Commit 8ac74635 authored by Antonin Raffin's avatar Antonin Raffin
Browse files

Reformat files

parent d9646bca
......@@ -3,8 +3,11 @@ from __future__ import print_function, division
import rospy
from geometry_msgs.msg import Twist
from std_msgs.msg import Int32
vel_pub = rospy.Publisher("/mobile_base/commands/velocity", Twist, queue_size = 10)
MAX_DIVIATION = 320
vel_pub = rospy.Publisher("/mobile_base/commands/velocity", Twist, queue_size=10)
MAX_DEVIATION = 320
def turnCallback(data):
deviation = data.data
kp = None
......@@ -15,13 +18,14 @@ def turnCallback(data):
vel_msg.linear.z = 0
vel_msg.angular.x = 0
vel_msg.angular.y = 0
if abs(deviation) > MAX_DIVIATION/2:
vel_msg.angular.z = -deviation/abs(deviation)
if abs(deviation) > MAX_DEVIATION / 2:
vel_msg.angular.z = - deviation / abs(deviation)
else:
vel_msg.angular.z = -deviation*2.0/320.0
vel_msg.angular.z = -deviation * 2.0 / 320.0
vel_pub.publish(vel_msg)
if __name__=="__main__":
if __name__ == "__main__":
print("Start")
rospy.init_node('turnBot', anonymous=True)
turn_sub = rospy.Subscriber("center_deviation", Int32, turnCallback)
......
#!/usr/bin/env python
from __future__ import print_function, division
import rospy
import cv2
import numpy as np
import rospy
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image
from std_msgs.msg import Int32
import thread
import numpy as np
class image_converter:
class ImageConverter:
def __init__(self):
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber("/camera/rgb/image_raw",Image,self.callback)
self.image_sub = rospy.Subscriber("/camera/rgb/image_raw", Image, self.callback)
self.center_pub = rospy.Publisher('center_deviation', Int32, queue_size=10)
self.cv_image = np.zeros((100,100,3), np.uint8)
self.hsv = np.zeros((100,100,3), np.uint8)
self.cv_image = np.zeros((100, 100, 3), np.uint8)
self.hsv = np.zeros((100, 100, 3), np.uint8)
self.h_min = 0
self.s_min = 0
self.v_min = 0
......@@ -25,72 +26,73 @@ class image_converter:
cv2.namedWindow('RGB')
cv2.namedWindow('Mask')
# Creating track bar
cv2.createTrackbar('h_min', 'Mask',0,179,self.nothing)
cv2.createTrackbar('s_min', 'Mask',0,255,self.nothing)
cv2.createTrackbar('v_min', 'Mask',0,255,self.nothing)
cv2.createTrackbar('h_max', 'Mask',0,179,self.nothing)
cv2.createTrackbar('s_max', 'Mask',0,255,self.nothing)
cv2.createTrackbar('v_max', 'Mask',0,255,self.nothing)
cv2.createTrackbar('h_min', 'Mask', 0, 179, self.nothing)
cv2.createTrackbar('s_min', 'Mask', 0, 255, self.nothing)
cv2.createTrackbar('v_min', 'Mask', 0, 255, self.nothing)
cv2.createTrackbar('h_max', 'Mask', 0, 179, self.nothing)
cv2.createTrackbar('s_max', 'Mask', 0, 255, self.nothing)
cv2.createTrackbar('v_max', 'Mask', 0, 255, self.nothing)
# Initial value, for green
cv2.setTrackbarPos('h_min', 'Mask',29)
cv2.setTrackbarPos('s_min', 'Mask',86)
cv2.setTrackbarPos('v_min', 'Mask',6)
cv2.setTrackbarPos('h_max', 'Mask',84)
cv2.setTrackbarPos('s_max', 'Mask',255)
cv2.setTrackbarPos('v_max', 'Mask',255)
def nothing(self,x):
cv2.setTrackbarPos('h_min', 'Mask', 29)
cv2.setTrackbarPos('s_min', 'Mask', 86)
cv2.setTrackbarPos('v_min', 'Mask', 6)
cv2.setTrackbarPos('h_max', 'Mask', 84)
cv2.setTrackbarPos('s_max', 'Mask', 255)
cv2.setTrackbarPos('v_max', 'Mask', 255)
def nothing(self, x):
pass
def callback(self,data):
def callback(self, data):
try:
self.cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
self.cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
print(e)
# get info from track bar and appy to result
self.h_min = cv2.getTrackbarPos('h_min','Mask')
self.s_min = cv2.getTrackbarPos('s_min','Mask')
self.v_min = cv2.getTrackbarPos('v_min','Mask')
self.h_max = cv2.getTrackbarPos('h_max','Mask')
self.s_max = cv2.getTrackbarPos('s_max','Mask')
self.v_max = cv2.getTrackbarPos('v_max','Mask')
self.h_min = cv2.getTrackbarPos('h_min', 'Mask')
self.s_min = cv2.getTrackbarPos('s_min', 'Mask')
self.v_min = cv2.getTrackbarPos('v_min', 'Mask')
self.h_max = cv2.getTrackbarPos('h_max', 'Mask')
self.s_max = cv2.getTrackbarPos('s_max', 'Mask')
self.v_max = cv2.getTrackbarPos('v_max', 'Mask')
# Convert to HSV color space
self.hsv = cv2.cvtColor(self.cv_image,cv2.COLOR_RGB2HSV)
self.hsv = cv2.cvtColor(self.cv_image, cv2.COLOR_RGB2HSV)
# Normal masking algorithm
mask = None
if self.h_min<=self.h_max and self.s_min<=self.s_max and self.v_min<=self.v_max:
if self.h_min <= self.h_max and self.s_min <= self.s_max and self.v_min <= self.v_max:
lower = np.array([self.h_min, self.s_min, self.v_min])
upper = np.array([self.h_max, self.s_max, self.v_max])
mask = cv2.inRange(self.hsv,lower, upper)
mask = cv2.inRange(self.hsv, lower, upper)
# Erosion and dilation to remove noise
kernel = np.ones((7,7), np.uint8)
mask = cv2.erode(mask,kernel,iterations = 2)
mask = cv2.dilate(mask,kernel,iterations = 2)
kernel = np.ones((7, 7), np.uint8)
mask = cv2.erode(mask, kernel, iterations=2)
mask = cv2.dilate(mask, kernel, iterations=2)
# Find contours in the mask
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
radius = 0
if len(cnts) > 0:
# Find largest contour and compute the minimum eclosing circle
c = max(cnts, key = cv2.contourArea)
((x,y),radius) = cv2.minEnclosingCircle(c);
c = max(cnts, key=cv2.contourArea)
((x, y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
center = (int(M["m10"]/M["m00"]),int(M["m01"]/M["m00"]))
center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
self.mask_image = cv2.bitwise_and(self.cv_image,self.cv_image,mask = mask)
self.mask_image = cv2.bitwise_and(self.cv_image, self.cv_image, mask=mask)
# Only proceed if the radius meets a minimum size
if radius > 10:
# Draw the circle
cv2.circle(self.mask_image,(int(x),int(y)),int(radius),(0,255,255),2)
cv2.circle(self.mask_image,center,5,(0,0,255),-1)
cv2.circle(self.cv_image,(int(x),int(y)),int(radius),(0,255,255),2)
cv2.circle(self.cv_image,center,5,(0,0,255),-1)
cv2.circle(self.mask_image, (int(x), int(y)), int(radius), (0, 255, 255), 2)
cv2.circle(self.mask_image, center, 5, (0, 0, 255), -1)
cv2.circle(self.cv_image, (int(x), int(y)), int(radius), (0, 255, 255), 2)
cv2.circle(self.cv_image, center, 5, (0, 0, 255), -1)
cv2.imshow("RGB", self.cv_image)
cv2.imshow("Mask", self.mask_image)
print(center)
# Publishe horizon diviation from the middle
# Publish horizon deviation from the middle
if center is not None:
center_deviation = int(center[0]-320)
center_deviation = int(center[0] - 320)
print(center_deviation)
self.center_pub.publish(center_deviation)
cv2.waitKey(3)
......@@ -98,9 +100,9 @@ class image_converter:
if __name__ == '__main__':
ic = image_converter()
ic = ImageConverter()
print("start")
rospy.init_node('image_converter', anonymous=True)
rospy.init_node('ImageConverter', anonymous=True)
try:
rospy.spin()
except KeyboardInterrupt:
......
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