Update attitude calculation method

modified:   src/maintain/scripts/test copy.py
	modified:   src/maintain/scripts/test.py

src/maintain/scripts/test copy.py

@@ -90,4 +90,59 @@ if __name__ == "__main__":
     ts.registerCallback(callback)
 
 
-    rospy.spin()
+    rospy.spin()
+
+
+# backup
+def calculate_image_edge_plane_normal(depth_roi):
+    # Get the shape of the depth_roi
+    height, width = depth_roi.shape
+    
+    # Get the edges of the ROI
+    left_edge = [(0, y) for y in range(height)]
+    right_edge = [(width-1, y) for y in range(height)]
+    top_edge = [(x, 0) for x in range(width)]
+    bottom_edge = [(x, height-1) for x in range(width)]
+    edges = left_edge + right_edge + top_edge + bottom_edge
+
+    # Create a 2D grid of X and Y coordinates
+    X, Y = np.meshgrid(np.arange(width), np.arange(height))
+
+    # Reshape the X, Y, and depth_roi arrays into one-dimensional arrays
+    X = X.reshape(-1)
+    Y = Y.reshape(-1)
+    Z = depth_roi.reshape(-1)
+
+    # Stack the X, Y, and depth_roi arrays vertically to create a 3D array of points in the form of [X, Y, Z]
+    points = np.vstack([X, Y, Z]).T
+
+    # Compute the mean depth value of the edges
+    edge_depths = []
+    for edge_point in edges:
+        edge_depths.append(depth_roi[edge_point[1], edge_point[0]])
+    mean_depth = np.mean(edge_depths)
+
+    # Create a mask to extract the points on the edges
+    mask = np.zeros_like(depth_roi, dtype=np.uint8)
+    for edge_point in edges:
+        mask[edge_point[1], edge_point[0]] = 1
+    masked_depth_roi = depth_roi * mask
+
+    # Extract the 3D coordinates of the points on the edges
+    edge_points = []
+    for edge_point in edges:
+        edge_points.append([edge_point[0], edge_point[1], masked_depth_roi[edge_point[1], edge_point[0]]])
+
+    # Convert the list of edge points to a numpy array
+    edge_points = np.array(edge_points)
+
+    # Shift the edge points so that the mean depth value is at the origin
+    edge_points = edge_points - np.array([width/2, height/2, mean_depth])
+
+    # Compute the singular value decomposition (SVD) of the edge points
+    U, S, V = np.linalg.svd(edge_points)
+
+    # Extract the normal vector of the plane that best fits the edge points from the right-singular vector corresponding to the smallest singular value
+    normal = V[2]
+
+    return normal

src/maintain/scripts/test.py

@@ -11,8 +11,8 @@ from geometry_msgs.msg import PoseStamped, TransformStamped, Quaternion
 import message_filters
 from cv_bridge import CvBridge, CvBridgeError
 import rospkg
-import open3d as o3d
+# import open3d as o3d
-from open3d_ros_helper import open3d_ros_helper as orh
+# from open3d_ros_helper import open3d_ros_helper as orh
 
 import os
 import sys
@@ -22,58 +22,27 @@ from detection_msgs.msg import BoundingBox, BoundingBoxes
 bridge = CvBridge()
 annulus_width = 10
 
-def calculate_image_edge_plane_normal(depth_roi):
+# 2d to 3d
-    # Get the shape of the depth_roi
+def computer_2d_3d(x, y, depth_roi, color_intrinsics):
-    height, width = depth_roi.shape
+    pz = np.mean(depth_roi) * 0.001
-    
+    px = (x - color_intrinsics[2]) * pz / color_intrinsics[0]
-    # Get the edges of the ROI
+    py = (y - color_intrinsics[5]) * pz / color_intrinsics[4]
-    left_edge = [(0, y) for y in range(height)]
+    return px, py, pz
-    right_edge = [(width-1, y) for y in range(height)]
-    top_edge = [(x, 0) for x in range(width)]
-    bottom_edge = [(x, height-1) for x in range(width)]
-    edges = left_edge + right_edge + top_edge + bottom_edge
 
-    # Create a 2D grid of X and Y coordinates
+def compute_normal_vector(p1, p2, p3, p4):
-    X, Y = np.meshgrid(np.arange(width), np.arange(height))
+    # Compute two vectors in the plane
-
+    v1 = np.array(p2) - np.array(p1)
-    # Reshape the X, Y, and depth_roi arrays into one-dimensional arrays
+    v2 = np.array(p3) - np.array(p1)
-    X = X.reshape(-1)
+    # Compute the cross product of the two vectors to get the normal vector
-    Y = Y.reshape(-1)
+    n = np.cross(v1, v2)
-    Z = depth_roi.reshape(-1)
+    # Compute the fourth point in the plane
-
+    p4 = np.array(p4)
-    # Stack the X, Y, and depth_roi arrays vertically to create a 3D array of points in the form of [X, Y, Z]
+    # Check if the fourth point is on the same side of the plane as the origin
-    points = np.vstack([X, Y, Z]).T
+    if np.dot(n, p4 - np.array(p1)) < 0:
-
+        n = -n
-    # Compute the mean depth value of the edges
+    # Normalize the normal vector to obtain a unit vector
-    edge_depths = []
+    n = n / np.linalg.norm(n)
-    for edge_point in edges:
+    return n
-        edge_depths.append(depth_roi[edge_point[1], edge_point[0]])
-    mean_depth = np.mean(edge_depths)
-
-    # Create a mask to extract the points on the edges
-    mask = np.zeros_like(depth_roi, dtype=np.uint8)
-    for edge_point in edges:
-        mask[edge_point[1], edge_point[0]] = 1
-    masked_depth_roi = depth_roi * mask
-
-    # Extract the 3D coordinates of the points on the edges
-    edge_points = []
-    for edge_point in edges:
-        edge_points.append([edge_point[0], edge_point[1], masked_depth_roi[edge_point[1], edge_point[0]]])
-
-    # Convert the list of edge points to a numpy array
-    edge_points = np.array(edge_points)
-
-    # Shift the edge points so that the mean depth value is at the origin
-    edge_points = edge_points - np.array([width/2, height/2, mean_depth])
-
-    # Compute the singular value decomposition (SVD) of the edge points
-    U, S, V = np.linalg.svd(edge_points)
-
-    # Extract the normal vector of the plane that best fits the edge points from the right-singular vector corresponding to the smallest singular value
-    normal = V[2]
-
-    return normal
 
 def filter_quaternion(quat, quat_prev, alpha):
     if quat_prev is None:
@@ -84,45 +53,41 @@ def filter_quaternion(quat, quat_prev, alpha):
         quat_filtered[i] = alpha * quat[i] + (1-alpha) * quat_prev[i]
     # Normalize the quaternion
     quat_filtered = quat_filtered / np.linalg.norm(quat_filtered)
-    return quat_filtered     
+    return quat_filtered  
-
 
 def box_callback(box, depth, color_info):
     try:
         color_intrinsics = color_info.K
         depth_image = bridge.imgmsg_to_cv2(depth, '16UC1')
+        # pc = orh.rospc_to_o3dpc(pc_msg)
+
         # get the center of screw 
         boundingBox = box.bounding_boxes[0]
         screw_x = (boundingBox.xmax + boundingBox.xmin) / 2
         screw_y = (boundingBox.ymax + boundingBox.ymin) / 2
         # print(screw_x,screw_y)
 
+
         depth_array = np.array(depth_image, dtype=np.float32)
         depth_roi = depth_array[boundingBox.ymin:boundingBox.ymax, boundingBox.xmin:boundingBox.xmax]
 
-        z = np.mean(depth_roi) * 0.001
+        x, y, z = computer_2d_3d(screw_x, screw_y, depth_roi, color_intrinsics)
-        x = (screw_x - color_intrinsics[2]) * z / color_intrinsics[0]
-        y = (screw_y - color_intrinsics[5]) * z / color_intrinsics[4]
         # rospy.loginfo("screw pose: x: %f, y: %f, z: %f", x, y, z)
         # calculate normal direction of screw area
-        
+        p1x, p1y, p1z = computer_2d_3d(boundingBox.xmin-annulus_width, boundingBox.ymin-annulus_width, depth_roi, color_intrinsics)
-        annulus_roi = depth_array[boundingBox.ymin-annulus_width:boundingBox.ymax+annulus_width, boundingBox.xmin-annulus_width:boundingBox.xmax+annulus_width]
+        p2x, p2y, p2z = computer_2d_3d(boundingBox.xmax+annulus_width, boundingBox.ymin-annulus_width, depth_roi, color_intrinsics)
-        normal = calculate_image_edge_plane_normal(annulus_roi)
+        p3x, p3y, p3z = computer_2d_3d(boundingBox.xmax+annulus_width, boundingBox.ymax+annulus_width, depth_roi, color_intrinsics)
-        print(normal)
+        p4x, p4y, p4z = computer_2d_3d(boundingBox.xmin-annulus_width, boundingBox.ymax+annulus_width, depth_roi, color_intrinsics)
+        p1 = [p1x, p1y, p1z]
+        p2 = [p2x, p2y, p2z]
+        p3 = [p3x, p3y, p3z]
+        p4 = [p4x, p4y, p4z]
+        normal = compute_normal_vector(p1, p2, p3, p4)
 
-        # publish screw pose
+        # annulus_roi = depth_array[boundingBox.ymin-annulus_width:boundingBox.ymax+annulus_width, boundingBox.xmin-annulus_width:boundingBox.xmax+annulus_width]
-        # screw_pose = PoseStamped()
+        # normal = calculate_image_edge_plane_normal(annulus_roi)
-        # screw_pose.header.stamp = rospy.Time.now()
+        # print(normal)
-        # screw_pose.header.frame_id = "camera_color_optical_frame"
-        # screw_pose.pose.position.x = x
-        # screw_pose.pose.position.y = y
-        # screw_pose.pose.position.z = z
-        # screw_pose.pose.orientation.x = 0
-        # screw_pose.pose.orientation.y = 0
-        # screw_pose.pose.orientation.z = 0
-        # screw_pose.pose.orientation.w = 1
 
-        # pose_pub.publish(screw_pose)
 
         # normal vector to quaternion
         screw_quat = tf.transformations.quaternion_from_euler(0, 0, 0)
@@ -174,6 +139,7 @@ if __name__ == "__main__":
     box_sub = message_filters.Subscriber("/yolov5/detections", BoundingBoxes)
     depth_sub = message_filters.Subscriber("/camera/aligned_depth_to_color/image_raw", Image)
     color_info = message_filters.Subscriber("/camera/color/camera_info", CameraInfo)
+    # pc_sub = message_filters.Subscriber("/camera/depth/color/points", PointCloud2)
 
     tf_broadcaster = tf2_ros.TransformBroadcaster()