From 4f7c6b1b68774ec08c4fe25df8f699bf11eaf67c Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Tue, 29 Sep 2020 18:37:20 +0900 Subject: [PATCH 01/24] =?UTF-8?q?1.=20searcher=E3=82=B7=E3=83=BC=E3=83=B3?= =?UTF-8?q?=E3=81=AA=E3=81=84=E3=81=A8=E3=81=8D=E3=81=AEsolve=E3=82=A8?= =?UTF-8?q?=E3=83=A9=E3=83=BC=E3=82=92=E4=BF=AE=E6=AD=A3=202.=20r-calib.la?= =?UTF-8?q?unch=E3=83=93=E3=83=A5=E3=83=BC=E3=83=AF=E3=82=92=E5=89=8A?= =?UTF-8?q?=E9=99=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- r-calib/rcalib.launch | 3 --- script/cropper.py | 9 +++++++-- script/searcher.py | 6 +++--- 3 files changed, 10 insertions(+), 8 deletions(-) diff --git a/r-calib/rcalib.launch b/r-calib/rcalib.launch index 09e4761..9398fd2 100755 --- a/r-calib/rcalib.launch +++ b/r-calib/rcalib.launch @@ -33,9 +33,6 @@ - - - "+keep) if pub_relay is not None: pub_relay.publish(mTrue) + Tcapt=time.time() def cb_ansback(msg): if msg.data is False: pub_capture.publish(mFalse) @@ -253,6 +257,7 @@ def parse_argv(argv): pub_clear=rospy.Publisher("~cleared",Bool,queue_size=1) pub_capture=rospy.Publisher("~captured",Bool,queue_size=1) pub_msg=rospy.Publisher("/message",String,queue_size=1) +pub_report=rospy.Publisher("/report",String,queue_size=1) ###Globals mTrue=Bool();mTrue.data=True diff --git a/script/searcher.py b/script/searcher.py index f53a5fb..447d15b 100755 --- a/script/searcher.py +++ b/script/searcher.py @@ -185,9 +185,9 @@ def cb_score(): def cb_solve(msg): global Score - if [x for x in Scene if x is None]: - pub_msg.publish("searcher::short scene data") - ret=Bool();ret.data=False;pub_Y2.publish(ret) + if len(filter(lambda x:len(x)>0,Scene))==0: + pub_msg.publish("searcher::Lacked scene to solve") + pub_Y2.publish(mFalse) return Param.update(rospy.get_param("~param")) for key in Score: Score[key]=[] From 3fc39071e7acb512872b030a20d34d2d25c3634b Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Tue, 29 Sep 2020 21:44:45 +0900 Subject: [PATCH 02/24] Corrected spelling mistake Intencity->Intensity --- r-calib/rcalib.zui | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/r-calib/rcalib.zui b/r-calib/rcalib.zui index 3b1fc49..41ce0d8 100644 --- a/r-calib/rcalib.zui +++ b/r-calib/rcalib.zui @@ -2,7 +2,7 @@ "class":"Number", "name":"/rovi/live/camera/ExposureTime","label":"カメラ露光時間(1000-30000us)" "class":"Number", "name":"/rovi/live/camera/Gain","label":"カメラゲイン(0-63)" "class":"Number", "name":"/rovi/pshift_genpc/projector/Mode","label":"プロジェクタモード" -"class":"Number", "name":"/rovi/pshift_genpc/projector/Intencity","label":"プロジェクタ発光強度(0-255)" +"class":"Number", "name":"/rovi/pshift_genpc/projector/Intensity","label":"プロジェクタ発光強度(0-255)" "class":"Title", "label":"操作" "class":"Echo", "label":"カウント","name":"/rcalib/count" "class":"Pub", "label":"カウントリセット","name":"/request/clear" From 12ea747323a1cef9e3a545ed65ad8418564260c6 Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Wed, 30 Sep 2020 18:30:55 +0900 Subject: [PATCH 03/24] Added timestamp publisher to cropper --- script/cropper.py | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/script/cropper.py b/script/cropper.py index 031feaa..81f642b 100755 --- a/script/cropper.py +++ b/script/cropper.py @@ -36,6 +36,7 @@ OutFloats=None RawFloats=None Tcapt=0 +Report={} def P0(): return np.array([]).reshape((-1,3)) @@ -158,14 +159,18 @@ def raw(): return def cb_ps(msg): #callback of ps_floats - global srcArray,Tcapt + global srcArray,Tcapt,Report + Report['T12']=time.time() pc=np.reshape(msg.data,(-1,3)) # pc=voxel(pc) srcArray.append(pc) raw() crop() pub_capture.publish(mTrue) - pub_report.publish(str({"tcap":time.time()-Tcapt})) + tps=time.time() + Report['T13']=tps + Report['tcap']=tps-Tcapt + pub_report.publish(str(Report)) return def cb_param(msg): @@ -199,7 +204,8 @@ def cb_clear(msg): pub_clear.publish(mTrue) def cb_capture(msg): - global tfArray,Tcapt + global tfArray,Tcapt,Report + Report['T10']=time.time() keep=Config["capture_frame_id"] try: keeptf=tfBuffer.lookup_transform(Config["base_frame_id"],keep,rospy.Time()) @@ -214,6 +220,7 @@ def cb_capture(msg): rospy.loginfo("cropper::capture::TF lookup failure world->"+keep) if pub_relay is not None: pub_relay.publish(mTrue) Tcapt=time.time() + Report['T11']=Tcapt def cb_ansback(msg): if msg.data is False: pub_capture.publish(mFalse) From 840e17aceef91e6d4ae5cc21bd5b413cfdad2874 Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Wed, 21 Oct 2020 16:33:36 +0900 Subject: [PATCH 04/24] Added param for V2 --- r-calib/rcalibV2.launch | 40 ++++++++++++++++++++++++++++++++++++++++ r-calib/rcalibV2.zui | 22 ++++++++++++++++++++++ 2 files changed, 62 insertions(+) create mode 100755 r-calib/rcalibV2.launch create mode 100644 r-calib/rcalibV2.zui diff --git a/r-calib/rcalibV2.launch b/r-calib/rcalibV2.launch new file mode 100755 index 0000000..aaed39a --- /dev/null +++ b/r-calib/rcalibV2.launch @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/r-calib/rcalibV2.zui b/r-calib/rcalibV2.zui new file mode 100644 index 0000000..c66b36d --- /dev/null +++ b/r-calib/rcalibV2.zui @@ -0,0 +1,22 @@ +"class":"Title", "label":"ライブ調整" +"class":"Number", "name":"/rovi/ycam/ExposureTimeLevel","label":"露光レベル[1:基本,2:2倍,3:3倍,4:4倍]" +"class":"Number", "name":"/rovi/ycam/projector/Intensity","label":"プロジェクタ発光強度[0〜255]" +"class":"Number", "name":"/rovi/ycam/Strobe","label":"ストロボ[0:OFF,1:ON])" +"class":"Title", "label":"操作" +"class":"Echo", "label":"カウント","name":"/rcalib/count" +"class":"Pub", "label":"カウントリセット","name":"/request/clear" +"class":"Echo", "label":"キャリブ板 位置 X\nY\nZ\n姿勢 X\nY\nZ\nW","name":"/gridboard/tf","format":".3f" +"class":"Echo", "label":"再投影誤差(平均)","name":"/gridboard/stats","format":".2f +"class":"Pub", "label":"取り込み","name":"/request/capture" +"class":"Title", "label":"解析" +"class":"Pub", "label":"解析","name":"/rcalib/solve" +"class":"Echo", "label":"誤差","name":"/rcalib/error" +"class":"Title", "label":"キャリブ板設定","page":"break" +"class":"Number", "label":"●間距離","name":"/gridboard/unitleng" +"class":"Number", "label":"長辺●数","name":"/gridboard/n_circles_y" +"class":"Number", "label":"短辺●数","name":"/gridboard/n_circles_x" +"class":"Number", "label":"長辺側原点位置","name":"/gridboard/origin_y" +"class":"Number", "label":"短辺側原点位置","name":"/gridboard/origin_x" +"class":"Number", "label":"ガンマ補正","name":"/gridboard/gamma_correction" +"class":"Pub", "label":"反映","name":"/reload/gridboard" + From f10e189d7366a7c37e40d111e139149c7f0ff4da Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Tue, 3 Nov 2020 14:31:10 +0900 Subject: [PATCH 05/24] Added pcount (as report) --- script/cropper.py | 1 + 1 file changed, 1 insertion(+) diff --git a/script/cropper.py b/script/cropper.py index 81f642b..de04c26 100755 --- a/script/cropper.py +++ b/script/cropper.py @@ -164,6 +164,7 @@ def cb_ps(msg): #callback of ps_floats pc=np.reshape(msg.data,(-1,3)) # pc=voxel(pc) srcArray.append(pc) + pub_report.publish(str({"pcount":np.sum(map(len,srcArray))})) raw() crop() pub_capture.publish(mTrue) From ec346c28e7a2f70d4d041b6e7d2063c08b9f4548 Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Tue, 24 Nov 2020 11:44:44 +0900 Subject: [PATCH 06/24] Added launch and zui for FW1015 later --- r-calib/rcalibV2.zui | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) create mode 100644 r-calib/rcalibV2.zui diff --git a/r-calib/rcalibV2.zui b/r-calib/rcalibV2.zui new file mode 100644 index 0000000..c66b36d --- /dev/null +++ b/r-calib/rcalibV2.zui @@ -0,0 +1,22 @@ +"class":"Title", "label":"ライブ調整" +"class":"Number", "name":"/rovi/ycam/ExposureTimeLevel","label":"露光レベル[1:基本,2:2倍,3:3倍,4:4倍]" +"class":"Number", "name":"/rovi/ycam/projector/Intensity","label":"プロジェクタ発光強度[0〜255]" +"class":"Number", "name":"/rovi/ycam/Strobe","label":"ストロボ[0:OFF,1:ON])" +"class":"Title", "label":"操作" +"class":"Echo", "label":"カウント","name":"/rcalib/count" +"class":"Pub", "label":"カウントリセット","name":"/request/clear" +"class":"Echo", "label":"キャリブ板 位置 X\nY\nZ\n姿勢 X\nY\nZ\nW","name":"/gridboard/tf","format":".3f" +"class":"Echo", "label":"再投影誤差(平均)","name":"/gridboard/stats","format":".2f +"class":"Pub", "label":"取り込み","name":"/request/capture" +"class":"Title", "label":"解析" +"class":"Pub", "label":"解析","name":"/rcalib/solve" +"class":"Echo", "label":"誤差","name":"/rcalib/error" +"class":"Title", "label":"キャリブ板設定","page":"break" +"class":"Number", "label":"●間距離","name":"/gridboard/unitleng" +"class":"Number", "label":"長辺●数","name":"/gridboard/n_circles_y" +"class":"Number", "label":"短辺●数","name":"/gridboard/n_circles_x" +"class":"Number", "label":"長辺側原点位置","name":"/gridboard/origin_y" +"class":"Number", "label":"短辺側原点位置","name":"/gridboard/origin_x" +"class":"Number", "label":"ガンマ補正","name":"/gridboard/gamma_correction" +"class":"Pub", "label":"反映","name":"/reload/gridboard" + From c66bf67ff03fc20f03d49714e3fdff29f7a9fa31 Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Tue, 24 Nov 2020 11:47:52 +0900 Subject: [PATCH 07/24] Added launch again --- r-calib/rcalibV2.launch | 40 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100755 r-calib/rcalibV2.launch diff --git a/r-calib/rcalibV2.launch b/r-calib/rcalibV2.launch new file mode 100755 index 0000000..3c25121 --- /dev/null +++ b/r-calib/rcalibV2.launch @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From c6e0c54943b35ba0babc20bf29692c7984ac1747 Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Sat, 28 Nov 2020 17:21:07 +0900 Subject: [PATCH 08/24] =?UTF-8?q?=E3=83=9E=E3=82=B9=E3=82=BF=E3=81=8B?= =?UTF-8?q?=E3=82=89X=E5=9B=9E=E8=BB=A2=E8=BB=B8=E6=8E=A8=E5=AE=9A?= =?UTF-8?q?=E3=81=99=E3=82=8Baxis=5Fsolver=E3=82=92=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- script/searcher.py | 25 ++++++++++++-- src/rovi_utils/axis_solver.py | 65 +++++++++++++++++++++++++++++++++++ 2 files changed, 88 insertions(+), 2 deletions(-) create mode 100755 src/rovi_utils/axis_solver.py diff --git a/script/searcher.py b/script/searcher.py index 447d15b..6b88009 100755 --- a/script/searcher.py +++ b/script/searcher.py @@ -23,6 +23,7 @@ from geometry_msgs.msg import TransformStamped from rovi_utils import tflib from rovi_utils import sym_solver as rotsym +from rovi_utils import axis_solver as rotjour from scipy import optimize Param={ @@ -32,7 +33,9 @@ "distance_threshold":0.1, "icp_threshold":0.001, "rotate":0, - "repeat":1} + "repeat":1, + "cutter":{"base":0,"offset":0,"width":0} +} Config={ "proc":0, "path":"recipe", @@ -87,6 +90,22 @@ def learn_rot(pc,num,thres): print 'No axis' pub_err.publish("searcher::No axis") +def learn_journal(pc,base,ofs,wid): + global JourAxis,tfReg + JourAxis=None + if wid>0: + JourAxis=rotjour.solve(pc,base,base+ofs,wid) + if JourAxis is not None: + tf=TransformStamped() + tf.header.stamp=rospy.Time.now() + tf.header.frame_id=Config["master_frame_ids"][0] + tf.child_frame_id=Config["master_frame_ids"][0]+'/journal' + tf.transform=tflib.fromRT(JourAxis) + tfReg.append(tf) + else: + print 'No journal' + pub_err.publish("searcher::No journal") + def cb_master(event): if Config["proc"]==0: for n,l in enumerate(Config["scenes"]): @@ -166,6 +185,7 @@ def cb_load(msg): print 'learning pc',Param['rotate'] pcd=learn_feat(Model,Param) learn_rot(pcd[0],Param['rotate'],Param['icp_threshold']) + learn_journal(pcd[0],Param["cutter"]["base"],Param["cutter"]["offset"],Param["cutter"]["width"]) if Config["proc"]==0: broadcaster.sendTransform(tfReg) pub_msg.publish("searcher::model loaded and learning completed") pub_loaded.publish(mTrue) @@ -219,6 +239,7 @@ def cb_solve_do(msg): tf=tflib.fromRT(wrt[np.argmin(np.asarray(rot))]) else: tf=tflib.fromRT(rt) + Score["Tx"].append(tf.translation.x) Score["Ty"].append(tf.translation.y) Score["Tz"].append(tf.translation.z) @@ -250,7 +271,6 @@ def cb_ps(msg,n): Scene[n]=pc print "cb_ps",pc.shape - def cb_clear(msg): global Scene for n,l in enumerate(Config["scenes"]): @@ -349,6 +369,7 @@ def parse_argv(argv): Scene=[None]*len(Config["scenes"]) Model=[None]*len(Config["scenes"]) RotAxis=None +JourAxis=None tfReg=[] rospy.Timer(rospy.Duration(5),cb_load,oneshot=True) diff --git a/src/rovi_utils/axis_solver.py b/src/rovi_utils/axis_solver.py new file mode 100755 index 0000000..99386be --- /dev/null +++ b/src/rovi_utils/axis_solver.py @@ -0,0 +1,65 @@ +#!/usr/bin/python + +import numpy as np +import open3d as o3d +import copy +from scipy import optimize +from scipy.spatial.transform import Rotation as R + +def toNumpy(pcd): + return np.reshape(np.asarray(pcd.points),(-1,3)) +def fromNumpy(dat): + d=dat.astype(np.float32) + pc=o3d.PointCloud() + pc.points=o3d.Vector3dVector(d) + return pc + +def fit_func(prm,dat): #fir circle + fv=np.linalg.norm(dat[:,1:3]-prm[1:3],axis=1)-prm[0] + return fv + +def solve(pcd,xc1,xc2,wid): + P0=toNumpy(pcd) + w1=np.where(np.abs(P0.T[0]-xc1)0: + rot=rot/rnm*np.arcsin(rnm) + r=R.from_rotvec(rot) + RT[:3,:3]=r.as_dcm() + print "axis_solver",RT + return RT + +if __name__ == '__main__': + print "Prepare model" + pcd=o3d.read_point_cloud("surface.ply") + rt=solve(pcd,-97,83,2.5) + print rt +# s1=fromNumpy(P1) +# s1.paint_uniform_color([1, 0.706, 0]) +# s2=fromNumpy(P2) +# s2.paint_uniform_color([1, 0.706, 0]) +# o3d.draw_geometries([s1,s2]) From 3234cecc35c3adab18eaba20d3fc0f2b8b321cea Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Sun, 29 Nov 2020 15:08:05 +0900 Subject: [PATCH 09/24] =?UTF-8?q?searcher.py:azimuth,rotation=E3=81=AE?= =?UTF-8?q?=E5=8D=98=E4=BD=8D=E3=82=92deg=E3=81=AB=E5=A4=89=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- data/sample.ply | 29717 ------------------------------------------- data/test.ply | 8439 ++++++++++++ script/searcher.py | 4 +- 3 files changed, 8441 insertions(+), 29719 deletions(-) delete mode 100644 data/sample.ply create mode 100644 data/test.ply diff --git a/data/sample.ply b/data/sample.ply deleted file mode 100644 index 746e9e3..0000000 --- a/data/sample.ply +++ /dev/null @@ -1,29717 +0,0 @@ -ply -format ascii 1.0 -comment Created by Open3D -element vertex 29709 -property double x -property double y -property double z -end_header -0.0272227 0.15636 0.630541 -0.058187 0.148537 0.630541 -0.097437 0.130354 0.623081 -0.0664569 0.129253 0.625548 -0.0441716 0.128981 0.630541 -0.0706169 0.124897 0.628035 -0.0415641 0.125069 0.630541 -0.0419071 0.125442 0.640771 -0.126043 0.109117 0.586818 -0.0634021 0.117247 0.630541 -0.127774 0.107367 0.582264 -0.104868 0.108581 0.588849 -0.127805 0.106086 0.585161 -0.0392573 0.116168 0.640771 -0.058373 0.112438 0.625548 -0.0582804 0.112885 0.628035 -0.0735387 0.11256 0.628035 -0.0969437 0.0549173 0.308191 -0.14177 0.103207 0.57919 -0.0467791 0.112358 0.630541 -0.120401 0.0980721 0.555203 -0.0569043 0.101336 0.583932 -0.138788 0.100055 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72.7632 478.346 +125.378 74.2331 478.245 +128.04 72.5945 478.322 +132.65 67.8438 478.578 +128.106 63.4662 478.816 +111.211 20.8912 481.209 +121.913 72.7481 478.247 +129.954 64.8861 478.687 +124.974 66.3596 478.592 +132.782 64.9551 478.674 +128.191 66.3578 478.58 +132.363 68.8145 478.436 +131.271 63.3593 478.725 +125.046 69.0559 478.393 +129.312 73.2275 478.144 +127.883 69.2979 478.354 +105.73 18.8984 481.206 +128.447 73.7838 478.083 +101.253 28.455 480.647 +127.383 69.0476 478.335 +131.844 68.8021 478.35 +127.014 73.6112 478.064 +128.018 67.6946 478.397 +131.844 68.3072 478.352 +128.331 64.8177 478.548 +125.599 71.7425 478.144 +132.867 65.9711 478.469 +127.059 67.813 478.36 +126.671 66.0926 478.453 +131.31 65.0277 478.513 +102.84 29.8144 480.504 +126.797 64.8555 478.461 +128.45 72.0516 478.006 +125.476 70.6723 478.08 +122.878 69.2682 478.149 +126.696 69.3383 478.145 +131.343 66.1251 478.329 +102.241 29.1461 480.418 +130.022 65.9929 478.328 +126.794 71.9658 477.983 +128.296 70.7379 478.046 +128.232 74.6598 477.807 +108.482 20.2135 480.892 +128.549 69.2565 478.068 +128.612 67.8779 478.119 +125.404 69.4155 478.027 +132.275 67.5315 478.119 +125.609 66.3029 478.182 +129.723 72.1086 477.837 +127.037 66.4967 478.153 +126.36 65.317 478.213 +125.331 67.7711 478.063 +125.856 65.3123 478.179 +132.435 66.6217 478.102 +126.762 70.7105 477.861 +128.383 66.2928 478.11 +131.274 66.5359 478.079 +129.706 66.453 478.075 +100.553 27.5629 480.273 +131.185 67.6974 477.98 +110.324 21.3622 480.603 +129.753 67.7542 477.945 +103.739 30.284 480.062 +130.864 70.3698 477.786 +126.695 67.7506 477.919 +107.092 19.87 480.613 +131.058 69.2189 477.808 +131.433 64.4708 478.057 +129.692 69.2063 477.722 +129.649 70.6665 477.563 +99.9815 27.2938 479.917 +105.532 19.7331 480.307 +104.534 19.8568 480.29 +109.085 21.2442 480.185 +110.432 22.329 479.991 +103.353 29.7473 479.423 +108.889 22.3184 479.762 +104.901 20.3288 479.694 +108.521 21.6486 479.595 +106.88 20.3273 479.659 +100.344 26.7611 479.273 +100.349 26.2663 479.299 +105.881 20.3263 479.635 +101.808 28.2427 479.157 +104.401 30.1481 479.027 +109.767 24.0313 479.255 +102.636 28.8201 478.859 +101.259 27.2368 478.912 +105.305 30.075 478.708 +107.418 21.1303 479.106 +109.902 22.8769 478.98 +103.667 28.9521 478.583 +108.896 22.7746 478.916 +102.97 23.7604 478.796 +101.199 26.0311 478.623 +102.969 22.7689 478.792 +104.091 21.1594 478.824 +105.799 20.9853 478.814 +103.14 25.9713 478.433 +106.055 29.6701 478.178 +104.596 26.2114 478.296 +101.113 25.7121 478.219 +104.601 23.7368 478.321 +104.105 22.7462 478.317 +105.094 22.7461 478.313 +102.877 28.3384 477.981 +106.48 29.8979 477.863 +102.54 27.1819 477.949 +104.142 28.589 477.838 +103.078 21.5007 478.148 +109.469 24.7084 477.958 +108.546 24.2764 477.978 +106.781 21.4988 478.104 +108.242 23.226 477.998 +104.288 27.2472 477.762 +105.791 28.7479 477.66 +102.694 25.6278 477.801 +107.082 26.9565 477.712 +105.754 27.3504 477.657 +104.192 25.7572 477.744 +105.664 22.7816 477.906 +103.002 24.4526 477.797 +104.275 21.4924 477.963 +105.607 21.6399 477.943 +104.008 22.725 477.872 +105.77 25.6394 477.705 +107.36 25.867 477.655 +108.411 25.5402 477.653 +106.863 28.8784 477.366 +106.844 22.7145 477.65 +104.084 24.2913 477.541 +107.257 24.1221 477.547 +105.81 24.142 477.52 +108.188 26.6159 476.674 +109.605 23.6414 476.397 diff --git a/script/searcher.py b/script/searcher.py index 6b88009..1c00964 100755 --- a/script/searcher.py +++ b/script/searcher.py @@ -260,9 +260,9 @@ def cb_solve_do(msg): T=rt[:3,3] Score["distance"].append(np.linalg.norm(T)) vz=np.ravel(R.T[2]) #basis vector Z - Score["azimuth"].append(np.arccos(np.dot(vz,np.array([0,0,1])))) + Score["azimuth"].append(np.arccos(np.dot(vz,np.array([0,0,1])))*180/np.pi) vr,jac=cv2.Rodrigues(R) - Score["rotation"].append(np.ravel(vr)[2]) + Score["rotation"].append(np.ravel(vr)[2]*180/np.pi) cb_score() def cb_ps(msg,n): From f1ab697e72deff54290dfad4f93bd76f902c498f Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Mon, 30 Nov 2020 19:08:20 +0900 Subject: [PATCH 10/24] =?UTF-8?q?Open3D=200.7=E5=AF=BE=E5=BF=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- data/{test.ply => sample.ply} | 0 script/cropper.py | 4 ++-- script/searcher.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) rename data/{test.ply => sample.ply} (100%) diff --git a/data/test.ply b/data/sample.ply similarity index 100% rename from data/test.ply rename to data/sample.ply diff --git a/script/cropper.py b/script/cropper.py index de04c26..5e60b70 100755 --- a/script/cropper.py +++ b/script/cropper.py @@ -52,7 +52,7 @@ def voxel(data): if len(data)<10: return data d=np.asarray(data).astype(np.float32) pc=o3d.geometry.PointCloud() - pc.points=o3d.utility.Vector3dVector(d) + pc.points=o3d.Vector3dVector(d) rospy.loginfo("vec3d done") dwpc=o3d.geometry.voxel_down_sample(pc,voxel_size=mesh) rospy.loginfo("down sample done") @@ -61,7 +61,7 @@ def voxel(data): def nf(data): d=np.asarray(data).astype(np.float32) pc=o3d.geometry.PointCloud() - pc.points=o3d.utility.Vector3dVector(d) + pc.points=o3d.Vector3dVector(d) nfmin=Param["nfmin"] if nfmin<=0: nfmin=1 cl,ind=o3d.geometry.radius_outlier_removal(pc,nb_points=nfmin,radius=Param["nfrad"]) diff --git a/script/searcher.py b/script/searcher.py index 1c00964..2909303 100755 --- a/script/searcher.py +++ b/script/searcher.py @@ -70,7 +70,7 @@ def learn_feat(mod,param): pcd=solver.learn(mod,param) n2=len(pcd[0].points) pub_msg.publish("searcher::noise reduced "+str(n1)+"->"+str(n2)) - if Config["proc"]==0: o3d.io.write_point_cloud("/tmp/model.ply",pcd[0]) + if Config["proc"]==0: o3d.write_point_cloud("/tmp/model.ply",pcd[0]) return pcd def learn_rot(pc,num,thres): From a0ae6d42899ed283712e917d2ec554b33d2bb2ff Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Tue, 1 Dec 2020 12:52:10 +0900 Subject: [PATCH 11/24] =?UTF-8?q?width=E3=82=92=E5=85=A8=E5=B9=85=E6=8C=87?= =?UTF-8?q?=E5=AE=9A=E3=81=AB=E5=A4=89=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/rovi_utils/axis_solver.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/rovi_utils/axis_solver.py b/src/rovi_utils/axis_solver.py index 99386be..65cb7e9 100755 --- a/src/rovi_utils/axis_solver.py +++ b/src/rovi_utils/axis_solver.py @@ -20,7 +20,7 @@ def fit_func(prm,dat): #fir circle def solve(pcd,xc1,xc2,wid): P0=toNumpy(pcd) - w1=np.where(np.abs(P0.T[0]-xc1) Date: Wed, 2 Dec 2020 09:17:19 +0900 Subject: [PATCH 12/24] Added script/initializer.py --- r-calib/rcalibV2.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/r-calib/rcalibV2.launch b/r-calib/rcalibV2.launch index aaed39a..d80a522 100755 --- a/r-calib/rcalibV2.launch +++ b/r-calib/rcalibV2.launch @@ -30,6 +30,7 @@ + Date: Mon, 14 Dec 2020 20:07:35 +0900 Subject: [PATCH 14/24] =?UTF-8?q?=E8=A7=92=E5=BA=A6=E3=81=AE=E3=82=88?= =?UTF-8?q?=E3=81=86=E3=81=AB+/-=E3=81=8C=E3=81=A4=E3=81=AA=E3=81=8C?= =?UTF-8?q?=E3=81=A3=E3=81=A6=E3=81=84=E3=82=8B=E3=82=88=E3=81=86=E3=81=AA?= =?UTF-8?q?=E7=BE=A4=E3=81=AEMinMax=E5=AF=BE=E5=BF=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- script/picker.py | 20 +++++++++++--------- 1 file changed, 11 insertions(+), 9 deletions(-) diff --git a/script/picker.py b/script/picker.py index b1c8cf5..970e6a2 100755 --- a/script/picker.py +++ b/script/picker.py @@ -47,19 +47,21 @@ def cb_stats(): judge=mTrue for key in Stats: val=Stats[key][pick] + stats[key]=(val,0) if key in Param: minval=Param[key]["min"] maxval=Param[key]["max"] - if val>maxval: - stats[key]=(val,1) - judge=mFalse - elif valmaxval: + stats[key]=(val,1) + judge=mFalse + elif valmaxval and val Date: Thu, 17 Dec 2020 15:25:31 +0900 Subject: [PATCH 15/24] =?UTF-8?q?=E4=B8=80=E8=87=B4=E5=BA=A6=E9=AB=98?= =?UTF-8?q?=E3=81=84=E3=83=BB=E3=83=BB=E3=83=BB=E5=95=8F=E9=A1=8C=E3=81=AE?= =?UTF-8?q?=E5=AF=BE=E7=AD=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- script/searcher.py | 13 +------------ src/rovi_utils/ransac_solver.py | 3 +-- 2 files changed, 2 insertions(+), 14 deletions(-) diff --git a/script/searcher.py b/script/searcher.py index c31ade4..ae72389 100755 --- a/script/searcher.py +++ b/script/searcher.py @@ -67,10 +67,7 @@ def np2F(d): #numpy to Floats return f def learn_feat(mod,param): - n1=len(mod[0]) pcd=solver.learn(mod,param) - n2=len(pcd[0].points) - pub_msg.publish("searcher::noise reduced "+str(n1)+"->"+str(n2)) if Config["proc"]==0: o3d.write_point_cloud("/tmp/model.ply",pcd[0]) return pcd @@ -107,17 +104,11 @@ def learn_journal(pc,base,ofs,wid): print 'No journal' pub_err.publish("searcher::No journal") -def cb_hash(): - d=Int64() - d.data=hash(np.asarray(Model).tobytes()) - pub_hash.publish(d) - def cb_master(event): if Config["proc"]==0: for n,l in enumerate(Config["scenes"]): print "publish master",len(Model[n]) if Model[n] is not None: pub_pcs[n].publish(np2F(Model[n])) - cb_hash() def cb_save(msg): global Model,tfReg @@ -209,7 +200,6 @@ def cb_score(): score.data.extend(Score[sc]) pub_score.publish(score) pub_Y2.publish(mTrue) - cb_hash() def cb_solve(msg): global Score @@ -220,7 +210,6 @@ def cb_solve(msg): Param.update(rospy.get_param("~param")) for key in Score: Score[key]=[] cb_busy(mTrue) - cb_hash() rospy.Timer(rospy.Duration(0.01),cb_solve_do,oneshot=True) def cb_solve_do(msg): @@ -245,7 +234,7 @@ def cb_solve_do(msg): R=wrt[n][:3,:3] vr,jac=cv2.Rodrigues(R) rot.append(abs(np.ravel(vr)[2])) - tf=tflib.fromRT(wrt[np.argmin(np.asarray(rot))]) + tf=tflib.fromRT(wrt[np.argmin(np.array(rot))]) else: tf=tflib.fromRT(rt) diff --git a/src/rovi_utils/ransac_solver.py b/src/rovi_utils/ransac_solver.py index 6f1486c..f9f7a33 100755 --- a/src/rovi_utils/ransac_solver.py +++ b/src/rovi_utils/ransac_solver.py @@ -26,9 +26,8 @@ def toNumpy(pcd): return np.reshape(np.asarray(pcd.points),(-1,3)) def fromNumpy(dat): - d=dat.astype(np.float32) pc=o3.PointCloud() - pc.points=o3.Vector3dVector(d) + pc.points=o3.Vector3dVector(dat) return pc def _get_features(cloud): From 58cd8ac444e2742e2e1605ddedd70aeef79cb998 Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Wed, 6 Jan 2021 14:15:15 +0900 Subject: [PATCH 16/24] Added delay to publish Y2 or "done solve" --- script/picker.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/script/picker.py b/script/picker.py index 970e6a2..c9b1750 100755 --- a/script/picker.py +++ b/script/picker.py @@ -75,7 +75,7 @@ def cb_stats(): tf.transform.rotation.w=Stats["Qw"][pick] broadcaster.sendTransform([tf]) pub_report.publish(str(stats)) - pub_Y2.publish(judge) + rospy.Timer(rospy.Duration(0.1),lambda msg: pub_Y2.publish(judge)) rospy.Timer(rospy.Duration(0.1),cb_redraw,oneshot=True) Stats={} From 0ae874ab299b4b735c7ccf3bc80c9e08f79dda04 Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Thu, 7 Jan 2021 09:57:36 +0900 Subject: [PATCH 17/24] Made solve done topic publish once --- script/picker.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/script/picker.py b/script/picker.py index c9b1750..03925c4 100755 --- a/script/picker.py +++ b/script/picker.py @@ -30,6 +30,10 @@ def cb_redraw(event): pub_Y1.publish(mTrue) +def cb_done(result): + pub_Y2.publish(result) + pub_Y1.publish(mTrue) + def cb_stats(): global Stats try: @@ -75,8 +79,7 @@ def cb_stats(): tf.transform.rotation.w=Stats["Qw"][pick] broadcaster.sendTransform([tf]) pub_report.publish(str(stats)) - rospy.Timer(rospy.Duration(0.1),lambda msg: pub_Y2.publish(judge)) - rospy.Timer(rospy.Duration(0.1),cb_redraw,oneshot=True) + rospy.Timer(rospy.Duration(0.1),lambda event: cb_done(judge),oneshot=True) Stats={} def cb_score(msg): From 95c4baef3345ff85f462606d1b20283b471db558 Mon Sep 17 00:00:00 2001 From: hato-yoods Date: Wed, 13 Jan 2021 13:59:02 +0900 Subject: [PATCH 18/24] =?UTF-8?q?=EF=BC=91=EF=BC=8E=E8=87=AA=E5=8B=95?= =?UTF-8?q?=E5=8C=96=E3=83=91=E3=83=A9=E3=83=A1=E3=83=BC=E3=82=BF=E9=96=A2?= =?UTF-8?q?=E9=80=A3=E3=81=AE=E3=83=95=E3=82=A1=E3=82=A4=E3=83=AB=E3=82=92?= =?UTF-8?q?=E3=82=B3=E3=83=9F=E3=83=83=E3=83=88=E3=80=82=20=20=20=20=20?= =?UTF-8?q?=E5=8B=95=E4=BD=9C=E7=92=B0=E5=A2=83=E3=81=AF=E3=80=81Python:3.?= =?UTF-8?q?8,=20open3d:0.10,numby:1.19.4,scipy:1.5.4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- auto_param_maker/auto_param_tuner.py | 370 +++++++++++++++++++++++++++ auto_param_maker/degraded.py | 56 ++++ auto_param_maker/ransac_solver.py | 126 +++++++++ 3 files changed, 552 insertions(+) create mode 100755 auto_param_maker/auto_param_tuner.py create mode 100755 auto_param_maker/degraded.py create mode 100755 auto_param_maker/ransac_solver.py diff --git a/auto_param_maker/auto_param_tuner.py b/auto_param_maker/auto_param_tuner.py new file mode 100755 index 0000000..2b9c4eb --- /dev/null +++ b/auto_param_maker/auto_param_tuner.py @@ -0,0 +1,370 @@ +import open3d as o3d +import numpy as np +import copy +import ransac_solver as solver +from scipy.spatial.transform import Rotation +from degraded import degraded_copy_point_cloud +import pprint +import time +import sys + +WORLD_SCALE = 1 + +DMY_MODEL_TRANS_RANGE_X = 100 * WORLD_SCALE +DMY_MODEL_TRANS_RANGE_Y = 100 * WORLD_SCALE +DMY_MODEL_TRANS_RANGE_Z = 100 * WORLD_SCALE +DMY_MODEL_ROT_RANGE_X_DEGREE = 30 +DMY_MODEL_ROT_RANGE_Y_DEGREE = 30 +DMY_MODEL_ROT_RANGE_Z_DEGREE = 180 + +MESHES = [2,5,10] +NORMAL_RADIUS_SCALES = ( 2, 3 , 4 ) # * mesh +FEATURE_MESH_SCALES = ( 2, 3 ) # * mesh +FEATURE_RADIUS_SCALES = ( 4, 5 , 6 ) # * feature_mesh + +OUT_OF_RANK_VAL = 9999 +RANK_VAL_SMALL_DIV_NUM = 5 +FITNESS_MIN = 0.7 +FITNESS_MAX = 1.0 +FITNESS_RANK_VALUES = (0.99,0.98,0.97,0.95,0.90,0.85,0.8,FITNESS_MIN) + +INLIER_RSME_MAX = 100 +INLIER_RANK_VALUES = (1,2,3,5,10,15,20,50,INLIER_RSME_MAX) + +MOVE_ERR_MAX = 200 +MOVE_ERR_RANK_VALUES = (0.1,0.3,0.5,1,5,10,20,30,50,100,MOVE_ERR_MAX) + +POSE_ERR_MAX = 200 +POSE_ERR_RANK_VALUES = (0.1,0.3,0.5,1,5,10,20,30,50,100,POSE_ERR_MAX) + +PROC_TIME_MAX = 20 +PROC_TIME_RANK_VALUES = (0.3,0.5,1.0,2.0,3,4,5,8,10,PROC_TIME_MAX) + + +def make_param(mesh, norm_rad_scale, ft_mesh_scale, ft_rad_scale): + norm_rad = norm_rad_scale * mesh + ft_mesh = ft_mesh_scale * mesh + ft_rad = ft_rad_scale * ft_mesh + dist_th = 1.5 * ft_mesh + icp_th = 1.0 * mesh + + prms={ + "distance_threshold": dist_th, + "feature_mesh": ft_mesh, + "feature_radius": ft_rad, + "icp_threshold": icp_th, + "normal_radius": norm_rad, + "normal_min_nn": 0, + "eval_threshold":0, + "rotate":0, + "repeat":1} + return prms + +def draw_registration_result(source, target, transformation): + source_temp = copy.deepcopy(source) + target_temp = copy.deepcopy(target) + source_temp.paint_uniform_color([1, 0.706, 0]) + target_temp.paint_uniform_color([0, 0.651, 0.929]) + source_temp.transform(transformation) + o3d.visualization.draw_geometries([source_temp, target_temp],top=0,left=1480) + + +def random_pmone(): + return 2.0 * np.random.rand() - 1.0 + +def get_test_prm_key(s_normal_radius, s_feature_mesh, s_feature_radius): + return '{:d}'.format(s_normal_radius) + "-" + \ + '{:d}'.format(s_feature_mesh) + "-" + \ + '{:d}'.format(s_feature_radius) + +def calc_rank_val_higher(rank_values, val, max): + result = OUT_OF_RANK_VAL + for i in range(len(rank_values)): + if rank_values[i] < val: + max_val = max + if i >= len(rank_values) : + max_val = rank_values[i-1] + span = ( max_val - rank_values[i]) / RANK_VAL_SMALL_DIV_NUM + rank_val_small = ( val - rank_values[i] ) / span / 10 + result = i + rank_val_small + break + return result + +def calc_rank_val_lower(rank_values, val): + result = OUT_OF_RANK_VAL + for i in range(len(rank_values)): + if rank_values[i] > val: + min = 0 + rank_val_small = 0 + if i >= 1: + min = rank_values[i-1] + span = (rank_values[i] - min) / RANK_VAL_SMALL_DIV_NUM + rank_val_small = ( val - min ) / span / 10 + result = i + rank_val_small + break + return result + +def evaluation (test_results,sample_num): + passed_results = {} + failure_resuls = [] + + i = 0 + for k, v in test_results.items(): + passed = False + + i = i + 1 + + if len(v) > 0 : + passed = True + for result in v: + if FITNESS_MIN > result["fitness"]: + print("fitness: key=%s is failure. min=%f val=%f" % (k,FITNESS_MIN,result["fitness"] ) ) + passed=False + break; + elif INLIER_RSME_MAX < result["rmse"]: + print("rmse: key=%s is failure. max=%f val=%f" % (k,INLIER_RSME_MAX,result["rmse"] ) ) + passed=False + break; + elif MOVE_ERR_MAX < result["move_err"]: + print("move_err: key=%s is failure. max=%f val=%f" % (k,MOVE_ERR_MAX,result["move_err"] ) ) + passed=False + break; + elif POSE_ERR_MAX < result["pose_err"]: + print("pose_err: key=%s is failure. max=%f val=%f" % (k,POSE_ERR_MAX,result["pose_err"] ) ) + passed=False + break; + elif PROC_TIME_MAX < result["proc_time"]: + print("proc_time: key=%s is failure. max=%f val=%f" % (k,PROC_TIME_MAX,result["proc_time"] ) ) + passed=False + break; + + print("key=%s : %s" % (k, "passed" if passed else "failure") ) + for result in v: + print(" [%2d] fitness=%.3f, rmse=%5.2f, move_err=%7.4f, pose_err=%9.4f, proc_time=%6.3f" % + (i, result["fitness"], result["rmse"], result["pose_err"], result["move_err"], result["proc_time"]) ) + + if not passed: + failure_resuls.append(k) + else: + passed_results[k] = v + + #if len(passed_results) == 0: + # print("No evaluation-worthy results were obtained...") + # return + + eval_results = {} + eval_sums = {} + for k, v in test_results.items(): + fitness_avg = 0 + rmse_avg = 0 + move_err_avg = 0 + pose_err_avg = 0 + proc_time_avg= 0 + + for result in v: + fitness_avg += result["fitness"] + rmse_avg += result["rmse"] + move_err_avg += result["move_err"] + pose_err_avg += result["pose_err"] + proc_time_avg+= result["proc_time"] + + dmy_num = len(v) + + fitness_avg = fitness_avg / dmy_num + rmse_avg = rmse_avg / dmy_num + move_err_avg = move_err_avg / dmy_num + pose_err_avg = pose_err_avg / dmy_num + proc_time_avg = proc_time_avg / dmy_num + + if k in passed_results.keys(): + fitness_eval =calc_rank_val_higher(FITNESS_RANK_VALUES, fitness_avg, FITNESS_MAX) + rmse_eval = calc_rank_val_lower(INLIER_RANK_VALUES,rmse_avg) + move_err_eval = calc_rank_val_lower(MOVE_ERR_RANK_VALUES,move_err_avg) + pose_err_eval = calc_rank_val_lower(POSE_ERR_RANK_VALUES,pose_err_avg) + proc_time_eval = calc_rank_val_lower(PROC_TIME_RANK_VALUES,proc_time_avg) + eval_sum = fitness_eval + rmse_eval+ move_err_eval + pose_err_eval + proc_time_eval + else: + fitness_eval = OUT_OF_RANK_VAL + rmse_eval = OUT_OF_RANK_VAL + move_err_eval = OUT_OF_RANK_VAL + pose_err_eval = OUT_OF_RANK_VAL + proc_time_eval = OUT_OF_RANK_VAL + eval_sum = OUT_OF_RANK_VAL + + eval_sums[k] = eval_sum + + eval_results[k] = { + "mesh" : result["mesh"], + "params" : result["params"], + "eval_sum" : eval_sum, + "fitness_avg" : fitness_avg, + "fitness_eval" : fitness_eval, + "rmse_avg" : rmse_avg, + "rmse_eval" : rmse_eval, + "move_err_avg" : move_err_avg, + "move_err_eval" : move_err_eval, + "pose_err_avg" : pose_err_avg, + "pose_err_eval" : pose_err_eval, + "proc_time_avg" : proc_time_avg, + "proc_time_eval": proc_time_eval, + } + + print("key=%s mesh=%.1f, params=%s, eval_sum=%1.f" % ( k , result["mesh"], result["params"] ,eval_sums[k] ) ) + + + # pprint.pprint(eval_results) + #print(eval_sums) + eval_sums_sorted = sorted(eval_sums.items(), key=lambda x:x[1]) + #print(eval_sums_sorted) + #print(failure_resuls) + + no = 0 + total_num = len(test_results) + with open("result_eval_%03d.csv" % ( sample_num ) , mode='w') as f: + f.write("mesh,params,rank,eval_sum,fitness_avg,fitness_eval,rmse_avg,rmse_eval,move_err_avg,move_err_eval,pose_err_avg,pose_err_eval,proc_time_avg,proc_time_eval\n") + no = 0 + for eval_sum in eval_sums_sorted : + no += 1 + k = eval_sum[0] + eval_result=eval_results[k] + f.write("%.1f,'%s,%d,%.1f,%f,%.1f,%f,%.1f,%f,%.1f,%f,%.1f,%f,%.1f\n" % \ + (eval_result["mesh"] , eval_result["params"], total_num - no,eval_result["eval_sum"],eval_result["fitness_avg"],eval_result["fitness_eval"], \ + eval_result["rmse_avg"], eval_result["rmse_eval"],eval_result["move_err_avg"], eval_result["move_err_eval"], \ + eval_result["pose_err_avg"], eval_result["pose_err_eval"], eval_result["proc_time_avg"], eval_result["proc_time_eval"])) + + for eval_sum in eval_sums_sorted : + #print(eval_sum) + k = eval_sum[0] + eval_result=eval_results[k] + print("mesh=%.1f params=%s, eval_sum=%3f, fitness_avg=%f(%.1f), rmse_avg=%f(%1.f), move_err_avg=%f(%.1f), pose_err_avg=%f(%1.f), proc_time_avg=%f(%.1f)" % + ( eval_result["mesh"], eval_result["params"], eval_result["eval_sum"], eval_result["fitness_avg"], eval_result["fitness_eval"], eval_result["rmse_avg"], eval_result["rmse_eval"], eval_result["move_err_avg"], eval_result["move_err_eval"], eval_result["pose_err_avg"], eval_result["pose_err_eval"], eval_result["proc_time_avg"], eval_result["proc_time_eval"] )) + + +def main(model_path, count): + # 点群データ読み込み + master_org = o3d.io.read_point_cloud(model_path) + + try_num = 0 + + start_tm = time.time() + test_results = {} + try_max_num = len(MESHES) * len(NORMAL_RADIUS_SCALES) * len(FEATURE_MESH_SCALES) * len(FEATURE_RADIUS_SCALES) * count + + for mesh in MESHES: + master = copy.deepcopy(master_org) + before_count = len(np.asarray(master_org.points)) + master = master_org.voxel_down_sample(voxel_size=mesh) + print("master downsampling leaf_size=%f, before=%d, after=%d" % (mesh, before_count,len(np.asarray(master.points))) ) + + master_count = len(np.asarray(master.points)) + + for norm_rad_scale in NORMAL_RADIUS_SCALES: + norm_rad = norm_rad_scale * mesh + + # ターゲットデータを作成 + target = degraded_copy_point_cloud(master, norm_rad , master_count ) + + # ターゲットデータを指定された回数だけランダムに移動して位置決めしてみる + for n in range(count): + # 回転角度をランダムに決定 + angles = [ DMY_MODEL_ROT_RANGE_X_DEGREE * random_pmone(), # X軸回転.±30度の範囲 + DMY_MODEL_ROT_RANGE_Y_DEGREE * random_pmone(), # Y軸回転.±30度の範囲 + DMY_MODEL_ROT_RANGE_Z_DEGREE * random_pmone()] # Z軸回転.±180度の範囲 + rot_ans = Rotation.from_euler('zyx', angles, degrees=True) # scipy.spatial.transform.Rotation型 + + # 移動ベクトル. + t = [ DMY_MODEL_TRANS_RANGE_X * random_pmone(), DMY_MODEL_TRANS_RANGE_Y * random_pmone(), DMY_MODEL_TRANS_RANGE_Z * random_pmone() ] + for ft_mesh_scale in FEATURE_MESH_SCALES: + for ft_rad_scale in FEATURE_RADIUS_SCALES: + ft_mesh = ft_mesh_scale * mesh + ft_rad = ft_rad_scale * mesh + dist_th = 5 * mesh + icp_th = 1.5 * mesh + + test_params=make_param(mesh, norm_rad_scale, ft_mesh_scale, ft_rad_scale) + + print("===== Param =====") + pprint.pprint(test_params) + + try_num = try_num + 1 + + master_tmp = copy.deepcopy(master) + solver.learn([solver.toNumpy(master_tmp)],test_params) + + test_start_tm = time.time() + print("%05d: mesh=%.1f dmy_no=%3d [%d][%d][%d] start. %d/%d(%.2f)" % + (try_num, mesh, n, norm_rad_scale, ft_mesh_scale, ft_rad_scale, try_num,try_max_num,try_num/try_max_num * 100.0) ) + + target_tmp = copy.deepcopy(target) + result=solver.solve([solver.toNumpy(target_tmp)],test_params) + + retRT = result["transform"][0] + #print("===== Transform =====") + #pprint.pprint(retRT) + + test_elapsed = time.time() - test_start_tm + + ## 結果の剛体変換行列から回転だけ取り出してscipy.spatial.transform.Rotation型へ + rot_rsl = Rotation.from_matrix(retRT[:3, :3]) + # + ## 誤差を計算 + ## 姿勢はクォータニオン(4次元ベクトル)に変えて差の二乗ノルムを誤差とする + error_pose = np.linalg.norm(rot_ans.as_quat() - rot_rsl.as_quat(), ord=2) + ## 位置は位置ベクトル(三次元ベクトル)の差の二乗ノルムを誤差とする + error_position = np.linalg.norm(t - retRT[:3, 3], ord=2) + + params_str = get_test_prm_key( norm_rad_scale, ft_mesh_scale, ft_rad_scale ); + + test_key = "%.1f-%s" % ( mesh, params_str ) + test_result ={ + "mesh":mesh, + "params":params_str, + "fitness":result["fitness"][0], + "rmse":result["rmse"][0], + "pose_ans":rot_ans.as_quat(), + "pose_rsl":rot_rsl.as_quat(), + "pose_err":error_pose, + "move_ans":t, + "move_rsl":retRT[:3, 3], + "move_err":error_position, + "proc_time":test_elapsed + } + if test_key not in test_results: + test_results[test_key] = [] + + test_results[test_key].append(test_result) + + print(" finished. elapsed=%.3f s, fitness=%.3f, rmse=%5.2f, move_err=%6.3f, pose_err=%6.3f" % + ( test_elapsed, + test_result["fitness"], + test_result["rmse"], + test_result["move_err"], + test_result["pose_err"]) ) + + #pprint.pprint(result) + + #draw_registration_result(master, target_tmp, retRT) # 点群表示 + + with open("result_test_%03d.csv" % (count) , mode='w') as f: + f.write("mesh,params,dmy_no,fitness,rmse,move_err,pose_err,proc_time\n") + for k, v in test_results.items(): + no = 0 + for test_result in v: + no += 1 + f.write("%.1f,'%s,%d,%f,%f,%f,%f,%f\n" % \ + ( mesh, test_result["params"] , no, test_result["fitness"] ,test_result["rmse"], test_result["move_err"], test_result["pose_err"], test_result["proc_time"])) + + + evaluation(test_results,count) + + print("finished. elapsed=%f sec" %( time.time() - start_tm )) + +if __name__ == '__main__': + if len(sys.argv) != 3: + print("usage: %s " % (sys.argv[0])) + exit(-1) + + model_path = sys.argv[1] + repeat = int(sys.argv[2]) + + main(model_path, repeat ) diff --git a/auto_param_maker/degraded.py b/auto_param_maker/degraded.py new file mode 100755 index 0000000..937d217 --- /dev/null +++ b/auto_param_maker/degraded.py @@ -0,0 +1,56 @@ +import open3d as o3d +import numpy as np + + +def degraded_copy_point_cloud(cloud, normal_radius, n_newpc): + """ + 与えられた点群データからPoisson表面を再構成し、頂点データからランダムに点を取り出して + 新たな点群を作成する. + + Parameters + ---------- + cloud : open3d.geometry.PointCloud + 入力点群 + normal_radius : float + 法線ベクトル計算時の近傍半径(Poisson表面構成では必要なので).既に法線ベクトルが + 計算されていれば無視される. + n_newpc : int + 新しい点群データに含まれる点の数 + """ + if np.asarray(cloud.normals).shape[0] == 0: + cloud.estimate_normals(o3d.geometry.KDTreeSearchParamHybrid(radius=normal_radius, max_nn=30)) + + # Poisson表面作成 + mesh, densities = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(cloud, depth=9) + + # 密度値が低い所の面を削除 + mesh.remove_vertices_by_mask(densities < np.quantile(densities, 0.1)) + + # メッシュの頂点データから入力の点群と同じ数の点を取り出す(randomで) + n_vertic = np.asarray(mesh.vertices).shape[0] + if n_vertic > n_newpc: + indices = np.random.choice(np.arange(n_vertic), size=n_newpc, replace=False) + points = np.asarray(mesh.vertices)[indices] + else: + print("Warning: Mesh vertices is {} (< {}).".format(n_vertic, n_newpc)) + points = np.asarray(mesh.vertices) + + # 新たな点群を作成する + newcl = o3d.geometry.PointCloud() + newcl.points = o3d.utility.Vector3dVector(points) + return newcl + + +if __name__ == '__main__': + + cloud = o3d.io.read_point_cloud("surface.ply") + print("Original Point Cloud") + print(cloud) + print(np.asarray(cloud.normals).shape) + + degcl = degraded_copy_point_cloud(cloud, 0.2, 10000) + + degcl.paint_uniform_color([1, 0.706, 0]) + o3d.visualization.draw_geometries([cloud, degcl]) + + diff --git a/auto_param_maker/ransac_solver.py b/auto_param_maker/ransac_solver.py new file mode 100755 index 0000000..5e979fc --- /dev/null +++ b/auto_param_maker/ransac_solver.py @@ -0,0 +1,126 @@ +#!/usr/bin/python + +import numpy as np +import open3d as o3 +import copy +import time + +Param={ + "normal_radius":0.01, + "normal_min_nn":0, + "feature_mesh":0.002, + "feature_radius":0.025, + "distance_threshold":0, + "icp_threshold":0.003, + "eval_threshold":0, + "repeat":1 +} + +modFtArray=[] +modPcArray=[] +scnFtArray=[] +scnPcArray=[] +score={"transform":[np.eye(4)],"fitness":[None],"rmse":[None]} + +def toNumpy(pcd): + return np.reshape(np.asarray(pcd.points),(-1,3)) + +def fromNumpy(dat): + pc=o3.geometry.PointCloud() + pc.points=o3.utility.Vector3dVector(dat) + return pc + +def _get_features(cloud): + #o3.estimate_normals(cloud,o3.KDTreeSearchParamRadius(radius=Param["normal_radius"])) + cloud.estimate_normals(o3.geometry.KDTreeSearchParamRadius(radius=Param["normal_radius"])) + + viewpoint=np.array([0.0,0.0,0.0],dtype=float) + #o3.orient_normals_towards_camera_location(cloud, camera_location=viewpoint) + cloud.orient_normals_towards_camera_location( camera_location=viewpoint) + + nfmin=Param["normal_min_nn"] + if nfmin<=0: nfmin=1 + #cl,ind=o3.geometry.radius_outlier_removal(cloud,nb_points=nfmin,radius=Param["normal_radius"]) + cl,ind=cloud.remove_radius_outlier(nb_points=nfmin,radius=Param["normal_radius"]) + #nfcl=o3.geometry.select_down_sample(cloud,ind) + nfcl = cloud.select_by_index(ind) + + cloud.points=nfcl.points + cloud.normals=nfcl.normals + cds=cloud + if Param["feature_mesh"]>0: + #cds=o3.voxel_down_sample(cloud,voxel_size=Param["feature_mesh"]) + cds=cloud.voxel_down_sample(voxel_size=Param["feature_mesh"]) + #return cds,o3.compute_fpfh_feature(cds,o3.KDTreeSearchParamRadius(radius=Param["feature_radius"])) + return cds,o3.registration.compute_fpfh_feature(cds,o3.geometry.KDTreeSearchParamRadius(radius=Param["feature_radius"])) + +def learn(datArray,prm): + global modFtArray,modPcArray,Param + Param.update(prm) + modFtArray=[] + modPcArray=[] + for dat in datArray: + pc=fromNumpy(dat) + modPcArray.append(pc) + modFtArray.append(_get_features(pc)) + return modPcArray + +def solve(datArray,prm): + global scnFtArray,scnPcArray,Param,score + Param.update(prm) + scnFtArray=[] + scnPcArray=[] + t1=time.time() + for dat in datArray: + pc=fromNumpy(dat) + scnPcArray.append(pc) + scnFtArray.append(_get_features(pc)) + tfeat=time.time()-t1 + #print "time for calc feature",tfeat + print("time for calc feature = %f sec" % (tfeat) ) + t1=time.time() + if Param["repeat"]!=len(score["transform"]): + n=Param["repeat"] + score={"transform":[np.eye(4)]*n,"fitness":[None]*n,"rmse":[None]*n} + for n in range(Param["repeat"]): + if Param["distance_threshold"]>0: + #result=o3.registration_ransac_based_on_feature_matching( + # modFtArray[0][0],scnFtArray[0][0],modFtArray[0][1],scnFtArray[0][1],Param["distance_threshold"], + # estimation_method=o3.TransformationEstimationPointToPoint(with_scaling=False), + # ransac_n=4, + # checkers=[], + # criteria=o3.RANSACConvergenceCriteria(max_iteration=100000,max_validation=1000)) + result=o3.registration.registration_ransac_based_on_feature_matching( + modFtArray[0][0],scnFtArray[0][0],modFtArray[0][1],scnFtArray[0][1],Param["distance_threshold"], + estimation_method=o3.registration.TransformationEstimationPointToPoint(with_scaling=False), + ransac_n=4, + checkers=[], + criteria=o3.registration.RANSACConvergenceCriteria(max_iteration=100000,max_validation=1000)) + + score["transform"][n]=result.transformation + score["fitness"][n]=result.fitness + score["rmse"][n]=result.inlier_rmse + if Param["icp_threshold"]>0: + #result=o3.registration_icp( + # modPcArray[0],scnPcArray[0], + # Param["icp_threshold"], + # score["transform"][n],o3.TransformationEstimationPointToPlane()) + result=o3.registration.registration_icp( + modPcArray[0],scnPcArray[0], + Param["icp_threshold"], + score["transform"][n],o3.registration.TransformationEstimationPointToPlane()) + + score["transform"][n]=result.transformation + score["fitness"][n]=result.fitness + score["rmse"][n]=result.inlier_rmse + if Param["eval_threshold"]>0: + result=o3.registration.evaluate_registration(modPcArray[0],scnPcArray[0],Param["eval_threshold"],score["transform"][n]) + score["fitness"].append(result.fitness) + score["rmse"].append(result.inlier_rmse) + tmatch=time.time()-t1 + #print "time for feature matching",tmatch + print("time for feature matching = %f sec" % (tmatch)) + score["tfeat"]=tfeat + score["tmatch"]=tmatch + return score + From 47ddf0b3cde8f3984e880aca8c236ceb025fb503 Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Fri, 15 Jan 2021 18:06:10 +0900 Subject: [PATCH 19/24] =?UTF-8?q?1.=20config=5Ftf:child=5Fframe=5Fid?= =?UTF-8?q?=E3=81=AE=E3=81=BF=E3=81=A7=E3=82=BF=E3=83=BC=E3=82=B2=E3=83=83?= =?UTF-8?q?=E3=83=88=E7=89=B9=E5=AE=9A=E3=81=99=E3=82=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- script/config_tf.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/script/config_tf.py b/script/config_tf.py index 48688fe..51535a2 100755 --- a/script/config_tf.py +++ b/script/config_tf.py @@ -36,11 +36,10 @@ def cb_reload(f): def cb_update(t): for tr in trArray: - if tr.header.frame_id==t.header.frame_id: - if tr.child_frame_id==t.child_frame_id: - tr.header.stamp=t.header.stamp - tr.transform=t.transform - print "config_tf::update",t + if tr.child_frame_id==t.child_frame_id: + tr.header.stamp=t.header.stamp + tr.transform=t.transform + print "config_tf::update",t broadcaster.sendTransform(trArray) ############################################################### From 90826d0a7be8c88ebd09a1975ba8ee5b7f601300 Mon Sep 17 00:00:00 2001 From: KazukiHiraizumi Date: Sat, 16 Jan 2021 20:11:01 +0900 Subject: [PATCH 20/24] =?UTF-8?q?=E6=96=B9=E5=90=91=E3=83=81=E3=82=A7?= =?UTF-8?q?=E3=83=83=E3=82=AF=E6=A9=9F=E8=83=BD=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- script/cropper.py | 4 +- script/picker.py | 90 ++++++++++++++++++++++++--------- script/searcher.py | 14 +---- src/rovi_utils/axis_solver.py | 4 +- src/rovi_utils/rcalib_solver.py | 2 +- 5 files changed, 73 insertions(+), 41 deletions(-) diff --git a/script/cropper.py b/script/cropper.py index 5e60b70..5a6ffb4 100755 --- a/script/cropper.py +++ b/script/cropper.py @@ -50,7 +50,7 @@ def voxel(data): mesh=Param["mesh"] if mesh==0: return data if len(data)<10: return data - d=np.asarray(data).astype(np.float32) + d=np.asarray(data) pc=o3d.geometry.PointCloud() pc.points=o3d.Vector3dVector(d) rospy.loginfo("vec3d done") @@ -59,7 +59,7 @@ def voxel(data): return np.reshape(np.asarray(dwpc.points),(-1,3)) def nf(data): - d=np.asarray(data).astype(np.float32) + d=np.asarray(data) pc=o3d.geometry.PointCloud() pc.points=o3d.Vector3dVector(d) nfmin=Param["nfmin"] diff --git a/script/picker.py b/script/picker.py index 03925c4..2ffc1e4 100755 --- a/script/picker.py +++ b/script/picker.py @@ -8,6 +8,7 @@ import copy import os import sys +import cv2 import functools from std_msgs.msg import Bool from std_msgs.msg import String @@ -18,7 +19,9 @@ Config={ "multiplex":2, - "solve_frame_id":"camera/capture0"} + "solve_frame_id":"camera/capture0", + "reference_frame_id":"base", + "base_frame_id":"base"} Param={ "fitness":{"min":0.8,"max":1}, "rmse":{"min":0,"max":1000}, @@ -30,10 +33,65 @@ def cb_redraw(event): pub_Y1.publish(mTrue) -def cb_done(result): - pub_Y2.publish(result) +def cb_done(b): + f=Bool() + f.data=b + pub_Y2.publish(f) pub_Y1.publish(mTrue) +def cb_judge(dat): + res=True + for key in dat: + val=dat[key] + dat[key]=(val,0) + if key in Param: + minval=Param[key]["min"] + maxval=Param[key]["max"] + if minvalmaxval: + dat[key]=(val,1) + res=False + elif valmaxval and valmaxval: - stats[key]=(val,1) - judge=mFalse - elif valmaxval and vallist Score[key]=result[key] - - for rt in RTs: - R=rt[:3,:3] - T=rt[:3,3] - Score["distance"].append(np.linalg.norm(T)) - vz=np.ravel(R.T[2]) #basis vector Z - Score["azimuth"].append(np.arccos(np.dot(vz,np.array([0,0,1])))*180/np.pi) - vr,jac=cv2.Rodrigues(R) - Score["rotation"].append(np.ravel(vr)[2]*180/np.pi) cb_score() def cb_ps(msg,n): diff --git a/src/rovi_utils/axis_solver.py b/src/rovi_utils/axis_solver.py index 65cb7e9..55eddbc 100755 --- a/src/rovi_utils/axis_solver.py +++ b/src/rovi_utils/axis_solver.py @@ -24,7 +24,7 @@ def solve(pcd,xc1,xc2,wid): P1=P0[w1] G1=np.mean(P1,axis=0) result=optimize.leastsq(fit_func,G1,args=P1) - if result[1]!=1: + if result[1] not in [1,2,3,4]: print "rcalib_solver::scipy::optimize failed" return None res1=np.asarray(result[0]) @@ -32,7 +32,7 @@ def solve(pcd,xc1,xc2,wid): P2=P0[w2] G2=np.mean(P2,axis=0) result=optimize.leastsq(fit_func,G2,args=P2) - if result[1]!=1: + if result[1] not in [1,2,3,4]: print "rcalib_solver::scipy::optimize failed" return None res2=np.asarray(result[0]) diff --git a/src/rovi_utils/rcalib_solver.py b/src/rovi_utils/rcalib_solver.py index 596b69e..bdb2346 100644 --- a/src/rovi_utils/rcalib_solver.py +++ b/src/rovi_utils/rcalib_solver.py @@ -47,7 +47,7 @@ def solve(M,P): M2=Dat2[:,:7].T P2=Dat2[:,7:14].T result=optimize.leastsq(fit_func,[0,0,0,0,0,0],args=(M1,P1,M2,P2),maxfev=100000,ftol=0.000001) - if result[1]!=1: + if result[1] not in [1,2,3,4]: print "rcalib_solver::scipy::optimize failed" return None result=np.asarray(result[0]) From 466e88ae52071e53c0c8dc51956301305dac2de3 Mon Sep 17 00:00:00 2001 From: hato-yoods Date: Mon, 18 Jan 2021 19:39:55 +0900 Subject: [PATCH 21/24] =?UTF-8?q?=E3=83=BBmesh=5Fsize=5Fchecker.py=20=20?= =?UTF-8?q?=20=20=E6=9C=80=E9=81=A9=E3=81=AA=E3=83=A1=E3=83=83=E3=82=B7?= =?UTF-8?q?=E3=83=A5=E3=82=B5=E3=82=A4=E3=82=BA=E3=81=8B=E7=9B=AE=E8=A6=96?= =?UTF-8?q?=E3=81=A7=E7=A2=BA=E8=AA=8D=E3=81=99=E3=82=8B=E3=80=82=20?= =?UTF-8?q?=E3=83=BBmesh=5Fsize=5Fcalc.py=20=20=20=20=E6=9C=80=E9=81=A9?= =?UTF-8?q?=E3=81=AA=E3=83=A1=E3=83=83=E3=82=B7=E3=83=A5=E3=82=B5=E3=82=A4?= =?UTF-8?q?=E3=82=BA=E3=82=92=E8=A8=88=E7=AE=97=E3=81=99=E3=82=8B=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- auto_param_maker/mesh_size_calc.py | 230 ++++++++++++++++++++++++++ auto_param_maker/mesh_size_checker.py | 158 ++++++++++++++++++ 2 files changed, 388 insertions(+) create mode 100644 auto_param_maker/mesh_size_calc.py create mode 100644 auto_param_maker/mesh_size_checker.py diff --git a/auto_param_maker/mesh_size_calc.py b/auto_param_maker/mesh_size_calc.py new file mode 100644 index 0000000..76dd72b --- /dev/null +++ b/auto_param_maker/mesh_size_calc.py @@ -0,0 +1,230 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import open3d as o3d +import numpy as np +import copy +import ransac_solver as solver +from scipy.spatial.transform import Rotation +from degraded import degraded_copy_point_cloud +import pprint +import time +import sys +import os +from contextlib import redirect_stdout + +DMY_MODEL_TRANS_RANGE_X = 100 +DMY_MODEL_TRANS_RANGE_Y = 100 +DMY_MODEL_TRANS_RANGE_Z = 100 +DMY_MODEL_ROT_RANGE_X_DEGREE = 30 +DMY_MODEL_ROT_RANGE_Y_DEGREE = 30 +DMY_MODEL_ROT_RANGE_Z_DEGREE = 180 + +MESH_SIZES = [ 1 ,1.5 , 2, 2.5, 3 , 4, 5, 10 ] +MESH_SIZES.reverse() + +TEST_PARAMS = [ + [2,2,5], + [2,2,6], + [3,2,4], + [3,2,5], + [3,2,6] +] + +PASS_RATIO_TH = 0.999 + +POSITION_ERR_TH = 1 +POSE_ERR_TH = 0.002 +POSE_ERR_TH_EXCLUDE = 2.0 + +def make_param(mesh, norm_rad_scale, ft_mesh_scale, ft_rad_scale): + norm_rad = norm_rad_scale * mesh + ft_mesh = ft_mesh_scale * mesh + ft_rad = ft_rad_scale * ft_mesh + dist_th = 1.5 * ft_mesh + icp_th = 0.8 * mesh + + prms={ + "distance_threshold": dist_th, + "feature_mesh": ft_mesh, + "feature_radius": ft_rad, + "icp_threshold": icp_th, + "normal_radius": norm_rad, + "normal_min_nn": 0, + "eval_threshold":0, + "rotate":0, + "repeat":1} + return prms + +def draw_registration_result(source, target, transformation,passed): + source_temp = copy.deepcopy(source) + target_temp = copy.deepcopy(target) + source_temp.paint_uniform_color([1, 0.706, 0]) + if passed: + target_temp.paint_uniform_color([0, 0.651, 0.929]) + else: + target_temp.paint_uniform_color([231/255, 76/255, 60/255]) + source_temp.transform(transformation) + o3d.visualization.draw_geometries([source_temp, target_temp]) + + +def random_pmone(): + return 2.0 * np.random.rand() - 1.0 + +def get_test_prm_key(s_normal_radius, s_feature_mesh, s_feature_radius): + return '{:d}'.format(s_normal_radius) + "-" + \ + '{:d}'.format(s_feature_mesh) + "-" + \ + '{:d}'.format(s_feature_radius) + +def is_exclude_pose_error(val): + return round(val,4) == POSE_ERR_TH_EXCLUDE + + +def main( model_path , repeat ): + # 点群データ読み込み + master_org = o3d.io.read_point_cloud(model_path) + + work_start_tm = time.time() + test_results = {} + + test_passed = False + + select_mesh_size = None + select_test_param = [] + select_param = {} + + for mesh_size in MESH_SIZES: + master = copy.deepcopy(master_org) + before_count = len(np.asarray( master_org.points )) + master = master_org.voxel_down_sample( voxel_size = mesh_size ) + after_count = len(np.asarray( master.points )) + + print("[%3.1f] test start. master downsampling. before=%d, after=%d (%.1f%%)" % ( mesh_size, before_count,after_count,after_count/before_count*100)) + master_count = len( np.asarray(master.points) ) + + for test_param in TEST_PARAMS: + norm_rad_scale = test_param[0] + ft_mesh_scale = test_param[1] + ft_rad_scale = test_param[2] + + param = make_param( mesh_size , norm_rad_scale, ft_mesh_scale, ft_rad_scale ) + print(" <%d-%d-%d> start." % ( norm_rad_scale, ft_mesh_scale, ft_rad_scale )) + + # master_tmp = copy.deepcopy(master) + solver.learn([solver.toNumpy(master)],param) + ok_num = 0 + ng_num = 0 + test_passed = True + for n in range(repeat): + # ターゲットデータを作成 + target = degraded_copy_point_cloud(master, param["normal_radius"], master_count ) + #target = degraded_copy_point_cloud(master, mesh_size/10, master_count ) + + # 回転角度をランダムに決定 + angles = [ DMY_MODEL_ROT_RANGE_X_DEGREE * random_pmone(), # X軸回転.±30度の範囲 + DMY_MODEL_ROT_RANGE_Y_DEGREE * random_pmone(), # Y軸回転.±30度の範囲 + DMY_MODEL_ROT_RANGE_Z_DEGREE * random_pmone()] # Z軸回転.±180度の範囲 + rot_ans = Rotation.from_euler('zyx', angles, degrees=True) # scipy.spatial.transform.Rotation型 + + # 移動ベクトル. + t = [ DMY_MODEL_TRANS_RANGE_X * random_pmone(), DMY_MODEL_TRANS_RANGE_Y * random_pmone(), DMY_MODEL_TRANS_RANGE_Z * random_pmone() ] + + ansRT = np.eye(4) + ansRT[:3, :3] = rot_ans.as_matrix() + ansRT[:3, 3] = t + + # ターゲットデータのコピーをとって、正解RTで変換 + target_tmp = copy.deepcopy(target) + target_tmp.transform(ansRT) + + test_start_tm = time.time() + with redirect_stdout(open(os.devnull, 'w')): + result= solver.solve([solver.toNumpy(target_tmp)],param) + retRT = result["transform"][0] + + test_elapsed = time.time() - test_start_tm + + ## 結果の剛体変換行列から回転だけ取り出してscipy.spatial.transform.Rotation型へ + rot_rsl = Rotation.from_matrix(copy.deepcopy(retRT[:3, :3])) + + ## 誤差を計算 + ## 姿勢はクォータニオン(4次元ベクトル)に変えて差の二乗ノルムを誤差とする + error_pose = np.linalg.norm(rot_ans.as_quat() - rot_rsl.as_quat(), ord=2) + #print("-------- answer quat----------") + #print(rot_ans.as_quat()) + #print("-------- result quat----------") + #print(rot_rsl.as_quat()) + + ## 位置は位置ベクトル(三次元ベクトル)の差の二乗ノルムを誤差とする + error_position = np.linalg.norm(t - retRT[:3, 3], ord=2) + + passed = False + if error_position > POSITION_ERR_TH: + print(" error: position unmatching. val=%.5f over %.5f" % (error_position,POSITION_ERR_TH)) + #pass + elif error_pose > POSE_ERR_TH and not is_exclude_pose_error(error_pose): + print(" error: pose unmatching. val=%.5f over %.5f" % (error_pose,POSE_ERR_TH)) + #pass + else: + passed = True + + if passed: + ok_num += 1 + else: + ng_num += 1 + + estim_max_pass_ratio = ( repeat - n - 1 + ok_num )/repeat + + #print("finished. elapsed=%f sec" % ( time.time() - work_start_tm )) + ##print("================= Params =================") + ##pprint.pprint(param) + + print(" %3d/%d ok=%3d, ng=%3d, pass=%4.1f%%, Results: fitness=%.3f, rmse=%.1f, err_position=%.3f, error_pose=%.4f" % + ( n + 1, repeat , ok_num, ng_num , ok_num/repeat * 100, result["fitness"][0] , result["rmse"][0] , error_position, error_pose )) + #print("transform:") + #pprint.pprint(retRT) + + #if passed: + #if is_exclude_pose_error(error_pose): + #if error_position > POSITION_ERR_TH: + # draw_registration_result(master, target_tmp, retRT) # 点群表示 + # draw_registration_result(master, target_tmp, retRT, passed) + + if estim_max_pass_ratio < PASS_RATIO_TH: + print(" !!! ABORT !!!: estimate pass ratio is under threshold. th=%.3f%% > estim_pass_ratio=%.3f%%" % + ( PASS_RATIO_TH *100,estim_max_pass_ratio * 100) ) + test_passed = False + break + + + + if test_passed: + select_param = param + select_test_param = test_param + select_mesh_size = mesh_size + break + if test_passed: + break + + + print("================= Results =================") + if not select_mesh_size: + print("mesh size calc failed. elapsed=%d sec" % ( time.time() - work_start_tm ) ) + else: + print("elapsed: %d sec" % ( time.time() - work_start_tm ) ); + print("param scales: %d-%d-%d" % (test_param[0], test_param[1], test_param[2])) + print("recommend mesh size: %.1f" % (select_mesh_size)) + print("Params:") + pprint.pprint(select_param) + +if __name__ == '__main__': + model_path = "" + mesh_size = 1.0 + if len(sys.argv) == 3: + model_path = sys.argv[1] + repeat = int(sys.argv[2]) + else: + print("usage: %s " % (sys.argv[0])) + exit(-1) + + main( model_path, repeat ) diff --git a/auto_param_maker/mesh_size_checker.py b/auto_param_maker/mesh_size_checker.py new file mode 100644 index 0000000..22d83fd --- /dev/null +++ b/auto_param_maker/mesh_size_checker.py @@ -0,0 +1,158 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import open3d as o3d +import numpy as np +import copy +import ransac_solver as solver +from scipy.spatial.transform import Rotation +from degraded import degraded_copy_point_cloud +import pprint +import time +import sys + +DMY_MODEL_TRANS_RANGE_X = 100 +DMY_MODEL_TRANS_RANGE_Y = 100 +DMY_MODEL_TRANS_RANGE_Z = 100 +DMY_MODEL_ROT_RANGE_X_DEGREE = 30 +DMY_MODEL_ROT_RANGE_Y_DEGREE = 30 +DMY_MODEL_ROT_RANGE_Z_DEGREE = 180 + +TEST_PARAM = [2,2,5] + +def make_param(mesh, norm_rad_scale, ft_mesh_scale, ft_rad_scale): + norm_rad = norm_rad_scale * mesh + ft_mesh = ft_mesh_scale * mesh + ft_rad = ft_rad_scale * ft_mesh + dist_th = 1.5 * ft_mesh + icp_th = 0.8 * mesh + + prms={ + "distance_threshold": dist_th, + "feature_mesh": ft_mesh, + "feature_radius": ft_rad, + "icp_threshold": icp_th, + "normal_radius": norm_rad, + "normal_min_nn": 0, + "eval_threshold":0, + "rotate":0, + "repeat":1} + return prms + +def draw_registration_result(source, target, transformation): + source_temp = copy.deepcopy(source) + target_temp = copy.deepcopy(target) + source_temp.paint_uniform_color([1, 0.706, 0]) + target_temp.paint_uniform_color([0, 0.651, 0.929]) + source_temp.transform(transformation) + #o3d.visualization.draw_geometries([source_temp, target_temp],top=30,left=1380) + o3d.visualization.draw_geometries([source_temp, target_temp]) + + +def random_pmone(): + return 2.0 * np.random.rand() - 1.0 + +def get_test_prm_key(s_normal_radius, s_feature_mesh, s_feature_radius): + return '{:d}'.format(s_normal_radius) + "-" + \ + '{:d}'.format(s_feature_mesh) + "-" + \ + '{:d}'.format(s_feature_radius) + +def main(model_path, mesh_size, param_scales): + # 点群データ読み込み + master_org = o3d.io.read_point_cloud(model_path) + + work_start_tm = time.time() + test_results = {} + + master = copy.deepcopy(master_org) + before_count = len(np.asarray(master_org.points)) + master = master_org.voxel_down_sample(voxel_size=mesh_size) + print("master downsampling leaf_size=%f, before=%d, after=%d" % (mesh_size, before_count,len(np.asarray(master.points))) ) + + master_count = len(np.asarray(master.points)) + + + norm_rad_scale = param_scales[0] + ft_mesh_scale = param_scales[1] + ft_rad_scale = param_scales[2] + + test_param = make_param(mesh_size , norm_rad_scale, ft_mesh_scale, ft_rad_scale) + + # ターゲットデータを作成 + target = degraded_copy_point_cloud(master, test_param["normal_radius"] , master_count ) + #target = degraded_copy_point_cloud(master, mesh_size/10 , master_count ) + + # 回転角度をランダムに決定 + angles = [ DMY_MODEL_ROT_RANGE_X_DEGREE * random_pmone(), # X軸回転.±30度の範囲 + DMY_MODEL_ROT_RANGE_Y_DEGREE * random_pmone(), # Y軸回転.±30度の範囲 + DMY_MODEL_ROT_RANGE_Z_DEGREE * random_pmone()] # Z軸回転.±180度の範囲 + rot_ans = Rotation.from_euler('zyx', angles, degrees=True) # scipy.spatial.transform.Rotation型 + + # 移動ベクトル. + t = [ DMY_MODEL_TRANS_RANGE_X * random_pmone(), DMY_MODEL_TRANS_RANGE_Y * random_pmone(), DMY_MODEL_TRANS_RANGE_Z * random_pmone() ] + + ansRT = np.eye(4) + ansRT[:3, :3] = rot_ans.as_matrix() + ansRT[:3, 3] = t + + # ターゲットデータのコピーをとって、正解RTで変換 + target_tmp = copy.deepcopy(target) + target_tmp.transform(ansRT) + + # master_tmp = copy.deepcopy(master) + solver.learn([solver.toNumpy(master)],test_param) + + test_start_tm = time.time() + + result=solver.solve([solver.toNumpy(target_tmp)],test_param) + + retRT = result["transform"][0] + + test_elapsed = time.time() - test_start_tm + + ## 結果の剛体変換行列から回転だけ取り出してscipy.spatial.transform.Rotation型へ + rot_rsl = Rotation.from_matrix(retRT[:3, :3]) + # + ## 誤差を計算 + ## 姿勢はクォータニオン(4次元ベクトル)に変えて差の二乗ノルムを誤差とする + error_pose = np.linalg.norm(rot_ans.as_quat() - rot_rsl.as_quat(), ord=2) + ## 位置は位置ベクトル(三次元ベクトル)の差の二乗ノルムを誤差とする + error_position = np.linalg.norm(t - retRT[:3, 3], ord=2) + + draw_registration_result(master, target_tmp, retRT) # 点群表示 + + print("finished. elapsed=%f sec" % ( time.time() - work_start_tm )) + print("================= Params =================") + pprint.pprint(test_param) + + print("================= Results =================") + print("mesh size: %.1f" % ( mesh_size )) + print("param scales: %d-%d-%d" % (param_scales[0], param_scales[1], param_scales[2])) + print("fitness: %f" % (result["fitness"][0])) + print("rmse: %f" % (result["rmse"][0])) + print("error_position: %f" % (error_position) ) + print("error_pose: %f" % (error_pose) ) + print("transform:") + pprint.pprint(retRT) + + +if __name__ == '__main__': + model_path = "" + mesh_size = 1.0 + param_scales = TEST_PARAM + + if len(sys.argv) == 3: + model_path = sys.argv[1] + mesh_size = float(sys.argv[2]) + elif len(sys.argv) == 6: + model_path = sys.argv[1] + mesh_size = float(sys.argv[2]) + param_scales[0] = int(sys.argv[3]) + param_scales[1] = int(sys.argv[4]) + param_scales[2] = int(sys.argv[5]) + else: + print("usage: %s " % (sys.argv[0])) + print(" or : %s " % (sys.argv[0])) + exit(-1) + + main(model_path, mesh_size, param_scales) From b8d880926ff3be5d54a255d4d59d605cf0566ac3 Mon Sep 17 00:00:00 2001 From: hato-yoods Date: Mon, 25 Jan 2021 10:47:00 +0900 Subject: [PATCH 22/24] =?UTF-8?q?=EF=BC=91=EF=BC=8EMesh-Aid=E3=83=8E?= =?UTF-8?q?=E3=83=BC=E3=83=89=E3=81=AE=E4=BD=9C=E6=88=90=E3=80=82(?= =?UTF-8?q?=E9=80=94=E4=B8=AD)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../samples}/auto_param_tuner.py | 14 +- .../samples}/degraded.py | 0 .../samples}/mesh_size_calc.py | 0 .../samples}/mesh_size_checker.py | 0 .../samples}/ransac_solver.py | 0 script/mesh_aid.py | 268 ++++++++++++++++++ 6 files changed, 279 insertions(+), 3 deletions(-) rename {auto_param_maker => mesh_aid/samples}/auto_param_tuner.py (97%) rename {auto_param_maker => mesh_aid/samples}/degraded.py (100%) rename {auto_param_maker => mesh_aid/samples}/mesh_size_calc.py (100%) rename {auto_param_maker => mesh_aid/samples}/mesh_size_checker.py (100%) rename {auto_param_maker => mesh_aid/samples}/ransac_solver.py (100%) create mode 100755 script/mesh_aid.py diff --git a/auto_param_maker/auto_param_tuner.py b/mesh_aid/samples/auto_param_tuner.py similarity index 97% rename from auto_param_maker/auto_param_tuner.py rename to mesh_aid/samples/auto_param_tuner.py index 2b9c4eb..3798b0d 100755 --- a/auto_param_maker/auto_param_tuner.py +++ b/mesh_aid/samples/auto_param_tuner.py @@ -19,7 +19,7 @@ MESHES = [2,5,10] NORMAL_RADIUS_SCALES = ( 2, 3 , 4 ) # * mesh -FEATURE_MESH_SCALES = ( 2, 3 ) # * mesh +FEATURE_MESH_SCALES = [ 2 ] # * mesh FEATURE_RADIUS_SCALES = ( 4, 5 , 6 ) # * feature_mesh OUT_OF_RANK_VAL = 9999 @@ -46,7 +46,7 @@ def make_param(mesh, norm_rad_scale, ft_mesh_scale, ft_rad_scale): ft_mesh = ft_mesh_scale * mesh ft_rad = ft_rad_scale * ft_mesh dist_th = 1.5 * ft_mesh - icp_th = 1.0 * mesh + icp_th = 0.5 * mesh prms={ "distance_threshold": dist_th, @@ -274,6 +274,15 @@ def main(model_path, count): # 移動ベクトル. t = [ DMY_MODEL_TRANS_RANGE_X * random_pmone(), DMY_MODEL_TRANS_RANGE_Y * random_pmone(), DMY_MODEL_TRANS_RANGE_Z * random_pmone() ] + + ansRT = np.eye(4) + ansRT[:3, :3] = rot_ans.as_matrix() + ansRT[:3, 3] = t + + # ターゲットデータのコピーをとって、正解RTで変換 + target_tmp = copy.deepcopy(target) + target_tmp.transform(ansRT) + for ft_mesh_scale in FEATURE_MESH_SCALES: for ft_rad_scale in FEATURE_RADIUS_SCALES: ft_mesh = ft_mesh_scale * mesh @@ -295,7 +304,6 @@ def main(model_path, count): print("%05d: mesh=%.1f dmy_no=%3d [%d][%d][%d] start. %d/%d(%.2f)" % (try_num, mesh, n, norm_rad_scale, ft_mesh_scale, ft_rad_scale, try_num,try_max_num,try_num/try_max_num * 100.0) ) - target_tmp = copy.deepcopy(target) result=solver.solve([solver.toNumpy(target_tmp)],test_params) retRT = result["transform"][0] diff --git a/auto_param_maker/degraded.py b/mesh_aid/samples/degraded.py similarity index 100% rename from auto_param_maker/degraded.py rename to mesh_aid/samples/degraded.py diff --git a/auto_param_maker/mesh_size_calc.py b/mesh_aid/samples/mesh_size_calc.py similarity index 100% rename from auto_param_maker/mesh_size_calc.py rename to mesh_aid/samples/mesh_size_calc.py diff --git a/auto_param_maker/mesh_size_checker.py b/mesh_aid/samples/mesh_size_checker.py similarity index 100% rename from auto_param_maker/mesh_size_checker.py rename to mesh_aid/samples/mesh_size_checker.py diff --git a/auto_param_maker/ransac_solver.py b/mesh_aid/samples/ransac_solver.py similarity index 100% rename from auto_param_maker/ransac_solver.py rename to mesh_aid/samples/ransac_solver.py diff --git a/script/mesh_aid.py b/script/mesh_aid.py new file mode 100755 index 0000000..3255e28 --- /dev/null +++ b/script/mesh_aid.py @@ -0,0 +1,268 @@ +#!/usr/bin/python + +import cv2 +import numpy as np +import rospy +import open3d as o3d +import copy +import sys +import time +import pprint +from rovi.msg import Floats +from rospy.numpy_msg import numpy_msg +from std_msgs.msg import Bool +from std_msgs.msg import Int64 +from std_msgs.msg import String +from std_msgs.msg import Float32 + +ORIGINAL_MODEL_FILE_SUFFIX = "_org" + +TOPIC_MODEL_LOAD = "/request/model_load" +TOPIC_SCENE_DATA = "/scene/surface/floats" +TOPIC_EXEC_SOLVE = "/request/solve" +TOPIC_CREATE = "~create" +TOPIC_CLEAR = "~clear" +TOPIC_TEST = "~test" +TOPIC_PRESET = "~preset" + +Config={ + "proc":0, + "path":"recipe", + "scenes":["surface"], + "solver":"o3d_solver", + "scene_frame_ids":[], + "master_frame_ids":[], + "base_frame_id":"world"} + +# norm_rad_scale,ft_mesh_scale,ft_rad_scale +PRESET_PARAM_SCALES = ( + (2,2,5), + (2,2,6), + (3,2,4), + (3,2,5), + (3,2,6) +) + +Preset_idx=0 + +#Param={ +# "normal_radius":0.00399, +# "feature_radius":0.0199, +# "normal_min_nn":2599, +# "distance_threshold":0.199, +# "icp_threshold":0.00199, +# "rotate":0, +# "repeat":1, +# "cutter":{"base":0,"offset":0,"width":0} +#} + + +Model_org_pcd=o3d.geometry.PointCloud +Model_meshed_pcd=o3d.geometry.PointCloud +Mesh_size=None + +def update_param_preset( mesh_size , preset_idx ): + if preset_idx < 0 or len(PRESET_PARAM_SCALES) <= preset_idx: + rospy.logerr("preset param scale index out of bounds.") + return False + + preset_param = PRESET_PARAM_SCALES[preset_idx] + update_param(mesh_size,preset_param[0],preset_param[1],preset_param[2]) + return True + +def update_param( mesh, norm_rad_scale, ft_mesh_scale, ft_rad_scale): + norm_rad = norm_rad_scale * mesh + ft_mesh = ft_mesh_scale * mesh + ft_rad = ft_rad_scale * ft_mesh + dist_th = 1.5 * ft_mesh + icp_th = 0.8 * mesh + + values={ + "normal_radius": norm_rad, + "feature_mesh": ft_mesh, + "feature_radius": ft_rad, + "distance_threshold": dist_th, + "icp_threshold": icp_th + } + + + try: + + Param = rospy.get_param("~param") + rospy.loginfo("---------- Param (Before) -----") + pprint.pprint(Param) + Param.update(values) + rospy.set_param("~param",Param) + + rospy.loginfo("---------- Param (After) -----") + pprint.pprint(Param) + + except Exception as e: + rospy.logerr("update param exception:%s",e.args) + + +def get_model_path(suffix=""): + try: + Config.update(rospy.get_param("~config")) + except Exception as e: + rospy.logerr("Config get_param exception:%s",e.args) + return "" + + if len(Config["scenes"]) < 1: + return "" + return Config["path"] + "/" + Config["scenes"][0] + suffix + ".ply" + +def cb_mesh_create(msg): + global Model_org_pcd,Model_meshed_pcd,pub_model_load,Mesh_size + + start_tm = time.time() + Mesh_size = msg.data + rospy.loginfo("mesh create start. mesh_size=%.2f",Mesh_size) + if Mesh_size <= 0: + rospy.logerr("invalid meshsize.") + return + + model_org_path = get_model_path(ORIGINAL_MODEL_FILE_SUFFIX) + + rospy.loginfo("original model data load start. path=%s",model_org_path) + Model_org_pcd = o3d.read_point_cloud(model_org_path) + if Model_org_pcd.is_empty(): + rospy.logerr("original model data load failed.") + return + + org_point_count = len(np.asarray(Model_org_pcd.points)) + rospy.loginfo("original model data load finished. point count=%d",org_point_count) + + rospy.loginfo("downsampling start.") + Model_meshed_pcd = o3d.voxel_down_sample(Model_org_pcd, voxel_size = Mesh_size ) + + meshed_point_count = len(np.asarray(Model_meshed_pcd.points)) + + rospy.loginfo("downsampling finished. before=%d, after=%d (%.2f%%)", + org_point_count,meshed_point_count,meshed_point_count/float(org_point_count)*100.0) + + model_meshed_path = get_model_path() + rospy.loginfo("meshed model save start. path=%s",model_meshed_path) + if not o3d.write_point_cloud(model_meshed_path,Model_meshed_pcd): + rospy.logerr("meshed model save failed.") + else: + rospy.loginfo("meshed model save finished.") + + rospy.loginfo("model create finished. proc_tm=%.3f sec" , ( time.time() - start_tm )) + + msgModelLoad = Bool() + msgModelLoad.data = True + pub_model_load.publish(msgModelLoad) + + +def cb_mesh_clear(msg): + global Model_org_pcd, Model_meshed_pcd, Mesh_size + rospy.loginfo("mesh clear.") + Model_org_pcd = o3d.geometry.PointCloud + Model_meshed_pcd = o3d.geometry.PointCloud + Mesh_size = None + +def cb_preset_param(msg): + global Preset_idx + + next_preset_idx = msg.data + if next_preset_idx < 0 or len(PRESET_PARAM_SCALES) <= next_preset_idx: + rospy.logerr("preset index out of bounds. 0 <= idx <= %d",len(PRESET_PARAM_SCALES) - 1 ) + return + + rospy.loginfo("preset index changed. %d -> %d",Preset_idx,next_preset_idx) + Preset_idx = next_preset_idx + +def make_dummy_data(input,mesh_size): + print("***** DEBUG DUMMY DATA LOADED *****") + dmy_data = o3d.geometry.PointCloud + + #****************** DEBUG CODE (1) ****************** + #global Model_meshed_pcd + #dmy_data = copy.deepcopy(Model_meshed_pcd) + #****************** DEBUG CODE (1) ****************** + + #****************** DEBUG CODE (2) ****************** + dmy_pcd_path = get_model_path("_%.1f" % (mesh_size)) + rospy.loginfo("dummy data load path=%s",dmy_pcd_path) + dmy_data = o3d.read_point_cloud(dmy_pcd_path) + #****************** DEBUG CODE (2) ****************** + + return dmy_data + +def cb_mesh_test(msg): + global Model_meshed_pcd, Mesh_size,Preset_idx + + if Mesh_size is None: + rospy.logerr("meshed model data is none.") + return + elif Model_meshed_pcd.is_empty(): + rospy.logerr("meshed model data is empty.") + return + + rospy.loginfo("mesh test start. mesh_size=%.2f",Mesh_size) + + rospy.loginfo("solver parameter update start") + update_param_preset(Mesh_size,Preset_idx) + rospy.loginfo("solver parameter update finished.") + + dmy_pcd = make_dummy_data(Model_meshed_pcd, Mesh_size) + + mesh_flotas=np.ravel(np.asarray(dmy_pcd.points)) + + #np.set_printoptions(threshold=np.inf) + #print(mesh_flotas) + + rospy.loginfo("scene data publish start. point count=%d (%d)", len(np.asarray(Model_meshed_pcd.points)), len(mesh_flotas)) + + pub_scene_floats.publish(mesh_flotas) + + rospy.loginfo("scene data publish finished.") + + rospy.loginfo("solver publish start.") + msgSolver = Bool() + msgSolver.data = True + pub_solve.publish(msgSolver) + rospy.loginfo("solver publish finished.") + +def parse_argv(argv): + args={} + for arg in argv: + tokens = arg.split(":=") + if len(tokens) == 2: + key = tokens[0] + args[key] = tokens[1] + return args + +def np2F(d): #numpy to Floats + f=Floats() + f.data=np.ravel(d) + return f + +######################################################## + +rospy.init_node("mesh_aid",anonymous=True) +Config.update(parse_argv(sys.argv)) +try: + Config.update(rospy.get_param("~config")) +except Exception as e: + rospy.logerr("Config get_param exception:%s",e.args) + +rospy.loginfo("========== Config @mesh_aid ==========") +pprint.pprint(Config) + + +###I/O +rospy.Subscriber(TOPIC_CREATE, Float32, cb_mesh_create) +rospy.Subscriber(TOPIC_CLEAR, Bool, cb_mesh_clear) +rospy.Subscriber(TOPIC_TEST, Bool, cb_mesh_test) +rospy.Subscriber(TOPIC_PRESET, Int64, cb_preset_param) + +pub_model_load = rospy.Publisher(TOPIC_MODEL_LOAD, Bool, queue_size=1) +pub_scene_floats = rospy.Publisher(TOPIC_SCENE_DATA, numpy_msg(Floats) ,queue_size=1) +pub_solve = rospy.Publisher(TOPIC_EXEC_SOLVE, Bool, queue_size=1) + +try: + rospy.spin() +except KeyboardInterrupt: + rospy.loginfo("Shutting down") From 855f6274d197bfa24a5a3ce54c01723cc906b737 Mon Sep 17 00:00:00 2001 From: hato-yoods Date: Mon, 25 Jan 2021 14:58:38 +0900 Subject: [PATCH 23/24] =?UTF-8?q?=EF=BC=91=EF=BC=8Emesh=5FqreateTOPIC?= =?UTF-8?q?=E3=81=B8=E6=B8=A1=E3=81=99=E3=83=A1=E3=83=83=E3=82=BB=E3=83=BC?= =?UTF-8?q?=E3=82=B8=E3=82=92Float32=E3=81=8B=E3=82=89Bool=E3=81=B8=20?= =?UTF-8?q?=EF=BC=92=EF=BC=8Emesh=5Fparam=5Fpreset=E3=82=92=E5=89=8A?= =?UTF-8?q?=E9=99=A4=E3=80=82ros=20Param=E3=81=AE=E3=80=8Csolver=5Fprm=5Fp?= =?UTF-8?q?reset=5Fno=E3=80=8D=E3=81=A7=E8=A8=AD=E5=AE=9A=E3=81=99?= =?UTF-8?q?=E3=82=8B=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- script/mesh_aid.py | 87 ++++++++++++++++++++++++++-------------------- 1 file changed, 49 insertions(+), 38 deletions(-) diff --git a/script/mesh_aid.py b/script/mesh_aid.py index 3255e28..aa34734 100755 --- a/script/mesh_aid.py +++ b/script/mesh_aid.py @@ -23,7 +23,6 @@ TOPIC_CREATE = "~create" TOPIC_CLEAR = "~clear" TOPIC_TEST = "~test" -TOPIC_PRESET = "~preset" Config={ "proc":0, @@ -43,8 +42,7 @@ (3,2,6) ) -Preset_idx=0 - +### Solver Param #Param={ # "normal_radius":0.00399, # "feature_radius":0.0199, @@ -56,10 +54,13 @@ # "cutter":{"base":0,"offset":0,"width":0} #} +Param ={ + "mesh_size" : 5.0, + "solver_prm_preset_no" : 0 +} Model_org_pcd=o3d.geometry.PointCloud Model_meshed_pcd=o3d.geometry.PointCloud -Mesh_size=None def update_param_preset( mesh_size , preset_idx ): if preset_idx < 0 or len(PRESET_PARAM_SCALES) <= preset_idx: @@ -87,15 +88,14 @@ def update_param( mesh, norm_rad_scale, ft_mesh_scale, ft_rad_scale): try: - - Param = rospy.get_param("~param") - rospy.loginfo("---------- Param (Before) -----") - pprint.pprint(Param) - Param.update(values) - rospy.set_param("~param",Param) + solv_prm = rospy.get_param("~solver_param") + rospy.loginfo("---------- Solver Param (Before) -----") + pprint.pprint(solv_prm) + solv_prm.update(values) + rospy.set_param("~solver_param",solv_prm) - rospy.loginfo("---------- Param (After) -----") - pprint.pprint(Param) + rospy.loginfo("---------- Solver Param (After) -----") + pprint.pprint(solv_prm) except Exception as e: rospy.logerr("update param exception:%s",e.args) @@ -113,13 +113,19 @@ def get_model_path(suffix=""): return Config["path"] + "/" + Config["scenes"][0] + suffix + ".ply" def cb_mesh_create(msg): - global Model_org_pcd,Model_meshed_pcd,pub_model_load,Mesh_size + global Model_org_pcd,Model_meshed_pcd,pub_model_load,Param start_tm = time.time() - Mesh_size = msg.data - rospy.loginfo("mesh create start. mesh_size=%.2f",Mesh_size) - if Mesh_size <= 0: - rospy.logerr("invalid meshsize.") + + try: + Param.update(rospy.get_param("~param")) + except Exception as e: + print "get_param exception:",e.args + + mesh_size = Param["mesh_size"] + rospy.loginfo("mesh create start. mesh_size=%.2f",mesh_size) + if mesh_size <= 0: + rospy.logerr("invalid mesh_size.") return model_org_path = get_model_path(ORIGINAL_MODEL_FILE_SUFFIX) @@ -134,7 +140,7 @@ def cb_mesh_create(msg): rospy.loginfo("original model data load finished. point count=%d",org_point_count) rospy.loginfo("downsampling start.") - Model_meshed_pcd = o3d.voxel_down_sample(Model_org_pcd, voxel_size = Mesh_size ) + Model_meshed_pcd = o3d.voxel_down_sample(Model_org_pcd, voxel_size = mesh_size ) meshed_point_count = len(np.asarray(Model_meshed_pcd.points)) @@ -156,22 +162,11 @@ def cb_mesh_create(msg): def cb_mesh_clear(msg): - global Model_org_pcd, Model_meshed_pcd, Mesh_size + global Model_org_pcd, Model_meshed_pcd, Param rospy.loginfo("mesh clear.") Model_org_pcd = o3d.geometry.PointCloud Model_meshed_pcd = o3d.geometry.PointCloud - Mesh_size = None - -def cb_preset_param(msg): - global Preset_idx - - next_preset_idx = msg.data - if next_preset_idx < 0 or len(PRESET_PARAM_SCALES) <= next_preset_idx: - rospy.logerr("preset index out of bounds. 0 <= idx <= %d",len(PRESET_PARAM_SCALES) - 1 ) - return - rospy.loginfo("preset index changed. %d -> %d",Preset_idx,next_preset_idx) - Preset_idx = next_preset_idx def make_dummy_data(input,mesh_size): print("***** DEBUG DUMMY DATA LOADED *****") @@ -191,22 +186,29 @@ def make_dummy_data(input,mesh_size): return dmy_data def cb_mesh_test(msg): - global Model_meshed_pcd, Mesh_size,Preset_idx + global Model_meshed_pcd, Param - if Mesh_size is None: + try: + Param.update(rospy.get_param("~param")) + except Exception as e: + print "get_param exception:",e.args + + mesh_size = Param["mesh_size"] + if mesh_size is None: rospy.logerr("meshed model data is none.") return elif Model_meshed_pcd.is_empty(): rospy.logerr("meshed model data is empty.") return - rospy.loginfo("mesh test start. mesh_size=%.2f",Mesh_size) + rospy.loginfo("mesh test start. mesh_size=%.2f",mesh_size) - rospy.loginfo("solver parameter update start") - update_param_preset(Mesh_size,Preset_idx) + preset_idx = Param["solver_prm_preset_no"] + rospy.loginfo("solver parameter update start. preset_no=%d",preset_idx) + update_param_preset(mesh_size,preset_idx) rospy.loginfo("solver parameter update finished.") - dmy_pcd = make_dummy_data(Model_meshed_pcd, Mesh_size) + dmy_pcd = make_dummy_data(Model_meshed_pcd, mesh_size) mesh_flotas=np.ravel(np.asarray(dmy_pcd.points)) @@ -251,12 +253,21 @@ def np2F(d): #numpy to Floats rospy.loginfo("========== Config @mesh_aid ==========") pprint.pprint(Config) +try: + if not rospy.has_param("~param"): + rospy.set_param("~param",Param) + else: + Param.update(rospy.get_param("~param")) +except Exception as e: + print "get_param exception:",e.args +rospy.loginfo("========== Param @mesh_aid ==========") +pprint.pprint(Param) + ###I/O -rospy.Subscriber(TOPIC_CREATE, Float32, cb_mesh_create) +rospy.Subscriber(TOPIC_CREATE, Bool, cb_mesh_create) rospy.Subscriber(TOPIC_CLEAR, Bool, cb_mesh_clear) rospy.Subscriber(TOPIC_TEST, Bool, cb_mesh_test) -rospy.Subscriber(TOPIC_PRESET, Int64, cb_preset_param) pub_model_load = rospy.Publisher(TOPIC_MODEL_LOAD, Bool, queue_size=1) pub_scene_floats = rospy.Publisher(TOPIC_SCENE_DATA, numpy_msg(Floats) ,queue_size=1) From 4b43baee54dc111132881982049406ea68f72f1d Mon Sep 17 00:00:00 2001 From: hato-yoods Date: Mon, 1 Feb 2021 09:50:52 +0900 Subject: [PATCH 24/24] =?UTF-8?q?=E3=83=80=E3=83=9F=E3=83=BC=E3=83=87?= =?UTF-8?q?=E3=83=BC=E3=82=BF=E3=81=AE=E4=BD=9C=E6=88=90=E3=82=92=E3=83=A2?= =?UTF-8?q?=E3=83=87=E3=83=AB=E3=83=87=E3=83=BC=E3=82=BF=E3=82=92=E5=9B=9E?= =?UTF-8?q?=E8=BB=A2=E3=81=95=E3=81=9B=E3=82=8B=E6=96=B9=E5=BC=8F=E3=81=A7?= =?UTF-8?q?=E4=BD=9C=E6=88=90=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- script/mesh_aid.py | 36 +++++++++++++++++++++--------------- 1 file changed, 21 insertions(+), 15 deletions(-) diff --git a/script/mesh_aid.py b/script/mesh_aid.py index aa34734..b8cd6b9 100755 --- a/script/mesh_aid.py +++ b/script/mesh_aid.py @@ -1,4 +1,5 @@ #!/usr/bin/python +# -*- coding: utf-8 -*- import cv2 import numpy as np @@ -14,6 +15,7 @@ from std_msgs.msg import Int64 from std_msgs.msg import String from std_msgs.msg import Float32 +from scipy.spatial.transform import Rotation ORIGINAL_MODEL_FILE_SUFFIX = "_org" @@ -24,6 +26,10 @@ TOPIC_CLEAR = "~clear" TOPIC_TEST = "~test" +DMY_MODEL_ROT_RANGE_X_DEGREE = 30 +DMY_MODEL_ROT_RANGE_Y_DEGREE = 30 +DMY_MODEL_ROT_RANGE_Z_DEGREE = 180 + Config={ "proc":0, "path":"recipe", @@ -62,6 +68,10 @@ Model_org_pcd=o3d.geometry.PointCloud Model_meshed_pcd=o3d.geometry.PointCloud +def random_pmone(): + return 2.0 * np.random.rand() - 1.0 + + def update_param_preset( mesh_size , preset_idx ): if preset_idx < 0 or len(PRESET_PARAM_SCALES) <= preset_idx: rospy.logerr("preset param scale index out of bounds.") @@ -168,21 +178,17 @@ def cb_mesh_clear(msg): Model_meshed_pcd = o3d.geometry.PointCloud -def make_dummy_data(input,mesh_size): - print("***** DEBUG DUMMY DATA LOADED *****") - dmy_data = o3d.geometry.PointCloud - - #****************** DEBUG CODE (1) ****************** - #global Model_meshed_pcd - #dmy_data = copy.deepcopy(Model_meshed_pcd) - #****************** DEBUG CODE (1) ****************** - - #****************** DEBUG CODE (2) ****************** - dmy_pcd_path = get_model_path("_%.1f" % (mesh_size)) - rospy.loginfo("dummy data load path=%s",dmy_pcd_path) - dmy_data = o3d.read_point_cloud(dmy_pcd_path) - #****************** DEBUG CODE (2) ****************** - +def make_dummy_data( input, mesh_size ): + # ]px_Ɍ + angles = [ DMY_MODEL_ROT_RANGE_X_DEGREE * random_pmone(), # X].}30x͈̔ + DMY_MODEL_ROT_RANGE_Y_DEGREE * random_pmone(), # Y].}30x͈̔ + DMY_MODEL_ROT_RANGE_Z_DEGREE * random_pmone()] # Z].}180x͈̔ + rot = Rotation.from_euler('zyx', angles, degrees=True) # scipy.spatial.transform.Rotation^ + rotMat = np.eye(4) + rotMat[:3, :3] = rot.as_dcm() + + dmy_data = copy.deepcopy(input) + dmy_data.transform(rotMat) return dmy_data def cb_mesh_test(msg):