verification working
This commit is contained in:
cristhian aguilera
71
dataflow_verify_ulite6_zed.yml
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71
dataflow_verify_ulite6_zed.yml
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@@ -0,0 +1,71 @@
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nodes:
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- id: zed_camera_cpp
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build: bash -lc "cmake -S dora_zed_cpp -B dora_zed_cpp/build && cmake --build dora_zed_cpp/build"
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path: dora_zed_cpp/build/dora_zed_cpp
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env:
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ZED_RESOLUTION: "720"
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ZED_FPS: "15"
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ZED_DEPTH_MODE: "NEURAL"
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ZED_DEPTH_MIN_MM: "10"
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ZED_DEPTH_MAX_MM: "600"
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ZED_DEPTH_FILL: "false"
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ZED_FLIP: "ON"
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ZED_WARMUP_FRAMES: "30"
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inputs:
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tick: dora/timer/millis/100
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outputs:
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- image_bgr
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- camera_info
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- id: ulite6
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build: uv pip install -e dora_ulite6
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path: dora_ulite6/dora_ulite6/main.py
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inputs:
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tick: dora/timer/millis/10
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command: verify/robot_cmd
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outputs:
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- tcp_pose
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- status
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env:
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ROBOT_IP: "192.168.1.192"
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DEFAULT_SPEED: "30"
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DEFAULT_UNITS: "mm"
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API_HOST: "0.0.0.0"
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API_PORT: "9000"
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VACUUM_ENABLED: "false"
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- id: verify
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build: |
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uv venv -p 3.12 --seed --allow-existing
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uv pip install -e dora_calibration
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path: dora_calibration/dora_calibration/verify_eye_in_hand.py
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env:
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VIRTUAL_ENV: ./.venv
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IMAGE_INPUT: "image_bgr"
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CAMERA_INFO_INPUT: "camera_info"
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POSE_INPUT: "tcp_pose"
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STATUS_INPUT: "status"
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COMMAND_OUTPUT: "robot_cmd"
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CALIBRATION_FILE: "calibration_ulite6_zed.npz"
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SQUARES_X: "4"
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SQUARES_Y: "6"
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SQUARE_LENGTH: "0.04"
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MARKER_LENGTH: "0.03"
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TCP_OFFSET_MM: "63.0"
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Z_OFFSET_MM: "0.0"
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HOME_X: "200"
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HOME_Y: "0"
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HOME_Z: "300"
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HOME_ROLL: "180"
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HOME_PITCH: "0"
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HOME_YAW: "0"
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MOVE_HOME_ON_START: "true"
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POSE_STABILITY_WINDOW: "0.5"
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POSE_STABILITY_EPS_MM: "0.5"
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POSE_STABILITY_EPS_DEG: "0.5"
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inputs:
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image_bgr: zed_camera_cpp/image_bgr
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camera_info: zed_camera_cpp/camera_info
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tcp_pose: ulite6/tcp_pose
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status: ulite6/status
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tick: dora/timer/millis/100
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outputs:
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- robot_cmd
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754
dora_calibration/dora_calibration/verify_eye_in_hand.py
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754
dora_calibration/dora_calibration/verify_eye_in_hand.py
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@@ -0,0 +1,754 @@
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"""Dora node for verifying eye-in-hand calibration with a ChArUco board."""
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from __future__ import annotations
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import argparse
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from collections import deque
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import json
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import os
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import time
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import uuid
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from dataclasses import dataclass, field
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from typing import Any, Dict, List, Optional, Tuple
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import cv2
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import numpy as np
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import pyarrow as pa
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from dora import Node
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WINDOW_NAME = "Dora Eye-in-Hand Verification"
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DEFAULT_DICT = cv2.aruco.DICT_6X6_1000
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@dataclass
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class CameraIntrinsics:
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fx: float
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fy: float
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cx: float
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cy: float
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distortion: np.ndarray
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def camera_matrix(self) -> np.ndarray:
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return np.array(
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[[self.fx, 0.0, self.cx], [0.0, self.fy, self.cy], [0.0, 0.0, 1.0]],
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dtype=np.float64,
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)
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@dataclass
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class CornerTarget:
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corner_mm: np.ndarray
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flange_target_mm: np.ndarray
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flange_approach_mm: np.ndarray
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@dataclass
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class VerifyState:
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intrinsics: Optional[CameraIntrinsics] = None
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latest_tcp_pose: Optional[List[float]] = None
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latest_tcp_pose_at: Optional[float] = None
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pose_history: deque[Tuple[float, List[float]]] = field(
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default_factory=lambda: deque(maxlen=10)
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)
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last_status_at: Optional[float] = None
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pending_command: Optional[Dict[str, Any]] = None
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status_text: str = ""
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detected_ids: List[int] = field(default_factory=list)
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corner_targets: Dict[int, CornerTarget] = field(default_factory=dict)
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selected_corner_id: Optional[int] = None
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stage: str = "idle"
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last_tip_error_mm: Optional[float] = None
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last_flange_error_mm: Optional[float] = None
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intrinsics_logged: bool = False
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def _rotation_matrix_xyz(
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roll_deg: float, pitch_deg: float, yaw_deg: float
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) -> np.ndarray:
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roll = np.deg2rad(roll_deg)
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pitch = np.deg2rad(pitch_deg)
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yaw = np.deg2rad(yaw_deg)
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cx, sx = np.cos(roll), np.sin(roll)
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cy, sy = np.cos(pitch), np.sin(pitch)
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cz, sz = np.cos(yaw), np.sin(yaw)
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rot_x = np.array([[1.0, 0.0, 0.0], [0.0, cx, -sx], [0.0, sx, cx]])
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rot_y = np.array([[cy, 0.0, sy], [0.0, 1.0, 0.0], [-sy, 0.0, cy]])
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rot_z = np.array([[cz, -sz, 0.0], [sz, cz, 0.0], [0.0, 0.0, 1.0]])
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return rot_z @ rot_y @ rot_x
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def _pose_to_matrix(tcp_pose_mm_deg: List[float]) -> np.ndarray:
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x, y, z, roll, pitch, yaw = tcp_pose_mm_deg
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rot = _rotation_matrix_xyz(roll, pitch, yaw)
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mat = np.eye(4)
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mat[:3, :3] = rot
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mat[:3, 3] = np.array([x, y, z], dtype=np.float64) / 1000.0
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return mat
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def _try_get_charuco_board(
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squares_x: int, squares_y: int, square_length: float, marker_length: float
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) -> Any:
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dictionary = cv2.aruco.getPredefinedDictionary(DEFAULT_DICT)
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try:
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board = cv2.aruco.CharucoBoard(
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(squares_x, squares_y), square_length, marker_length, dictionary
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)
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except AttributeError:
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board = cv2.aruco.CharucoBoard_create(
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squares_x, squares_y, square_length, marker_length, dictionary
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)
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if hasattr(board, "setLegacyPattern"):
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board.setLegacyPattern(True)
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return board
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def _create_charuco_detector(board: Any) -> Optional[Any]:
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if not hasattr(cv2.aruco, "CharucoDetector"):
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return None
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aruco_params = cv2.aruco.DetectorParameters()
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charuco_params = cv2.aruco.CharucoParameters()
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charuco_params.minMarkers = 2
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return cv2.aruco.CharucoDetector(board, charuco_params, aruco_params)
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def _decode_image(storage: pa.Array, metadata: Dict[str, Any]) -> np.ndarray:
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encoding = str(metadata.get("encoding", "bgr8")).lower()
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width = metadata.get("width")
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height = metadata.get("height")
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if (width is None or height is None) and "shape" in metadata:
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shape = metadata.get("shape")
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if isinstance(shape, (list, tuple)) and len(shape) >= 2:
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height = height if height is not None else int(shape[0])
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width = width if width is not None else int(shape[1])
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if width is None or height is None:
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raise KeyError("width/height (or shape) missing from metadata")
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if encoding == "bgr8":
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frame = storage.to_numpy().astype(np.uint8).reshape((height, width, 3))
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return frame.copy()
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if encoding == "rgb8":
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frame = storage.to_numpy().astype(np.uint8).reshape((height, width, 3))
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return cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
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if encoding in {"jpeg", "jpg", "jpe", "bmp", "webp", "png"}:
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frame = storage.to_numpy().astype(np.uint8)
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return cv2.imdecode(frame, cv2.IMREAD_COLOR)
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if encoding == "yuv420":
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yuv = storage.to_numpy().astype(np.uint8)
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yuv = yuv[: width * height * 3 // 2].reshape((height * 3 // 2, width))
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return cv2.cvtColor(yuv, cv2.COLOR_YUV420p2BGR)
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raise RuntimeError(f"Unsupported image encoding: {encoding}")
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def _intrinsics_from_metadata(metadata: Dict[str, Any]) -> Optional[CameraIntrinsics]:
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if not all(k in metadata for k in ("fx", "fy", "cx", "cy")):
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return None
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distortion = metadata.get("distortion", [])
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if distortion is None:
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distortion = []
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dist = np.array(distortion, dtype=np.float64).reshape(-1)
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if dist.size == 0:
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dist = np.zeros(5, dtype=np.float64)
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return CameraIntrinsics(
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fx=float(metadata["fx"]),
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fy=float(metadata["fy"]),
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cx=float(metadata["cx"]),
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cy=float(metadata["cy"]),
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distortion=dist,
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)
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def _intrinsics_from_camera_info(
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values: np.ndarray, metadata: Dict[str, Any]
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) -> Optional[CameraIntrinsics]:
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if values.size < 4:
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return None
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fx, fy, cx, cy = [float(v) for v in values[:4]]
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distortion = metadata.get("distortion", [])
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if distortion is None:
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distortion = []
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dist = np.array(distortion, dtype=np.float64).reshape(-1)
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if dist.size == 0:
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dist = np.zeros(5, dtype=np.float64)
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return CameraIntrinsics(fx=fx, fy=fy, cx=cx, cy=cy, distortion=dist)
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def _estimate_charuco_pose_with_ids(
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frame: np.ndarray,
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board: Any,
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intrinsics: CameraIntrinsics,
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detector: Optional[Any],
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min_corners: int,
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) -> Tuple[
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Optional[np.ndarray],
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Optional[np.ndarray],
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Optional[np.ndarray],
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np.ndarray,
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bool,
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int,
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int,
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bool,
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]:
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gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
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if detector is not None:
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charuco_corners, charuco_ids, marker_corners, marker_ids = detector.detectBoard(
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frame
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)
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else:
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dictionary = (
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board.dictionary if hasattr(board, "dictionary") else board.getDictionary()
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)
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marker_corners, marker_ids, _ = cv2.aruco.detectMarkers(gray, dictionary)
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charuco_corners, charuco_ids = None, None
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if marker_ids is not None and len(marker_ids) > 0:
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_, charuco_corners, charuco_ids = cv2.aruco.interpolateCornersCharuco(
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marker_corners, marker_ids, gray, board
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)
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debug = frame.copy()
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marker_count = 0 if marker_ids is None else len(marker_ids)
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if marker_count == 0:
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return None, None, None, debug, False, 0, 0, False
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cv2.aruco.drawDetectedMarkers(debug, marker_corners, marker_ids)
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charuco_count = 0 if charuco_ids is None else len(charuco_ids)
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if charuco_count < min_corners:
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return None, None, None, debug, True, marker_count, charuco_count, False
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cv2.aruco.drawDetectedCornersCharuco(debug, charuco_corners, charuco_ids)
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obj_points = board.getChessboardCorners()[charuco_ids.flatten()]
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ok, rvec, tvec = cv2.solvePnP(
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obj_points,
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charuco_corners,
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intrinsics.camera_matrix(),
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intrinsics.distortion,
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flags=cv2.SOLVEPNP_IPPE,
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)
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if not ok:
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return None, None, None, debug, True, marker_count, charuco_count, False
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rvec, tvec = cv2.solvePnPRefineVVS(
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obj_points,
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charuco_corners,
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intrinsics.camera_matrix(),
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intrinsics.distortion,
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rvec,
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tvec,
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)
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cv2.drawFrameAxes(
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debug,
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intrinsics.camera_matrix(),
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intrinsics.distortion,
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rvec,
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tvec,
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0.05,
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)
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return rvec, tvec, charuco_ids, debug, True, marker_count, charuco_count, True
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def _send_dora_command(
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node: Node, output_name: str, action: str, payload: Dict[str, Any]
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) -> str:
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command_id = str(uuid.uuid4())
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message = {"id": command_id, "action": action, "payload": payload}
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node.send_output(
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output_name,
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pa.array([json.dumps(message)]),
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metadata={"encoding": "json", "timestamp_ns": time.time_ns()},
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)
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return command_id
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def _parse_status_payload(value: pa.Array) -> Optional[Dict[str, Any]]:
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if len(value) == 0:
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return None
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raw = value[0].as_py()
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if not raw:
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return None
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try:
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return json.loads(raw)
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except Exception:
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return None
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def _pose_is_stable(
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pose_history: deque[Tuple[float, List[float]]],
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window_s: float,
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eps_mm: float,
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eps_deg: float,
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) -> bool:
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if not pose_history:
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return False
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latest_t = pose_history[-1][0]
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window = [p for (t, p) in pose_history if latest_t - t <= window_s]
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if len(window) < 2:
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return False
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positions = np.array([p[:3] for p in window], dtype=np.float64)
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rotations = np.array([p[3:6] for p in window], dtype=np.float64)
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pos_span = positions.max(axis=0) - positions.min(axis=0)
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rot_span = rotations.max(axis=0) - rotations.min(axis=0)
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return bool(np.all(pos_span <= eps_mm) and np.all(rot_span <= eps_deg))
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def _within_bounds(
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point_mm: np.ndarray,
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min_xyz: Tuple[Optional[float], Optional[float], Optional[float]],
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max_xyz: Tuple[Optional[float], Optional[float], Optional[float]],
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) -> bool:
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x, y, z = point_mm.tolist()
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min_x, min_y, min_z = min_xyz
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max_x, max_y, max_z = max_xyz
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if min_x is not None and x < min_x:
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return False
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if max_x is not None and x > max_x:
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return False
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if min_y is not None and y < min_y:
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return False
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if max_y is not None and y > max_y:
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return False
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if min_z is not None and z < min_z:
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return False
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if max_z is not None and z > max_z:
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return False
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return True
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def _parse_float_env(name: str) -> Optional[float]:
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raw = os.getenv(name)
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if raw is None or raw == "":
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return None
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try:
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return float(raw)
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except ValueError:
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return None
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def main() -> None:
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parser = argparse.ArgumentParser(
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description="Eye-in-hand verification node with minimal OpenCV UI.",
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)
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parser.add_argument("--name", type=str, default="dora-calibration-verify")
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args = parser.parse_args()
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image_input = os.getenv("IMAGE_INPUT", "image")
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camera_info_input = os.getenv("CAMERA_INFO_INPUT", "camera_info")
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pose_input = os.getenv("POSE_INPUT", "tcp_pose")
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status_input = os.getenv("STATUS_INPUT", "status")
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command_output = os.getenv("COMMAND_OUTPUT", "robot_cmd")
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pose_units = os.getenv("POSE_UNITS", "mm").lower()
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use_camera_info = os.getenv("USE_CAMERA_INFO", "false").lower() in (
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"true",
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"1",
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"yes",
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)
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min_corners = int(os.getenv("MIN_CORNERS", "6"))
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move_speed = _parse_float_env("MOVE_SPEED")
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move_home_on_start = os.getenv("MOVE_HOME_ON_START", "true").lower() in (
|
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"true",
|
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"1",
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"yes",
|
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)
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tcp_offset_mm = float(os.getenv("TCP_OFFSET_MM", "63.0"))
|
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z_offset_mm = float(os.getenv("Z_OFFSET_MM", "50.0"))
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dry_run = os.getenv("DRY_RUN", "false").lower() in ("true", "1", "yes")
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hold_after_touch = os.getenv("HOLD_AFTER_TOUCH", "false").lower() in (
|
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"true",
|
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"1",
|
||||
"yes",
|
||||
)
|
||||
pose_stability_window = float(os.getenv("POSE_STABILITY_WINDOW", "0.5"))
|
||||
pose_stability_eps_mm = float(os.getenv("POSE_STABILITY_EPS_MM", "0.5"))
|
||||
pose_stability_eps_deg = float(os.getenv("POSE_STABILITY_EPS_DEG", "0.5"))
|
||||
allow_unstable_pose = os.getenv("ALLOW_UNSTABLE_POSE", "false").lower() in (
|
||||
"true",
|
||||
"1",
|
||||
"yes",
|
||||
)
|
||||
|
||||
squares_x = int(os.getenv("SQUARES_X", "4"))
|
||||
squares_y = int(os.getenv("SQUARES_Y", "6"))
|
||||
square_length = float(os.getenv("SQUARE_LENGTH", "0.04"))
|
||||
marker_length = float(os.getenv("MARKER_LENGTH", "0.03"))
|
||||
|
||||
home_x = float(os.getenv("HOME_X", "200"))
|
||||
home_y = float(os.getenv("HOME_Y", "0"))
|
||||
home_z = float(os.getenv("HOME_Z", "300"))
|
||||
home_roll = float(os.getenv("HOME_ROLL", "180"))
|
||||
home_pitch = float(os.getenv("HOME_PITCH", "0"))
|
||||
home_yaw = float(os.getenv("HOME_YAW", "0"))
|
||||
|
||||
min_xyz = (
|
||||
_parse_float_env("WORKSPACE_MIN_X"),
|
||||
_parse_float_env("WORKSPACE_MIN_Y"),
|
||||
_parse_float_env("WORKSPACE_MIN_Z"),
|
||||
)
|
||||
max_xyz = (
|
||||
_parse_float_env("WORKSPACE_MAX_X"),
|
||||
_parse_float_env("WORKSPACE_MAX_Y"),
|
||||
_parse_float_env("WORKSPACE_MAX_Z"),
|
||||
)
|
||||
|
||||
calibration_file = os.getenv("CALIBRATION_FILE", "calibration.npz")
|
||||
if calibration_file and not os.path.isabs(calibration_file):
|
||||
config_path = os.path.join("config", calibration_file)
|
||||
calibration_file = config_path if os.path.exists(config_path) else calibration_file
|
||||
|
||||
print(f"Loading calibration from {calibration_file}...", flush=True)
|
||||
try:
|
||||
calib_data = np.load(calibration_file, allow_pickle=True)
|
||||
t_cam2gripper = calib_data["T_cam2gripper"]
|
||||
calib_type = str(calib_data.get("calibration_type", "unknown"))
|
||||
file_camera_matrix = calib_data.get("camera_matrix")
|
||||
file_distortion = calib_data.get("distortion")
|
||||
except Exception as exc:
|
||||
raise RuntimeError(f"Failed to load calibration file: {exc}") from exc
|
||||
|
||||
if calib_type != "eye_in_hand":
|
||||
print(
|
||||
f'Warning: calibration_type="{calib_type}", expected "eye_in_hand".',
|
||||
flush=True,
|
||||
)
|
||||
|
||||
file_intrinsics: Optional[CameraIntrinsics] = None
|
||||
if file_camera_matrix is not None:
|
||||
try:
|
||||
fx = float(file_camera_matrix[0][0])
|
||||
fy = float(file_camera_matrix[1][1])
|
||||
cx = float(file_camera_matrix[0][2])
|
||||
cy = float(file_camera_matrix[1][2])
|
||||
distortion = (
|
||||
np.array(file_distortion, dtype=np.float64).reshape(-1)
|
||||
if file_distortion is not None
|
||||
else np.zeros(5, dtype=np.float64)
|
||||
)
|
||||
if distortion.size == 0:
|
||||
distortion = np.zeros(5, dtype=np.float64)
|
||||
file_intrinsics = CameraIntrinsics(
|
||||
fx=fx, fy=fy, cx=cx, cy=cy, distortion=distortion
|
||||
)
|
||||
except Exception:
|
||||
file_intrinsics = None
|
||||
|
||||
state = VerifyState()
|
||||
if not use_camera_info and file_intrinsics is not None:
|
||||
state.intrinsics = file_intrinsics
|
||||
state.intrinsics_logged = True
|
||||
print(
|
||||
f"Using intrinsics from calibration file fx={file_intrinsics.fx:.4f} "
|
||||
f"fy={file_intrinsics.fy:.4f} cx={file_intrinsics.cx:.4f} "
|
||||
f"cy={file_intrinsics.cy:.4f} dist={file_intrinsics.distortion.tolist()}",
|
||||
flush=True,
|
||||
)
|
||||
|
||||
board = _try_get_charuco_board(squares_x, squares_y, square_length, marker_length)
|
||||
detector = _create_charuco_detector(board)
|
||||
|
||||
node = Node(args.name)
|
||||
cv2.namedWindow(WINDOW_NAME, cv2.WINDOW_NORMAL)
|
||||
started = False
|
||||
|
||||
def send_move(x: float, y: float, z: float, roll: float, pitch: float, yaw: float) -> None:
|
||||
payload: Dict[str, Any] = {
|
||||
"x": float(x),
|
||||
"y": float(y),
|
||||
"z": float(z),
|
||||
"roll": float(roll),
|
||||
"pitch": float(pitch),
|
||||
"yaw": float(yaw),
|
||||
}
|
||||
if move_speed is not None:
|
||||
payload["speed"] = move_speed
|
||||
if dry_run:
|
||||
state.status_text = "DRY_RUN: move suppressed"
|
||||
return
|
||||
cmd_id = _send_dora_command(node, command_output, "move_to_pose", payload)
|
||||
state.pending_command = {
|
||||
"id": cmd_id,
|
||||
"action": "move_to_pose",
|
||||
"sent_at": time.monotonic(),
|
||||
"payload": payload,
|
||||
}
|
||||
|
||||
for event in node:
|
||||
if event["type"] != "INPUT":
|
||||
continue
|
||||
|
||||
now = time.monotonic()
|
||||
if not started:
|
||||
started = True
|
||||
if move_home_on_start and not state.pending_command:
|
||||
send_move(home_x, home_y, home_z, home_roll, home_pitch, home_yaw)
|
||||
state.stage = "home_pending"
|
||||
state.status_text = "Sent home on start"
|
||||
if state.pending_command and now - state.pending_command["sent_at"] > 30.0:
|
||||
state.status_text = f"Command timeout ({state.pending_command['action']})"
|
||||
state.pending_command = None
|
||||
|
||||
if event["id"] == status_input:
|
||||
payload = _parse_status_payload(event["value"])
|
||||
state.last_status_at = now
|
||||
if payload and state.pending_command:
|
||||
if payload.get("command_id") == state.pending_command["id"]:
|
||||
ok = bool(payload.get("ok", False))
|
||||
msg = payload.get("message", "")
|
||||
state.status_text = "Command ok" if ok else f"Command failed: {msg}"
|
||||
state.pending_command = None
|
||||
if ok:
|
||||
if state.stage == "approach_pending":
|
||||
state.stage = "at_approach"
|
||||
elif state.stage == "touch_pending":
|
||||
state.stage = "at_target"
|
||||
if state.selected_corner_id in state.corner_targets:
|
||||
target = state.corner_targets[state.selected_corner_id]
|
||||
if state.latest_tcp_pose:
|
||||
actual = np.array(state.latest_tcp_pose[:3])
|
||||
flange_error = np.linalg.norm(
|
||||
actual - target.flange_target_mm
|
||||
)
|
||||
tip_actual = actual.copy()
|
||||
# Assumes tool tip offset along -Z in base frame (roll=180,pitch=0,yaw=0).
|
||||
tip_actual[2] -= tcp_offset_mm
|
||||
tip_error = np.linalg.norm(tip_actual - target.corner_mm)
|
||||
state.last_flange_error_mm = float(flange_error)
|
||||
state.last_tip_error_mm = float(tip_error)
|
||||
if not hold_after_touch and state.selected_corner_id in state.corner_targets:
|
||||
target = state.corner_targets[state.selected_corner_id]
|
||||
send_move(
|
||||
target.flange_approach_mm[0],
|
||||
target.flange_approach_mm[1],
|
||||
target.flange_approach_mm[2],
|
||||
home_roll,
|
||||
home_pitch,
|
||||
home_yaw,
|
||||
)
|
||||
state.stage = "retract_pending"
|
||||
elif state.stage == "retract_pending":
|
||||
state.stage = "at_approach"
|
||||
continue
|
||||
|
||||
if event["id"] == pose_input:
|
||||
tcp_pose = event["value"].to_numpy().astype(np.float64).reshape(-1)
|
||||
if tcp_pose.size >= 6:
|
||||
pose = tcp_pose[:6].tolist()
|
||||
if pose_units == "m":
|
||||
pose[0] *= 1000.0
|
||||
pose[1] *= 1000.0
|
||||
pose[2] *= 1000.0
|
||||
state.latest_tcp_pose = pose
|
||||
state.latest_tcp_pose_at = now
|
||||
state.pose_history.append((now, pose))
|
||||
continue
|
||||
|
||||
if event["id"] == camera_info_input:
|
||||
if use_camera_info or state.intrinsics is None:
|
||||
raw_bytes = event["value"].to_numpy().astype(np.uint8).tobytes()
|
||||
dtype_str = str(event["metadata"].get("dtype", "float32"))
|
||||
dtype_map = {"float32": np.float32, "float64": np.float64}
|
||||
dtype = dtype_map.get(dtype_str, np.float32)
|
||||
values = np.frombuffer(raw_bytes, dtype=dtype).astype(np.float64)
|
||||
intrinsics = _intrinsics_from_camera_info(values, event["metadata"])
|
||||
if intrinsics:
|
||||
state.intrinsics = intrinsics
|
||||
if not state.intrinsics_logged:
|
||||
state.intrinsics_logged = True
|
||||
print(
|
||||
f"intrinsics fx={intrinsics.fx:.4f} fy={intrinsics.fy:.4f} "
|
||||
f"cx={intrinsics.cx:.4f} cy={intrinsics.cy:.4f} "
|
||||
f"dist={intrinsics.distortion.tolist()}",
|
||||
flush=True,
|
||||
)
|
||||
continue
|
||||
|
||||
if event["id"] != image_input:
|
||||
continue
|
||||
|
||||
storage = event["value"]
|
||||
metadata = event.get("metadata", {})
|
||||
if state.intrinsics is None:
|
||||
intrinsics = _intrinsics_from_metadata(metadata)
|
||||
if intrinsics:
|
||||
state.intrinsics = intrinsics
|
||||
if not state.intrinsics_logged:
|
||||
state.intrinsics_logged = True
|
||||
print(
|
||||
f"intrinsics fx={intrinsics.fx:.4f} fy={intrinsics.fy:.4f} "
|
||||
f"cx={intrinsics.cx:.4f} cy={intrinsics.cy:.4f} "
|
||||
f"dist={intrinsics.distortion.tolist()}",
|
||||
flush=True,
|
||||
)
|
||||
|
||||
frame = _decode_image(storage, metadata)
|
||||
debug = frame.copy()
|
||||
|
||||
if state.intrinsics is None:
|
||||
cv2.putText(
|
||||
debug,
|
||||
"Missing camera intrinsics (fx,fy,cx,cy)",
|
||||
(10, 30),
|
||||
cv2.FONT_HERSHEY_SIMPLEX,
|
||||
0.7,
|
||||
(0, 0, 255),
|
||||
2,
|
||||
)
|
||||
cv2.imshow(WINDOW_NAME, debug)
|
||||
if cv2.waitKey(1) & 0xFF == ord("q"):
|
||||
break
|
||||
continue
|
||||
|
||||
rvec, tvec, charuco_ids, debug, detected, marker_count, charuco_count, pose_ok = (
|
||||
_estimate_charuco_pose_with_ids(
|
||||
frame, board, state.intrinsics, detector, min_corners
|
||||
)
|
||||
)
|
||||
|
||||
if marker_count == 0:
|
||||
status = "NO MARKERS"
|
||||
color = (0, 0, 255)
|
||||
elif not pose_ok:
|
||||
status = "MARKERS ONLY"
|
||||
color = (0, 165, 255)
|
||||
else:
|
||||
status = "DETECTED"
|
||||
color = (0, 255, 0)
|
||||
|
||||
state.corner_targets = {}
|
||||
state.detected_ids = []
|
||||
|
||||
if pose_ok and charuco_ids is not None and state.latest_tcp_pose:
|
||||
pose_stable = _pose_is_stable(
|
||||
state.pose_history,
|
||||
pose_stability_window,
|
||||
pose_stability_eps_mm,
|
||||
pose_stability_eps_deg,
|
||||
)
|
||||
if pose_stable or allow_unstable_pose:
|
||||
base_T_flange = _pose_to_matrix(state.latest_tcp_pose)
|
||||
rmat, _ = cv2.Rodrigues(rvec)
|
||||
cam_T_board = np.eye(4)
|
||||
cam_T_board[:3, :3] = rmat
|
||||
cam_T_board[:3, 3] = tvec.flatten()
|
||||
all_board_corners = board.getChessboardCorners()
|
||||
for corner_id in charuco_ids.flatten():
|
||||
corner_board = np.append(all_board_corners[int(corner_id)], 1.0)
|
||||
corner_cam = cam_T_board @ corner_board
|
||||
corner_base = base_T_flange @ t_cam2gripper @ corner_cam
|
||||
corner_mm = corner_base[:3] * 1000.0
|
||||
flange_target_mm = corner_mm.copy()
|
||||
flange_target_mm[2] += tcp_offset_mm
|
||||
flange_approach_mm = flange_target_mm.copy()
|
||||
flange_approach_mm[2] += z_offset_mm
|
||||
state.corner_targets[int(corner_id)] = CornerTarget(
|
||||
corner_mm=corner_mm,
|
||||
flange_target_mm=flange_target_mm,
|
||||
flange_approach_mm=flange_approach_mm,
|
||||
)
|
||||
state.detected_ids = sorted(state.corner_targets.keys())
|
||||
else:
|
||||
state.status_text = "Waiting for pose to stabilize"
|
||||
|
||||
cv2.putText(
|
||||
debug,
|
||||
f"ChArUco: {status} | corners={charuco_count}",
|
||||
(10, 30),
|
||||
cv2.FONT_HERSHEY_SIMPLEX,
|
||||
0.7,
|
||||
color,
|
||||
2,
|
||||
)
|
||||
cv2.putText(
|
||||
debug,
|
||||
f"Detected IDs: {state.detected_ids}",
|
||||
(10, 55),
|
||||
cv2.FONT_HERSHEY_SIMPLEX,
|
||||
0.6,
|
||||
(255, 255, 255),
|
||||
1,
|
||||
)
|
||||
cv2.putText(
|
||||
debug,
|
||||
f"Stage: {state.stage} | {state.status_text}",
|
||||
(10, 80),
|
||||
cv2.FONT_HERSHEY_SIMPLEX,
|
||||
0.55,
|
||||
(255, 255, 255),
|
||||
1,
|
||||
)
|
||||
if state.last_tip_error_mm is not None:
|
||||
cv2.putText(
|
||||
debug,
|
||||
f"Last tip error: {state.last_tip_error_mm:.2f} mm",
|
||||
(10, 105),
|
||||
cv2.FONT_HERSHEY_SIMPLEX,
|
||||
0.55,
|
||||
(255, 255, 255),
|
||||
1,
|
||||
)
|
||||
|
||||
cv2.imshow(WINDOW_NAME, debug)
|
||||
key = cv2.waitKey(1) & 0xFF
|
||||
|
||||
if key == ord("q"):
|
||||
break
|
||||
if key == ord("h") and not state.pending_command:
|
||||
if _within_bounds(np.array([home_x, home_y, home_z]), min_xyz, max_xyz):
|
||||
send_move(home_x, home_y, home_z, home_roll, home_pitch, home_yaw)
|
||||
state.stage = "home_pending"
|
||||
else:
|
||||
state.status_text = "Home pose outside workspace bounds"
|
||||
elif key == ord("r"):
|
||||
state.selected_corner_id = None
|
||||
state.stage = "idle"
|
||||
state.status_text = "Refreshed selection"
|
||||
elif key == ord("t") and state.stage == "at_target" and not state.pending_command:
|
||||
if state.selected_corner_id in state.corner_targets:
|
||||
target = state.corner_targets[state.selected_corner_id]
|
||||
send_move(
|
||||
target.flange_approach_mm[0],
|
||||
target.flange_approach_mm[1],
|
||||
target.flange_approach_mm[2],
|
||||
home_roll,
|
||||
home_pitch,
|
||||
home_yaw,
|
||||
)
|
||||
state.stage = "retract_pending"
|
||||
elif ord("0") <= key <= ord("9") and not state.pending_command:
|
||||
corner_id = int(chr(key))
|
||||
if corner_id in state.corner_targets:
|
||||
target = state.corner_targets[corner_id]
|
||||
if _within_bounds(target.flange_approach_mm, min_xyz, max_xyz) and _within_bounds(
|
||||
target.flange_target_mm, min_xyz, max_xyz
|
||||
):
|
||||
state.selected_corner_id = corner_id
|
||||
send_move(
|
||||
target.flange_approach_mm[0],
|
||||
target.flange_approach_mm[1],
|
||||
target.flange_approach_mm[2],
|
||||
home_roll,
|
||||
home_pitch,
|
||||
home_yaw,
|
||||
)
|
||||
state.stage = "approach_pending"
|
||||
state.status_text = f"Approaching corner {corner_id}"
|
||||
else:
|
||||
state.status_text = "Target outside workspace bounds"
|
||||
else:
|
||||
state.status_text = f"Corner {corner_id} not detected"
|
||||
elif key == ord("y") and state.stage == "at_approach" and not state.pending_command:
|
||||
if state.selected_corner_id in state.corner_targets:
|
||||
target = state.corner_targets[state.selected_corner_id]
|
||||
send_move(
|
||||
target.flange_target_mm[0],
|
||||
target.flange_target_mm[1],
|
||||
target.flange_target_mm[2],
|
||||
home_roll,
|
||||
home_pitch,
|
||||
home_yaw,
|
||||
)
|
||||
state.stage = "touch_pending"
|
||||
|
||||
cv2.destroyAllWindows()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Reference in New Issue
Block a user