hlrc / client / python / simple-robot-gaze.py @ 1c05bf39
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1 | 1c05bf39 | fl | __author__ = 'fl@techfak'
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2 | |||
3 | # STD IMPORTS
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4 | import sys |
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5 | import time |
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6 | import signal |
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7 | import logging |
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8 | import operator |
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9 | |||
10 | # HLRC
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11 | from hlrc_client import * |
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12 | |||
13 | # ROS IMPORTS
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14 | import rospy |
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15 | import roslib |
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16 | from std_msgs.msg import Header |
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17 | from std_msgs.msg import String |
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18 | from people_msgs.msg import Person |
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19 | from people_msgs.msg import People |
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20 | |||
21 | |||
22 | class RobotDriver(): |
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23 | """
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24 | This class holds the robot controller.
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25 | Provides better encapsulation though...
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26 | """
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27 | def __init__(self, _mw, _outscope): |
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28 | print(">>> Initializing Robot Controller")
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29 | self.mw = _mw
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30 | self.outscope = _outscope
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31 | self.robot_controller = RobotController(self.mw, self.outscope, logging.INFO) |
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32 | |||
33 | |||
34 | class GazeController(): |
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35 | """
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36 | The GazeController receives person messages (ROS) and derives
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37 | the nearest person identified. Based on this, the robot's
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38 | joint angle target's are derived using the transformation
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39 | class below
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40 | """
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41 | def __init__(self, _robot_controller, _affine_transform, _inscope): |
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42 | print(">>> Initializing Gaze Controller")
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43 | self.run = True |
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44 | self.inscope = _inscope
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45 | self.rc = _robot_controller
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46 | self.at = _affine_transform
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47 | self.nearest_person_x = 0.0 |
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48 | self.nearest_person_y = 0.0 |
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49 | signal.signal(signal.SIGINT, self.signal_handler)
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50 | |||
51 | def signal_handler(self, signal, frame): |
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52 | print ">>> ROS is about to exit (signal %s)..." % str(signal) |
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53 | self.run = False |
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54 | |||
55 | def people_callback(self, ros_data): |
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56 | # Determine the nearest person
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57 | idx = -1
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58 | max_distance = {} |
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59 | for person in ros_data.people: |
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60 | idx += 1
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61 | max_distance[str(idx)] = person.position.z
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62 | print ">> Persons found {idx, distance}: ", max_distance |
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63 | sort = sorted(max_distance.items(), key=operator.itemgetter(1), reverse=True) |
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64 | print ">> Nearest Face: ", sort |
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65 | print ">> Index: ", sort[0][0] |
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66 | print ">> Distance in pixels: ", sort[0][1] |
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67 | self.nearest_person_x = ros_data.people[int(sort[0][0])].position.x |
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68 | self.nearest_person_y = ros_data.people[int(sort[0][0])].position.y |
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69 | print ">> Position in pixels x:", self.nearest_person_x |
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70 | print ">> Position in pixels y:", self.nearest_person_y |
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71 | point = [self.nearest_person_x, self.nearest_person_y] |
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72 | # Derive coordinate mapping
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73 | angles = self.at.derive_mapping_coords(point)
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74 | print "----------------" |
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75 | if angles is not None: |
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76 | # Set the robot gaze
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77 | g = RobotGaze() |
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78 | g.gaze_type = RobotGaze.GAZETARGET_ABSOLUTE |
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79 | g.pan = angles[0]
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80 | g.tilt = angles[1]
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81 | print ">> Sending Gaze Type:", g |
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82 | self.rc.robot_controller.set_gaze_target(g, False) |
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83 | |||
84 | def run_subscriber(self): |
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85 | print(">>> Initializing Gaze Subscriber")
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86 | person_subscriber = rospy.Subscriber(self.inscope, People, self.people_callback, queue_size=1) |
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87 | while self.run: |
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88 | time.sleep(1)
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89 | person_subscriber.unregister() |
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90 | print ">>> Deactivating ROS Subscriber" |
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91 | |||
92 | def derive_gaze_angle(self): |
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93 | pass
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94 | |||
95 | |||
96 | class AffineTransform: |
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97 | """
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98 | Derives the transformation between screen
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99 | coordinates in pixels and joint axis angles in degree.
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100 | """
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101 | def __init__(self): |
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102 | print(">>> Initializing Affine Transform")
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103 | # Target ---> The ones you want to map to
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104 | self.target0 = [1.0, 1.0] |
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105 | self.target1 = [1.0, 1.0] |
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106 | self.target2 = [1.0, 1.0] |
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107 | self.target3 = [1.0, 1.0] |
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108 | |||
109 | # Origin ---> The ones that are mapped to [target0, target1, target2, target3]
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110 | self.origin0 = [1.0, 1.0] |
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111 | self.origin1 = [1.0, 1.0] |
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112 | self.origin2 = [1.0, 1.0] |
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113 | self.origin3 = [1.0, 1.0] |
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114 | |||
115 | # Divider
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116 | self.divider = 1.0 |
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117 | |||
118 | # Calculated and mapped Coordinates
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119 | mappedCoords = [1.0, 1.0] |
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120 | |||
121 | # Affine transformation coefficients
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122 | self.An = 1.0 |
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123 | self.Bn = 1.0 |
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124 | self.Cn = 1.0 |
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125 | self.Dn = 1.0 |
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126 | self.En = 1.0 |
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127 | self.Fn = 1.0 |
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128 | |||
129 | # Test coord
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130 | self.test = [1.0, 1.0] |
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131 | |||
132 | def set_coords(self): |
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133 | |||
134 | # This is the target coordinate system
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135 | # Upper left corner
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136 | self.target0[0] = -45.0 |
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137 | self.target0[1] = 45.0 |
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138 | |||
139 | # Lower left corner
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140 | self.target1[0] = -45.0 |
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141 | self.target1[1] = -45.0 |
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142 | |||
143 | # Upper right corner
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144 | self.target2[0] = 45.0 |
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145 | self.target2[1] = 45.0 |
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146 | |||
147 | # Lower right corner
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148 | self.target3[0] = 45.0 |
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149 | self.target3[1] = -45.0 |
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150 | |||
151 | # This is the origin system, is mapped to [t0,t1,t2,t3]
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152 | # Upper left corner
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153 | self.origin0[0] = 0.0 |
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154 | self.origin0[1] = 0.0 |
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155 | |||
156 | # Lower left corner
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157 | self.origin1[0] = 0.0 |
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158 | self.origin1[1] = 240.0 |
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159 | |||
160 | # Upper right corner
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161 | self.origin2[0] = 320.0 |
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162 | self.origin2[1] = 0.0 |
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163 | |||
164 | # Lower right corner
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165 | self.origin3[0] = 320.0 |
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166 | self.origin3[1] = 240.0 |
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167 | |||
168 | # And finally the test coordinate
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169 | self.test[0] = 512.0 |
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170 | self.test[1] = 384.0 |
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171 | |||
172 | def calculate_divider(self): |
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173 | result = ((self.origin0[0] - self.origin2[0]) * (self.origin1[1] - self.origin2[1])) - \ |
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174 | ((self.origin1[0] - self.origin2[0]) * (self.origin0[1] - self.origin2[1])) |
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175 | |||
176 | if result == 0.0: |
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177 | print(">> Divider is ZERO - Check your Coordinates?")
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178 | sys.exit(1)
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179 | else:
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180 | self.divider = result
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181 | print(">> Divider " + str(self.divider)) |
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182 | self.calculateAn()
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183 | self.calculateBn()
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184 | self.calculateCn()
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185 | self.calculateDn()
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186 | self.calculateEn()
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187 | self.calculateFn()
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188 | |||
189 | return result
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190 | |||
191 | def calculateAn(self): |
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192 | result = ((self.target0[0] - self.target2[0]) * (self.origin1[1] - self.origin2[1])) - \ |
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193 | ((self.target1[0] - self.target2[0]) * (self.origin0[1] - self.origin2[1])) |
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194 | self.An = result
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195 | print(">> An " + str(self.An)) |
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196 | return result
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197 | |||
198 | def calculateBn(self): |
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199 | result = ((self.origin0[0] - self.origin2[0]) * (self.target1[0] - self.target2[0])) - \ |
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200 | ((self.target0[0] - self.target2[0]) * (self.origin1[0] - self.origin2[0])) |
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201 | self.Bn = result
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202 | print(">> Bn " + str(self.Bn)) |
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203 | return result
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204 | |||
205 | def calculateCn(self): |
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206 | result = (self.origin2[0] * self.target1[0] - self.origin1[0] * self.target2[0]) * self.origin0[1] + \ |
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207 | (self.origin0[0] * self.target2[0] - self.origin2[0] * self.target0[0]) * self.origin1[1] + \ |
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208 | (self.origin1[0] * self.target0[0] - self.origin0[0] * self.target1[0]) * self.origin2[1] |
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209 | self.Cn = result
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210 | print(">> Cn " + str(self.Cn)) |
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211 | return result
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212 | |||
213 | def calculateDn(self): |
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214 | result = ((self.target0[1] - self.target2[1]) * (self.origin1[1] - self.origin2[1])) - \ |
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215 | ((self.target1[1] - self.target2[1]) * (self.origin0[1] - self.origin2[1])) |
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216 | self.Dn = result
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217 | print(">> Dn " + str(self.Dn)) |
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218 | return result
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219 | |||
220 | def calculateEn(self): |
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221 | result = ((self.origin0[0] - self.origin2[0]) * (self.target1[1] - self.target2[1])) - \ |
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222 | ((self.target0[1] - self.target2[1]) * (self.origin1[0] - self.origin2[0])) |
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223 | self.En = result
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224 | print(">> En " + str(self.En)) |
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225 | return result
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226 | |||
227 | def calculateFn(self): |
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228 | result = (self.origin2[0] * self.target1[1] - self.origin1[0] * self.target2[1]) * self.origin0[1] + \ |
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229 | (self.origin0[0] * self.target2[1] - self.origin2[0] * self.target0[1]) * self.origin1[1] + \ |
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230 | (self.origin1[0] * self.target0[1] - self.origin0[0] * self.target1[1]) * self.origin2[1] |
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231 | self.Fn = result
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232 | print(">> Fn " + str(self.Fn)) |
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233 | return result
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234 | |||
235 | def derive_mapping_coords(self, point): |
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236 | # r->x = ((matrixPtr->An * ad->x) + (matrixPtr->Bn * ad->y) + matrixPtr->Cn) / matrixPtr->Divider
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237 | # r->y = ((matrixPtr->Dn * ad->x) + (matrixPtr->En * ad->y) + matrixPtr->Fn) / matrixPtr->Divider
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238 | if self.divider != 0.0: |
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239 | x = ((self.An * point[0]) + (self.Bn * point[1]) + self.Cn) / self.divider |
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240 | y = ((self.Dn * point[0]) + (self.En * point[1]) + self.Fn) / self.divider |
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241 | result = [x, y] |
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242 | # print ">> Current Coordinate (Face):", point
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243 | print ">> x-pixels were mapped to angle: %s \n>> y-pixels were mapped to angle: %s" % (str(x), str(y)) |
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244 | return result
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245 | else:
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246 | return None |
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247 | |||
248 | |||
249 | def runner(arguments): |
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250 | if len(arguments) != 3: |
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251 | print(">>> Usage: simple-robot-gaze.py <inscope 'persons_scope'> <outscope 'gaze_target_scope'>\n\n")
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252 | sys.exit(1)
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253 | |||
254 | rd = RobotDriver("ROS", sys.argv[2]) |
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255 | at = AffineTransform() |
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256 | at.set_coords() |
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257 | at.calculate_divider() |
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258 | gc = GazeController(rd, at, sys.argv[1])
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259 | gc.run_subscriber() |
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260 | |||
261 | if __name__ == '__main__': |
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262 | runner(sys.argv) |