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136 | class CameraCalibrationAction(Action):
"""
This action moves around the front right table marker, and take pictures to compute
camera extrinsic parameters (ie, the position of the camera relative to the robot center).
"""
def __init__(self, planner: "Planner", actions: Actions):
super().__init__("CameraCalibration action", planner, actions)
self.camera_positions: list[Vertex] = []
self.after_action_func = self.print_camera_positions
self.poses.append(
Pose(
x=-220,
y=-(1500 - 450 + self.game_context.properties.robot_width / 2),
O=90,
max_speed_linear=66,
max_speed_angular=66,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-220,
y=-800,
O=160,
max_speed_linear=66,
max_speed_angular=66,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-220,
y=-540,
O=-160,
max_speed_linear=66,
max_speed_angular=66,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-260,
y=-320,
O=-130,
max_speed_linear=66,
max_speed_angular=66,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-500,
y=-320,
O=-90,
max_speed_linear=66,
max_speed_angular=66,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-710,
y=-460,
O=-70,
max_speed_linear=66,
max_speed_angular=66,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-810,
y=-760,
O=0,
max_speed_linear=66,
max_speed_angular=66,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-(1000 - 450 + self.game_context.properties.robot_width / 2),
y=-(1500 - 450 + self.game_context.properties.robot_width / 2),
O=90,
max_speed_linear=66,
max_speed_angular=66,
after_pose_func=self.calibrate_camera,
)
)
async def calibrate_camera(self):
await asyncio.sleep(1)
if pose := await calibrate_camera(self.planner):
self.camera_positions.append(pose)
await asyncio.sleep(0.5)
async def print_camera_positions(self):
x = 0
y = 0
z = 0
for i, p in enumerate(self.camera_positions):
logger.info(f"Camera position {i: 2d}: X={p.x:.0f} Y={p.y:.0f} Z={p.z:.0f}")
x += p.x
y += p.y
z += p.z
if n := len(self.camera_positions):
p = Vertex(x=x / n, y=y / n, z=z / n)
logger.info(f"=> Camera position mean: X={p.x:.0f} Y={p.y:.0f} Z={p.z:.0f}")
else:
logger.warning("No camera position found")
def weight(self) -> float:
return 1000000.0
|