hlrc / client / python / hlrc_client / simple_robot_gaze.py @ 61d23251
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1 | 47de207d | fl | #!/usr/bin/python
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2 | |||
3 | 1c05bf39 | fl | __author__ = 'fl@techfak'
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4 | |||
5 | # STD IMPORTS
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6 | import sys |
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7 | import time |
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8 | import signal |
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9 | import logging |
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10 | import operator |
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11 | |||
12 | # HLRC
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13 | from hlrc_client import * |
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14 | |||
15 | # ROS IMPORTS
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16 | import rospy |
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17 | import roslib |
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18 | from std_msgs.msg import Header |
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19 | from std_msgs.msg import String |
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20 | from people_msgs.msg import Person |
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21 | from people_msgs.msg import People |
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22 | |||
23 | |||
24 | class RobotDriver(): |
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25 | """
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26 | This class holds the robot controller.
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27 | Provides better encapsulation though...
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28 | """
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29 | def __init__(self, _mw, _outscope): |
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30 | print(">>> Initializing Robot Controller")
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31 | self.mw = _mw
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32 | self.outscope = _outscope
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33 | self.robot_controller = RobotController(self.mw, self.outscope, logging.INFO) |
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34 | |||
35 | |||
36 | class GazeController(): |
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37 | """
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38 | The GazeController receives person messages (ROS) and derives
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39 | the nearest person identified. Based on this, the robot's
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40 | joint angle target's are derived using the transformation
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41 | class below
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42 | """
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43 | def __init__(self, _robot_controller, _affine_transform, _inscope): |
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44 | print(">>> Initializing Gaze Controller")
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45 | self.run = True |
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46 | self.inscope = _inscope
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47 | self.rc = _robot_controller
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48 | self.at = _affine_transform
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49 | self.nearest_person_x = 0.0 |
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50 | self.nearest_person_y = 0.0 |
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51 | signal.signal(signal.SIGINT, self.signal_handler)
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52 | |||
53 | def signal_handler(self, signal, frame): |
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54 | print ">>> ROS is about to exit (signal %s)..." % str(signal) |
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55 | self.run = False |
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56 | |||
57 | def people_callback(self, ros_data): |
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58 | # Determine the nearest person
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59 | idx = -1
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60 | max_distance = {} |
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61 | for person in ros_data.people: |
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62 | idx += 1
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63 | max_distance[str(idx)] = person.position.z
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64 | print ">> Persons found {idx, distance}: ", max_distance |
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65 | sort = sorted(max_distance.items(), key=operator.itemgetter(1), reverse=True) |
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66 | print ">> Nearest Face: ", sort |
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67 | print ">> Index: ", sort[0][0] |
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68 | print ">> Distance in pixels: ", sort[0][1] |
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69 | self.nearest_person_x = ros_data.people[int(sort[0][0])].position.x |
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70 | self.nearest_person_y = ros_data.people[int(sort[0][0])].position.y |
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71 | print ">> Position in pixels x:", self.nearest_person_x |
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72 | print ">> Position in pixels y:", self.nearest_person_y |
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73 | point = [self.nearest_person_x, self.nearest_person_y] |
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74 | # Derive coordinate mapping
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75 | angles = self.at.derive_mapping_coords(point)
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76 | print "----------------" |
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77 | if angles is not None: |
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78 | # Set the robot gaze
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79 | g = RobotGaze() |
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80 | g.gaze_type = RobotGaze.GAZETARGET_ABSOLUTE |
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81 | g.pan = angles[0]
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82 | g.tilt = angles[1]
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83 | print ">> Sending Gaze Type:", g |
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84 | self.rc.robot_controller.set_gaze_target(g, False) |
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85 | |||
86 | def run_subscriber(self): |
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87 | print(">>> Initializing Gaze Subscriber")
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88 | person_subscriber = rospy.Subscriber(self.inscope, People, self.people_callback, queue_size=1) |
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89 | while self.run: |
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90 | time.sleep(1)
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91 | person_subscriber.unregister() |
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92 | print ">>> Deactivating ROS Subscriber" |
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93 | |||
94 | def derive_gaze_angle(self): |
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95 | pass
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96 | |||
97 | |||
98 | class AffineTransform: |
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99 | """
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100 | Derives the transformation between screen
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101 | coordinates in pixels and joint axis angles in degree.
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102 | """
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103 | def __init__(self): |
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104 | print(">>> Initializing Affine Transform")
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105 | # Target ---> The ones you want to map to
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106 | self.target0 = [1.0, 1.0] |
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107 | self.target1 = [1.0, 1.0] |
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108 | self.target2 = [1.0, 1.0] |
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109 | self.target3 = [1.0, 1.0] |
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110 | |||
111 | # Origin ---> The ones that are mapped to [target0, target1, target2, target3]
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112 | self.origin0 = [1.0, 1.0] |
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113 | self.origin1 = [1.0, 1.0] |
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114 | self.origin2 = [1.0, 1.0] |
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115 | self.origin3 = [1.0, 1.0] |
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116 | |||
117 | # Divider
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118 | self.divider = 1.0 |
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119 | |||
120 | # Calculated and mapped Coordinates
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121 | mappedCoords = [1.0, 1.0] |
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122 | |||
123 | # Affine transformation coefficients
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124 | self.An = 1.0 |
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125 | self.Bn = 1.0 |
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126 | self.Cn = 1.0 |
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127 | self.Dn = 1.0 |
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128 | self.En = 1.0 |
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129 | self.Fn = 1.0 |
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130 | |||
131 | # Test coord
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132 | self.test = [1.0, 1.0] |
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133 | |||
134 | def set_coords(self): |
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135 | |||
136 | # This is the target coordinate system
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137 | # Upper left corner
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138 | self.target0[0] = -45.0 |
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139 | self.target0[1] = 45.0 |
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140 | |||
141 | # Lower left corner
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142 | self.target1[0] = -45.0 |
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143 | self.target1[1] = -45.0 |
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144 | |||
145 | # Upper right corner
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146 | self.target2[0] = 45.0 |
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147 | self.target2[1] = 45.0 |
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148 | |||
149 | # Lower right corner
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150 | self.target3[0] = 45.0 |
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151 | self.target3[1] = -45.0 |
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152 | |||
153 | # This is the origin system, is mapped to [t0,t1,t2,t3]
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154 | # Upper left corner
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155 | self.origin0[0] = 0.0 |
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156 | self.origin0[1] = 0.0 |
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157 | |||
158 | # Lower left corner
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159 | self.origin1[0] = 0.0 |
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160 | self.origin1[1] = 240.0 |
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161 | |||
162 | # Upper right corner
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163 | self.origin2[0] = 320.0 |
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164 | self.origin2[1] = 0.0 |
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165 | |||
166 | # Lower right corner
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167 | self.origin3[0] = 320.0 |
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168 | self.origin3[1] = 240.0 |
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169 | |||
170 | # And finally the test coordinate
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171 | self.test[0] = 512.0 |
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172 | self.test[1] = 384.0 |
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173 | |||
174 | def calculate_divider(self): |
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175 | result = ((self.origin0[0] - self.origin2[0]) * (self.origin1[1] - self.origin2[1])) - \ |
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176 | ((self.origin1[0] - self.origin2[0]) * (self.origin0[1] - self.origin2[1])) |
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177 | |||
178 | if result == 0.0: |
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179 | print(">> Divider is ZERO - Check your Coordinates?")
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180 | sys.exit(1)
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181 | else:
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182 | self.divider = result
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183 | print(">> Divider " + str(self.divider)) |
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184 | self.calculateAn()
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185 | self.calculateBn()
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186 | self.calculateCn()
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187 | self.calculateDn()
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188 | self.calculateEn()
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189 | self.calculateFn()
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190 | |||
191 | return result
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192 | |||
193 | def calculateAn(self): |
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194 | result = ((self.target0[0] - self.target2[0]) * (self.origin1[1] - self.origin2[1])) - \ |
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195 | ((self.target1[0] - self.target2[0]) * (self.origin0[1] - self.origin2[1])) |
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196 | self.An = result
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197 | print(">> An " + str(self.An)) |
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198 | return result
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199 | |||
200 | def calculateBn(self): |
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201 | result = ((self.origin0[0] - self.origin2[0]) * (self.target1[0] - self.target2[0])) - \ |
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202 | ((self.target0[0] - self.target2[0]) * (self.origin1[0] - self.origin2[0])) |
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203 | self.Bn = result
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204 | print(">> Bn " + str(self.Bn)) |
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205 | return result
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206 | |||
207 | def calculateCn(self): |
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208 | result = (self.origin2[0] * self.target1[0] - self.origin1[0] * self.target2[0]) * self.origin0[1] + \ |
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209 | (self.origin0[0] * self.target2[0] - self.origin2[0] * self.target0[0]) * self.origin1[1] + \ |
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210 | (self.origin1[0] * self.target0[0] - self.origin0[0] * self.target1[0]) * self.origin2[1] |
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211 | self.Cn = result
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212 | print(">> Cn " + str(self.Cn)) |
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213 | return result
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214 | |||
215 | def calculateDn(self): |
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216 | result = ((self.target0[1] - self.target2[1]) * (self.origin1[1] - self.origin2[1])) - \ |
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217 | ((self.target1[1] - self.target2[1]) * (self.origin0[1] - self.origin2[1])) |
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218 | self.Dn = result
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219 | print(">> Dn " + str(self.Dn)) |
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220 | return result
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221 | |||
222 | def calculateEn(self): |
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223 | result = ((self.origin0[0] - self.origin2[0]) * (self.target1[1] - self.target2[1])) - \ |
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224 | ((self.target0[1] - self.target2[1]) * (self.origin1[0] - self.origin2[0])) |
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225 | self.En = result
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226 | print(">> En " + str(self.En)) |
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227 | return result
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228 | |||
229 | def calculateFn(self): |
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230 | result = (self.origin2[0] * self.target1[1] - self.origin1[0] * self.target2[1]) * self.origin0[1] + \ |
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231 | (self.origin0[0] * self.target2[1] - self.origin2[0] * self.target0[1]) * self.origin1[1] + \ |
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232 | (self.origin1[0] * self.target0[1] - self.origin0[0] * self.target1[1]) * self.origin2[1] |
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233 | self.Fn = result
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234 | print(">> Fn " + str(self.Fn)) |
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235 | return result
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236 | |||
237 | def derive_mapping_coords(self, point): |
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238 | # r->x = ((matrixPtr->An * ad->x) + (matrixPtr->Bn * ad->y) + matrixPtr->Cn) / matrixPtr->Divider
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239 | # r->y = ((matrixPtr->Dn * ad->x) + (matrixPtr->En * ad->y) + matrixPtr->Fn) / matrixPtr->Divider
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240 | if self.divider != 0.0: |
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241 | x = ((self.An * point[0]) + (self.Bn * point[1]) + self.Cn) / self.divider |
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242 | y = ((self.Dn * point[0]) + (self.En * point[1]) + self.Fn) / self.divider |
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243 | result = [x, y] |
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244 | # print ">> Current Coordinate (Face):", point
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245 | print ">> x-pixels were mapped to angle: %s \n>> y-pixels were mapped to angle: %s" % (str(x), str(y)) |
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246 | return result
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247 | else:
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248 | return None |
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249 | |||
250 | |||
251 | 61d23251 | fl | def runner(arguments): |
252 | 1c05bf39 | fl | if len(arguments) != 3: |
253 | 013997fb | fl | print(">>> Usage: simple_robot_gaze.py <inscope 'persons_scope'> <outscope 'gaze_target_scope'>\n\n")
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254 | 1c05bf39 | fl | sys.exit(1)
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255 | |||
256 | rd = RobotDriver("ROS", sys.argv[2]) |
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257 | at = AffineTransform() |
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258 | at.set_coords() |
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259 | at.calculate_divider() |
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260 | gc = GazeController(rd, at, sys.argv[1])
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261 | gc.run_subscriber() |
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262 | |||
263 | if __name__ == '__main__': |
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264 | 61d23251 | fl | runner(sys.argv) |