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176 | 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", strategy: Strategy):
super().__init__("CameraCalibration action", planner, strategy)
self.camera_positions: list[CameraExtrinsicParameters] = []
self.before_action_func = self.before_action
self.after_action_func = self.after_action
self.linear_speed = 20
self.angular_speed = 20
self.poses.append(
Pose(
x=-220,
y=-1220,
O=120,
max_speed_linear=self.linear_speed,
max_speed_angular=self.angular_speed,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-240,
y=-570,
O=-120,
max_speed_linear=self.linear_speed,
max_speed_angular=self.angular_speed,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-240,
y=-440,
O=-120,
max_speed_linear=self.linear_speed,
max_speed_angular=self.angular_speed,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-500,
y=-420,
O=-80,
max_speed_linear=self.linear_speed,
max_speed_angular=self.angular_speed,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-610,
y=-510,
O=-70,
max_speed_linear=self.linear_speed,
max_speed_angular=self.angular_speed,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-750,
y=-910,
O=0,
max_speed_linear=self.linear_speed,
max_speed_angular=self.angular_speed,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-610,
y=-1250,
O=60,
max_speed_linear=self.linear_speed,
max_speed_angular=self.angular_speed,
after_pose_func=self.calibrate_camera,
)
)
self.poses.append(
Pose(
x=-400,
y=-1250,
O=90,
max_speed_linear=self.linear_speed,
max_speed_angular=self.angular_speed,
after_pose_func=self.calibrate_camera,
)
)
async def before_action(self):
self.disable_fixed_obstacles_backup = self.planner.shared_properties.disable_fixed_obstacles
self.planner.shared_properties.disable_fixed_obstacles = True
await actuators.front_arms_open(self.planner)
await actuators.front_lift_mid(self.planner)
await actuators.back_arms_open(self.planner)
await actuators.back_lift_mid(self.planner)
start_position = self.planner.start_positions.get()
self.poses.append(
Pose(
x=start_position.x,
y=start_position.y,
O=start_position.O,
max_speed_linear=self.linear_speed,
max_speed_angular=self.angular_speed,
)
)
async def calibrate_camera(self):
await asyncio.sleep(2.0)
if pose := await calibrate_camera(self.planner):
self.camera_positions.append(pose)
async def after_action(self):
self.planner.shared_properties.disable_fixed_obstacles = self.disable_fixed_obstacles_backup
await actuators.front_arms_close(self.planner)
await actuators.front_lift_down(self.planner)
await actuators.back_arms_close(self.planner)
await actuators.back_lift_down(self.planner)
x = 0
y = 0
z = 0
roll = 0
pitch = 0
yaw = 0
for i, p in enumerate(self.camera_positions):
self.logger.info(
f"Camera position {i: 2d}: X={p.x:.0f} Y={p.y:.0f} Z={p.z:.0f}"
f" Roll={p.roll:.0f} Pitch={p.pitch:.0f} Yaw={p.yaw:.0f}"
)
x += p.x
y += p.y
z += p.z
roll += p.roll
pitch += p.pitch
yaw += p.yaw
if n := len(self.camera_positions):
p = CameraExtrinsicParameters(x=x / n, y=y / n, z=z / n, roll=roll / n, pitch=pitch / n, yaw=yaw / n)
self.logger.info(
f"=> Camera position mean: X={p.x:.0f} Y={p.y:.0f} Z={p.z:.0f}"
f" Roll={p.roll:.0f} Pitch={p.pitch:.0f} Yaw={p.yaw:.0f}"
)
else:
self.logger.warning("No camera position found")
def weight(self) -> float:
return 1000000.0
|