forked from Telos4/RoboRally
169 lines
5.1 KiB
Python
169 lines
5.1 KiB
Python
# startup:
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# roscore
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# rosrun cv_camera cv_camera_node
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import sys
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import rospy
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import pygame
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import numpy as np
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import cv2
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import cv2.aruco as aruco
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import socket
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from sensor_msgs.msg import Image
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from sensor_msgs.msg import CompressedImage
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from cv_bridge import CvBridge, CvBridgeError
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pygame.init()
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pygame.font.init()
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#pygame.joystick.init()
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myfont = pygame.font.SysFont('Comic Sans MS', 30)
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pygame.display.set_caption("ROS camera stream on Pygame")
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screenheight = 480
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screenwidth = 640 #4*screenheight//3
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screen = pygame.display.set_mode([screenwidth, screenheight])
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red = (255, 0, 0)
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teal = (0, 255, 255)
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# ros setup
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camera_stream = "/cv_camera/image_raw"
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#camera_stream = "/image_raw"
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compression = False
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class Robot:
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def __init__(self, id, ip=None):
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self.pos = None
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self.id = id
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self.ip = None
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class RemoteController:
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def __init__(self):
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self.cam = cv2.VideoCapture(2)
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#self.image_pub = rospy.Publisher("pygame_image", Image)
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#self.bridge = CvBridge()
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#if compression:
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# self.image_sub = rospy.Subscriber(camera_stream + "/compressed", CompressedImage, self.callback)
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#else:
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# self.image_sub = rospy.Subscriber(camera_stream, Image, self.callback)
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#self.cv_image = np.zeros((1, 1, 3), np.uint8)
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self.robots = [Robot(1), Robot(2), Robot(512)]
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screen.fill([0, 0, 0])
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self.aruco_dict = aruco.Dictionary_get(aruco.DICT_ARUCO_ORIGINAL)
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self.parameters = aruco.DetectorParameters_create()
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self.rc_socket = socket.socket()
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try:
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pass
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self.rc_socket.connect(('192.168.4.1', 1234)) # connect to robot
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except socket.error:
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print("could not connect to socket")
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def callback(self, data):
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try:
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if compression:
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self.cv_image = self.bridge.compressed_imgmsg_to_cv2(data)
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else:
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self.cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
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except CvBridgeError as e:
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print(e)
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#self.cv_image_small = np.fliplr(self.cv_image_small) # why is this necessary?
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# marker detection
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#gray = cv2.cvtColor(self.cv_image, cv2.COLOR_BGR2GRAY)
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#print("robot {} pos = {}".format(r.id, r.pos))
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def capture(self):
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ret_val, self.cv_image = self.cam.read()
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corners, ids, rejectedImgPoints = aruco.detectMarkers(self.cv_image, self.aruco_dict, parameters=self.parameters)
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rvec, tvec, _ = aruco.estimatePoseSingleMarkers(corners[0], 0.05, mtx, dist)
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marker_found = len(corners) > 0
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if marker_found:
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for i in range(len(corners)):
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#print("id = {}".format(ids[i]))
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pos = np.mean(corners[i][0], axis=0)
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for r in self.robots:
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if r.id == ids[i]:
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pos_flipped = (self.cv_image.shape[1] - int(pos[0]), int(pos[1]))
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r.pos = pos_flipped
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def show_display(self):
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while True:
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self.capture()
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# show ros camera image on the pygame screen
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#image = cv2.resize(self.cv_image,(screenwidth,screenheight))
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frame = cv2.cvtColor(self.cv_image, cv2.COLOR_BGR2RGB)
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frame = np.rot90(frame)
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frame = pygame.surfarray.make_surface(frame)
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screen.blit(frame, (0, 0))
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# plot robot positions
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for r in self.robots:
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if r.pos is not None:
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#print("drawing at {}".format(r.pos))
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pygame.draw.circle(screen, (255, 0, 0), r.pos, 10)
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pygame.display.update()
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events = pygame.event.get()
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for event in events:
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_LEFT:
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u1 = 1.0
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u2 = -1.0
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#print("turn left: ({},{})".format(u1, u2))
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elif event.key == pygame.K_RIGHT:
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u1 = -1.0
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u2 = 1.0
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#print("turn right: ({},{})".format(u1, u2))
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elif event.key == pygame.K_UP:
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u1 = -1.0
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u2 = -1.0
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#print("forward: ({},{})".format(u1, u2))
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elif event.key == pygame.K_DOWN:
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u1 = 1.0
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u2 = 1.0
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#print("forward: ({},{})".format(u1, u2))
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self.rc_socket.send('({},{})\n'.format(u1, u2))
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elif event.type == pygame.KEYUP:
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u1 = 0
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u2 = 0
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#print("key released, resetting: ({},{})".format(u1, u2))
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self.rc_socket.send('({},{})\n'.format(u1, u2))
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def main(args):
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rospy.init_node('controller_node', anonymous=True)
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rc = RemoteController()
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pygame.init()
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pygame.display.set_mode((640, 480))
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rc.show_display()
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#game.loop()
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# try:
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# rospy.spin()
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# except KeyboardInterrupt:
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# print("Shutting down")
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# cv2.destroyAllWindows()
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if __name__ == '__main__':
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main(sys.argv) |