count < self.frame_limit:
self.trails[i].append((int(pos[0]), int(pos[1])))
self.frame_count = self.frame_count + 1
else:
self.frame_count=0
self.trails[i].append((int(pos[0]), int(pos[1])))
# Draw the complete trajectory for this circle
if (len(self.trails[i])>=2):
for j in range(1, len(self.trails[i])):
if (not (j%3==0)):
cv2.line(color_image, self.trails[i][j - 1], self.trails[i][j], self.circle_colors[i], thickness=2)
# if ((time.time() - self.start_time) > 5):
# for trail in self.trails:
# if len(trail) > self.remove_index:
# del trail[:self.remove_index]
if ((time.time() - self.start_time) > 20) :
if (len(trail) > self.remove_index for trail in self.trails):
if (time.time() - self.curr_time > 3):
self.curr_time = time.time()
#self.trails = [trail[self.remove_index:] for trail in self.trails]
self.trails[i] = self.trails[i][40:]
# Draw the current position of the circle
if pos != (None,None):
self.draw_circle(color_image, (int(pos[0]), int(pos[1])), self.radius, self.circle_colors[i])
if self.is_target_set and (self.target is not None):
cv2.line(color_image, pixel_coordinates, self.target, (255, 0, 0),thickness = 2)
image_time = time.time()-self.image_time
# Encode the frame
cv2.imshow('rgb', color_image)
cv2.imshow('depth', depth_cm)
self.transmit_time = time.time()
#self.output.write(color_image)
_, buffer = cv2.imencode('.jpg', color_image)
# Send the size of the frame and then the frame
frame_size = len(buffer)
size_buffer = frame_size.to_bytes(4, 'big')
try:
self.client_socket.sendall(size_buffer)
self.client_socket.sendall(buffer.tobytes())
except socket.error as e:
pass
transmit_time = time.time() - self.transmit_time
print('image processing time: ' + str(image_time) + 'transmit time: ' + str(transmit_time))
# Break the loop if 'q' is pressed
if cv2.waitKey(1) & 0xFF == ord('q'):
rclpy.shutdown()
if cv2.waitKey(1) == 115:
#cv.imwrite(str(device)+'_aligned_depth.png', depth_image)
cv2.imwrite('_aligned_color.png',color_image)
print("save image to directory")
#self.pipe.stop()
def main(args=None):
rclpy.init(args=args)
#minimal_publisher = MinimalPublisher()
#rclpy.spin(minimal_subscriber)
minimal_subscriber = MinimalSubscriber()
rclpy.spin(minimal_subscriber)
# Destroy the node explicitly
# (optional - otherwise it will be done automatically
# when the garbage collector destroys the node object)
minimal_subscriber.destroy_node()
rclpy.shutdown()
minimal_subscriber.pipe.stop()
if __name__ == '__main__':
main()