From 186e631bdad28807dc28b6693878d956a12a73ca Mon Sep 17 00:00:00 2001 From: Kevin Allen Date: Sat, 11 Nov 2017 20:01:32 -0500 Subject: [PATCH 1/7] SCANTHECODE: use mil_vision color classifier, ground work for database ROI --- .../navigator_vision/config/stc_colors.csv | 48 ++++++++ .../navigator_vision/__init__.py | 1 + .../scan_the_code_classifier.py | 33 ++++++ .../navigator_vision/nodes/scan_the_code.py | 112 ++++++++++++++++++ perception/navigator_vision/setup.py | 2 +- 5 files changed, 195 insertions(+), 1 deletion(-) create mode 100644 perception/navigator_vision/config/stc_colors.csv create mode 100644 perception/navigator_vision/navigator_vision/__init__.py create mode 100755 perception/navigator_vision/navigator_vision/scan_the_code_classifier.py create mode 100755 perception/navigator_vision/nodes/scan_the_code.py diff --git a/perception/navigator_vision/config/stc_colors.csv b/perception/navigator_vision/config/stc_colors.csv new file mode 100644 index 00000000..f35254da --- /dev/null +++ b/perception/navigator_vision/config/stc_colors.csv @@ -0,0 +1,48 @@ +,Class,B,G,R,H,S,V,L,A,B +0,2,169,198,134,76,82,198,191,101,136 +1,3,246,115,132,124,136,246,143,167,64 +2,1,138,125,197,175,93,197,154,158,133 +3,4,173,189,201,17,36,201,197,130,138 +4,2,172,201,135,77,84,201,194,101,136 +5,2,171,200,132,77,87,200,193,100,136 +6,0,142,127,130,126,27,142,138,132,120 +7,0,141,126,129,126,27,141,137,132,120 +8,4,169,204,200,33,44,204,207,121,145 +9,1,110,121,209,3,121,209,154,161,149 +10,3,248,115,105,118,147,248,138,162,60 +11,1,109,122,210,4,123,210,155,161,150 +12,3,246,112,103,118,148,246,135,163,60 +13,1,109,120,210,3,123,210,153,162,149 +14,3,250,109,100,118,153,250,134,166,56 +15,1,112,125,206,4,116,206,155,158,148 +16,3,248,110,102,118,150,248,134,165,58 +17,1,107,118,210,3,125,210,152,163,150 +18,3,246,112,103,118,148,246,135,163,60 +19,3,250,109,98,118,155,250,134,165,56 +20,4,167,199,197,32,41,199,202,122,144 +21,2,145,182,113,74,97,182,176,98,140 +22,0,139,113,115,122,48,139,124,135,114 +23,2,143,178,113,74,93,178,172,99,139 +24,0,138,113,115,122,46,138,124,134,115 +25,2,148,177,117,76,86,177,172,102,137 +26,0,141,116,118,122,45,141,127,134,115 +27,2,151,181,119,75,87,181,176,101,137 +28,0,140,114,116,122,47,140,125,134,114 +29,4,135,156,173,17,56,173,167,131,141 +30,0,140,114,116,122,47,140,125,134,114 +31,4,134,151,165,16,48,165,161,130,139 +32,0,141,115,117,122,47,141,126,134,114 +33,4,134,156,171,18,55,171,166,130,142 +34,0,141,115,117,122,47,141,126,134,114 +35,4,136,160,177,18,59,177,170,130,143 +36,0,140,114,116,122,47,140,125,134,114 +37,4,134,154,170,17,54,170,165,131,141 +38,0,141,115,117,122,47,141,126,134,114 +39,4,134,156,173,17,57,173,167,131,142 +40,4,133,158,174,18,60,174,168,130,143 +41,4,129,150,164,18,54,164,160,130,141 +42,4,136,154,168,17,49,168,164,130,139 +43,4,135,154,169,17,51,169,164,130,140 +44,4,129,159,174,20,66,174,168,129,146 +45,4,134,159,175,18,60,175,169,130,143 +46,4,132,154,171,17,58,171,165,131,142 diff --git a/perception/navigator_vision/navigator_vision/__init__.py b/perception/navigator_vision/navigator_vision/__init__.py new file mode 100644 index 00000000..3aa041de --- /dev/null +++ b/perception/navigator_vision/navigator_vision/__init__.py @@ -0,0 +1 @@ +from scan_the_code_classifier import ScanTheCodeClassifier diff --git a/perception/navigator_vision/navigator_vision/scan_the_code_classifier.py b/perception/navigator_vision/navigator_vision/scan_the_code_classifier.py new file mode 100755 index 00000000..dfe2683d --- /dev/null +++ b/perception/navigator_vision/navigator_vision/scan_the_code_classifier.py @@ -0,0 +1,33 @@ +#!/usr/bin/env python +from mil_vision_tools import GaussianColorClassifier +from rospkg import RosPack +import os + + +class ScanTheCodeClassifier(GaussianColorClassifier): + CLASSES = ['stc_off', 'stc_red', 'stc_green', 'stc_blue', 'stc_yellow'] + + def __init__(self): + rospack = RosPack() + path = rospack.get_path('navigator_vision') + self.features_file = os.path.join(path, 'config/stc_colors.csv') + super(ScanTheCodeClassifier, self).__init__(ScanTheCodeClassifier.CLASSES) + + def train_from_csv(self): + return super(ScanTheCodeClassifier, self).train_from_csv(self.features_file) + + def save_csv(self, features, classes): + return super(ScanTheCodeClassifier, self).save_csv(features, classes, filename=self.features_file) + + +if __name__ == '__main__': + ''' + When run as an executable, saves the training features to a csv file + 2 arguemnts: labelbox.io labelfile, and image directory + ''' + import sys + labelfile = sys.argv[1] + image_dir = sys.argv[2] + s = ScanTheCodeClassifier() + features, classes = s.extract_labels(labelfile, image_dir) + s.save_csv(features, classes) diff --git a/perception/navigator_vision/nodes/scan_the_code.py b/perception/navigator_vision/nodes/scan_the_code.py new file mode 100755 index 00000000..86f08990 --- /dev/null +++ b/perception/navigator_vision/nodes/scan_the_code.py @@ -0,0 +1,112 @@ +#!/usr/bin/env python +import rospy +import cv2 +import numpy as np +from mil_ros_tools import Image_Subscriber, Image_Publisher +from mil_vision_tools import auto_canny, RectFinder, ImageMux, contour_mask, putText_ul +from collections import deque +from navigator_vision import ScanTheCodeClassifier + + +class ScanTheCodePerception(object): + LED_HEIGHT = 0.38608 + LED_WIDTH = 0.19304 + + def __init__(self): + self.init = False + self.img = None + self.get_params() + self.rect_finder = RectFinder(self.LED_HEIGHT, self.LED_WIDTH) + self.sub = Image_Subscriber(self.image_topic, self.img_cb) + info = self.sub.wait_for_camera_info() + if self.debug: + self.debug_pub = Image_Publisher('~debug_image') + res = 2 + self.image_mux = ImageMux(size=(info.height * res, info.width * res), shape=(2, 2), + labels=['Original', 'Blur', 'Contours', 'Classification']) + self.classification_list = deque() # "DECK - AH - WAY - WAY" + self.init = True + + def get_params(self): + ''' + Set several constants used for image processing and classification + from ROS params for runtime configurability. + ''' + self.debug = rospy.get_param('~debug', True) + self.image_topic = rospy.get_param('~image_topic', '/camera/seecam/image_rect_color') + self.min_contour_area = rospy.get_param('~min_contour_area', 50) + self.filter_d = rospy.get_param('filter_d', 5) + self.filter_sigma = rospy.get_param('filter_sigma', 50) + self.classifier = ScanTheCodeClassifier() + self.classifier.train_from_csv() + self.roi = (slice(200, 700), slice(750, 1000)) # (slice(miny, maxy), slice(minx, maxx)), for stc2.bag + + def get_stc_mask(self, img): + gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY) + # blured = cv2.bilateralFilter(gray, self.filter_d, self.filter_sigma, self.filter_sigma) + blured = cv2.GaussianBlur(gray, (5, 5), 0) + blured = blured[self.roi] + edges = auto_canny(blured, sigma=0.8) + + if self.debug: + self.image_mux[1] = blured + self.image_mux[2] = edges + c, contours, hierarchy = cv2.findContours(edges, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE) + + filtered_contours = filter(lambda c: cv2.contourArea(c) > self.min_contour_area, contours) + if len(filtered_contours) == 0: + print 'none after area fiter' + return None + + matches = map(self.rect_finder.verify_contour, filtered_contours) + matches_sorted_index = np.argsort(matches) + print 'best', matches[matches_sorted_index[0]] + if matches[matches_sorted_index[0]] > 1.0: + print 'no good rectangle' + return None + sorted_matches = np.array(matches)[matches_sorted_index] + match = None + for i in sorted_matches: + pts = self.rect_finder.get_corners(i, epsilon_range=(0.01, 0.05)) + if pts is None: + continue + _, _, width, height = cv2.boundingRect(pts) + # STC is always upright + ratio = float(height) / width + # print 'ratio ', ratio + if ratio < 1 or ratio > 5: + continue + match = i + break + return match + + def img_cb(self, img): + if not self.init: + return + self.image_mux[0] = img + match = self.get_stc_mask(img) + if match is not None: + debug = contour_mask(match, img_shape=img.shape) + prediction = self.classifier.classify(img, debug) + label = self.classifier.CLASSES[prediction] + symbol = label[0] + if len(self.classification_list) == 0 or self.classification_list[-1] != symbol: + if len(self.classification_list) >= 5: + self.classification_list.popleft() + self.classification_list.append(symbol) + text = label + ' | ' + ''.join(self.classification_list) + scale = 3 + thickness = 2 + (text_width, text_height), _ = cv2.getTextSize(text, cv2.FONT_HERSHEY_COMPLEX_SMALL, scale, thickness) + putText_ul(debug, text, fontScale=scale, thicknesss=thickness) + debug = cv2.bitwise_or(img, img, mask=debug) + if self.debug: + self.image_mux[3] = debug + if self.debug: + self.debug_pub.publish(self.image_mux()) + + +if __name__ == '__main__': + rospy.init_node('scan_the_code_perception') + s = ScanTheCodePerception() + rospy.spin() diff --git a/perception/navigator_vision/setup.py b/perception/navigator_vision/setup.py index c311a2fd..ecb7b4db 100644 --- a/perception/navigator_vision/setup.py +++ b/perception/navigator_vision/setup.py @@ -5,7 +5,7 @@ # fetch values from package.xml setup_args = generate_distutils_setup( - packages=['object_classification'], + packages=['navigator_vision'], ) setup(**setup_args) From 9d410b6874d1b7e342a397130529128a98da89ec Mon Sep 17 00:00:00 2001 From: Kevin Allen Date: Wed, 25 Apr 2018 15:40:53 -0400 Subject: [PATCH 2/7] SCAN THE CODE: get region of interest from PCODAR database --- .../navigator_vision/nodes/scan_the_code.py | 64 +++++++++++++++---- 1 file changed, 52 insertions(+), 12 deletions(-) diff --git a/perception/navigator_vision/nodes/scan_the_code.py b/perception/navigator_vision/nodes/scan_the_code.py index 86f08990..347625bd 100755 --- a/perception/navigator_vision/nodes/scan_the_code.py +++ b/perception/navigator_vision/nodes/scan_the_code.py @@ -2,10 +2,13 @@ import rospy import cv2 import numpy as np -from mil_ros_tools import Image_Subscriber, Image_Publisher -from mil_vision_tools import auto_canny, RectFinder, ImageMux, contour_mask, putText_ul +from mil_ros_tools import Image_Subscriber, Image_Publisher, rosmsg_to_numpy +from mil_vision_tools import auto_canny, RectFinder, ImageMux, contour_mask, putText_ul, roi_enclosing_points from collections import deque from navigator_vision import ScanTheCodeClassifier +from mil_msgs.srv import ObjectDBQuery, ObjectDBQueryRequest +import tf +from image_geometry import PinholeCameraModel class ScanTheCodePerception(object): @@ -13,19 +16,25 @@ class ScanTheCodePerception(object): LED_WIDTH = 0.19304 def __init__(self): - self.init = False + self.enabled = False + self.tf_listener = tf.TransformListener() + self.roi = None self.img = None self.get_params() self.rect_finder = RectFinder(self.LED_HEIGHT, self.LED_WIDTH) + self.db_service = rospy.ServiceProxy('/database/requests', ObjectDBQuery) self.sub = Image_Subscriber(self.image_topic, self.img_cb) info = self.sub.wait_for_camera_info() + self.camera_model = PinholeCameraModel() + self.camera_model.fromCameraInfo(info) if self.debug: self.debug_pub = Image_Publisher('~debug_image') res = 2 self.image_mux = ImageMux(size=(info.height * res, info.width * res), shape=(2, 2), labels=['Original', 'Blur', 'Contours', 'Classification']) self.classification_list = deque() # "DECK - AH - WAY - WAY" - self.init = True + self.enabled = True + rospy.Timer(rospy.Duration(0.25), self.update_roi) def get_params(self): ''' @@ -39,18 +48,46 @@ def get_params(self): self.filter_sigma = rospy.get_param('filter_sigma', 50) self.classifier = ScanTheCodeClassifier() self.classifier.train_from_csv() - self.roi = (slice(200, 700), slice(750, 1000)) # (slice(miny, maxy), slice(minx, maxx)), for stc2.bag + + def update_roi(self, timer_obj): + ''' + Update the region of interest where the LED panel os + ''' + if not self.enabled: # Ignore if not enabled + return + # Get points from database + try: + res = self.db_service(ObjectDBQueryRequest(name='stc')) + except rospy.ServiceException as e: + rospy.logwarn('Database service error: {}'.format(e)) + return + if not res.found: + rospy.logwarn('Scan the code object not found') + return + obj = res.objects[0] + + # Get transform + try: + (trans, rot) = self.tf_listener.lookupTransform(self.camera_model.tfFrame(), + obj.header.frame_id, rospy.Time(0)) + except tf.Exception as e: + rospy.logwarn('TF error betwen {} and {}: {}'.format(self.camera_model.tfFrame(), obj.header.frame_id, e)) + return + P = np.array(trans) + R = tf.transformations.quaternion_matrix(rot)[:3, :3] + points = rosmsg_to_numpy(obj.points) + points_transformed = P + (R.dot(points.T)).T + self.roi = roi_enclosing_points(self.camera_model, points_transformed) def get_stc_mask(self, img): - gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY) - # blured = cv2.bilateralFilter(gray, self.filter_d, self.filter_sigma, self.filter_sigma) - blured = cv2.GaussianBlur(gray, (5, 5), 0) - blured = blured[self.roi] - edges = auto_canny(blured, sigma=0.8) + # gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY) + blur = cv2.bilateralFilter(img[self.roi], 9, 75, 75) + edges = auto_canny(blur, sigma=0.5) if self.debug: - self.image_mux[1] = blured + self.image_mux[1] = blur self.image_mux[2] = edges + return None c, contours, hierarchy = cv2.findContours(edges, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE) filtered_contours = filter(lambda c: cv2.contourArea(c) > self.min_contour_area, contours) @@ -81,7 +118,10 @@ def get_stc_mask(self, img): return match def img_cb(self, img): - if not self.init: + if not self.enabled: + return + if self.roi is None: + rospy.logwarn_throttle(1.0, 'no roi') return self.image_mux[0] = img match = self.get_stc_mask(img) From e03f75a583269704f264a187bb27a793f24ded79 Mon Sep 17 00:00:00 2001 From: Kevin Allen Date: Wed, 25 Apr 2018 15:51:17 -0400 Subject: [PATCH 3/7] SCAN THE CODE: add stc dataset and label files --- .../navigator_vision/config/stc_datasets.yaml | 20 +++++++++++++++++++ .../navigator_vision/config/stc_labels.json | 1 + 2 files changed, 21 insertions(+) create mode 100644 perception/navigator_vision/config/stc_datasets.yaml create mode 100644 perception/navigator_vision/config/stc_labels.json diff --git a/perception/navigator_vision/config/stc_datasets.yaml b/perception/navigator_vision/config/stc_datasets.yaml new file mode 100644 index 00000000..3707962e --- /dev/null +++ b/perception/navigator_vision/config/stc_datasets.yaml @@ -0,0 +1,20 @@ +# Defines one labeling project +datasets: + - name: navigator_stc_seecam + sources: + - file: stc.bag # bag file name. Will be resolved relative to bag dir set in yaml of cli argument + topic: /camera/seecam/image_raw # Topic in bag to extract images from + encoding: rect_color # How to process image if needed, can be mono, rect, color, or rect_color + freq: 0.5 # Number of images to extract per second of bag time + - file: stc_closer.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.5 + - file: scanthecode.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.05 + - file: stc2.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.5 diff --git a/perception/navigator_vision/config/stc_labels.json b/perception/navigator_vision/config/stc_labels.json new file mode 100644 index 00000000..c00caf28 --- /dev/null +++ b/perception/navigator_vision/config/stc_labels.json @@ -0,0 +1 @@ +[{"ID":"cjew08slx5hk90148ltpvgp30","Labeled 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a806d0aa0400f01e88b836a3d0d6815c487e1968 Mon Sep 17 00:00:00 2001 From: Kevin Allen Date: Sat, 28 Apr 2018 16:48:04 -0400 Subject: [PATCH 4/7] SCAN THE CODE: refactor classifier using base class main function --- .../{stc_datasets.yaml => stc/datasets.yaml} | 0 .../{stc_labels.json => stc/labels.json} | 0 .../{stc_colors.csv => stc/training.csv} | 0 .../scan_the_code_classifier.py | 20 ++++++------------- 4 files changed, 6 insertions(+), 14 deletions(-) rename perception/navigator_vision/config/{stc_datasets.yaml => stc/datasets.yaml} (100%) rename perception/navigator_vision/config/{stc_labels.json => stc/labels.json} (100%) rename perception/navigator_vision/config/{stc_colors.csv => stc/training.csv} (100%) diff --git a/perception/navigator_vision/config/stc_datasets.yaml b/perception/navigator_vision/config/stc/datasets.yaml similarity index 100% rename from perception/navigator_vision/config/stc_datasets.yaml rename to perception/navigator_vision/config/stc/datasets.yaml diff --git a/perception/navigator_vision/config/stc_labels.json b/perception/navigator_vision/config/stc/labels.json similarity index 100% rename from perception/navigator_vision/config/stc_labels.json rename to perception/navigator_vision/config/stc/labels.json diff --git a/perception/navigator_vision/config/stc_colors.csv b/perception/navigator_vision/config/stc/training.csv similarity index 100% rename from perception/navigator_vision/config/stc_colors.csv rename to perception/navigator_vision/config/stc/training.csv diff --git a/perception/navigator_vision/navigator_vision/scan_the_code_classifier.py b/perception/navigator_vision/navigator_vision/scan_the_code_classifier.py index dfe2683d..34f223ab 100755 --- a/perception/navigator_vision/navigator_vision/scan_the_code_classifier.py +++ b/perception/navigator_vision/navigator_vision/scan_the_code_classifier.py @@ -10,24 +10,16 @@ class ScanTheCodeClassifier(GaussianColorClassifier): def __init__(self): rospack = RosPack() path = rospack.get_path('navigator_vision') - self.features_file = os.path.join(path, 'config/stc_colors.csv') - super(ScanTheCodeClassifier, self).__init__(ScanTheCodeClassifier.CLASSES) - - def train_from_csv(self): - return super(ScanTheCodeClassifier, self).train_from_csv(self.features_file) - - def save_csv(self, features, classes): - return super(ScanTheCodeClassifier, self).save_csv(features, classes, filename=self.features_file) + training_file = os.path.join(path, 'config/stc/training.csv') + labelfile = os.path.join(path, 'config/stc/labels.json') + super(ScanTheCodeClassifier, self).__init__(ScanTheCodeClassifier.CLASSES, + training_file=training_file, labelfile=labelfile) if __name__ == '__main__': ''' - When run as an executable, saves the training features to a csv file - 2 arguemnts: labelbox.io labelfile, and image directory + Can be run as executable to extract features or check accuracy score ''' import sys - labelfile = sys.argv[1] - image_dir = sys.argv[2] s = ScanTheCodeClassifier() - features, classes = s.extract_labels(labelfile, image_dir) - s.save_csv(features, classes) + s.main(sys.argv[1:]) From ae733d3827a791b126dcd2d4fc0ad137818c5def Mon Sep 17 00:00:00 2001 From: Kevin Allen Date: Sat, 28 Apr 2018 16:51:14 -0400 Subject: [PATCH 5/7] TOTEMS COLOR: add totems color classifier --- .../config/totems_color/datasets.yaml | 68 +++++++++ .../config/totems_color/labels.json | 1 + .../config/totems_color/training.csv | 133 ++++++++++++++++++ .../totems_color_classifier.py | 25 ++++ 4 files changed, 227 insertions(+) create mode 100644 perception/navigator_vision/config/totems_color/datasets.yaml create mode 100644 perception/navigator_vision/config/totems_color/labels.json create mode 100644 perception/navigator_vision/config/totems_color/training.csv create mode 100755 perception/navigator_vision/navigator_vision/totems_color_classifier.py diff --git a/perception/navigator_vision/config/totems_color/datasets.yaml b/perception/navigator_vision/config/totems_color/datasets.yaml new file mode 100644 index 00000000..a83a696f --- /dev/null +++ b/perception/navigator_vision/config/totems_color/datasets.yaml @@ -0,0 +1,68 @@ +# Defines one labeling project +datasets: + - name: navigator_totems_color_seecam + sources: + - file: 2018-02-18/blue_totem_bright.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.5 + - file: 2018-02-18/red_totem_bright.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.5 + - file: 2018-02-18/yellow_totem_bright.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.5 + - file: 2018-02-18/white_totem_bright.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.5 + - file: 2018-03-18/greentotem.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.2 + - file: 2018-03-18/redtotem.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 2.0 + - file: 2018-03-18/whitetotem.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.25 + - file: 2018-02-04/greentotem.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.2 + - file: 2018-02-04/bluetotem.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.3 + - file: 2018-02-04/blue_totem_cloudy.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.8 + - file: 2018-02-04/green_totem_cloudy.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.5 + - file: 2018-02-04/red_totem_cloudy.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.5 + - file: 2018-02-04/yellow_totem_cloudy.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.75 + - file: 2018-02-04/yellowtotem.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.3 + - file: 2018-02-04/white_totem_cloudy.bag + topic: /camera/seecam/image_raw + encoding: rect_color + freq: 0.75 + - file: 2018-02-04/whitetotem.bag + topic: 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+126,0,227,218,231,159,14,231,225,134,125 +127,4,83,182,207,24,153,207,190,125,181 +128,0,222,214,225,158,12,225,221,133,125 +129,4,86,184,210,24,151,210,192,126,180 +130,0,226,219,228,157,10,228,225,132,126 +131,4,82,183,210,24,155,210,191,126,182 diff --git a/perception/navigator_vision/navigator_vision/totems_color_classifier.py b/perception/navigator_vision/navigator_vision/totems_color_classifier.py new file mode 100755 index 00000000..47f5418b --- /dev/null +++ b/perception/navigator_vision/navigator_vision/totems_color_classifier.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python +from mil_vision_tools import GaussianColorClassifier +from rospkg import RosPack +import os + + +class TotemsColorClassifier(GaussianColorClassifier): + CLASSES = ['{}_totem'.format(color) for color in ['white', 'red', 'green', 'blue', 'yellow']] + + def __init__(self): + rospack = RosPack() + path = rospack.get_path('navigator_vision') + training_file = os.path.join(path, 'config/totems_color/training.csv') + labelfile = os.path.join(path, 'config/totems_color/labels.json') + super(TotemsColorClassifier, self).__init__(self.CLASSES, + training_file=training_file, labelfile=labelfile) + + +if __name__ == '__main__': + ''' + Can be run as executable to extract features or check accuracy score + ''' + import sys + c = TotemsColorClassifier() + c.main(sys.argv[1:]) From dbe44806416deae6c59d4d2ec8aae651b951f133 Mon Sep 17 00:00:00 2001 From: Kevin Allen Date: Sat, 28 Apr 2018 19:51:31 -0400 Subject: [PATCH 6/7] TOTEMS COLOR: initial work on totems color node --- .../navigator_vision/__init__.py | 1 + .../navigator_vision/nodes/totems_color.py | 99 +++++++++++++++++++ 2 files changed, 100 insertions(+) create mode 100755 perception/navigator_vision/nodes/totems_color.py diff --git a/perception/navigator_vision/navigator_vision/__init__.py b/perception/navigator_vision/navigator_vision/__init__.py index 3aa041de..76ad57b2 100644 --- a/perception/navigator_vision/navigator_vision/__init__.py +++ b/perception/navigator_vision/navigator_vision/__init__.py @@ -1 +1,2 @@ from scan_the_code_classifier import ScanTheCodeClassifier +from totems_color_classifier import TotemsColorClassifier diff --git a/perception/navigator_vision/nodes/totems_color.py b/perception/navigator_vision/nodes/totems_color.py new file mode 100755 index 00000000..22756aea --- /dev/null +++ b/perception/navigator_vision/nodes/totems_color.py @@ -0,0 +1,99 @@ +#!/usr/bin/env python +import rospy +from navigator_vision import TotemsColorClassifier +from mil_msgs.srv import ObjectDBQuery, ObjectDBQueryRequest +from mil_ros_tools import Image_Subscriber, Image_Publisher, rosmsg_to_numpy +from mil_vision_tools import roi_enclosing_points, rect_from_roi +import numpy as np +import tf +import cv2 + + +class Totem(object): + ''' + Keeps track of one totem's cumulative probabilities + ''' + def __init__(self): + self.net_probabilities = np.zeros(len(TotemsColorClassifier.CLASSES), dtype=np.float64) + + def add_sample(self, probabilities): + self.net_probabilities += probabilities + + def classify(self): + return np.argmax(self.net_probabilities) + + +class TotemsColorClassifierNode(object): + def __init__(self): + self.enabled = False + self.db_proxy = rospy.ServiceProxy('/database/requests', ObjectDBQuery) + self.debug_pub = Image_Publisher('~debug_image') + self.image_sub = Image_Subscriber('/camera/seecam/image_rect_color', callback=self.img_cb) + self.camera_model = self.image_sub.wait_for_camera_model() + self.totems = {} # Will map totem ID to + self.objects = {} + self.classifier = TotemsColorClassifier() + self.classifier.train_from_csv() + self.tf_listener = tf.TransformListener() + self.enabled = True + rospy.Timer(rospy.Duration(1.0), self.update_objects) + + def update_objects(self, timer): + try: + objects = self.db_proxy(ObjectDBQueryRequest(name='totem')) + except rospy.ServiceException as e: + rospy.logwarn('Error requesting totem from database: {}'.format(e)) + return + if not objects.found: + rospy.logwarn('No totem objects found') + return + for totem in objects.objects: + self.objects[totem.id] = rosmsg_to_numpy(totem.points) + + @staticmethod + def _errode_roi(rect): + centerx = (rect[0][0] + rect[1][0]) / 2 + centery = (rect[0][1] + rect[1][1]) / 2 + width = 10 + height = 20 + return ((centerx - width, centery - height), (centerx + width, centery + height)) # noqa + + def img_cb(self, img): + if not self.enabled: + return False + try: + self.tf_listener.waitForTransform(self.camera_model.tfFrame(), 'enu', self.image_sub.last_image_time, + rospy.Duration(1.0)) + (trans, rot) = self.tf_listener.lookupTransform(self.camera_model.tfFrame(), 'enu', + self.image_sub.last_image_time) + except tf.Exception as e: + rospy.logwarn('TF error: {}'.format(e)) + return + P = np.array(trans) + R = tf.transformations.quaternion_matrix(rot)[:3, :3] + debug = np.zeros_like(img) + for idx in self.objects: + mask = np.zeros((img.shape[0], img.shape[1]), dtype=img.dtype) + points_transformed = P + (R.dot(self.objects[idx].T)).T + roi = roi_enclosing_points(self.camera_model, points_transformed) + if roi is None: + rospy.logwarn('No points for totem {}'.format(idx)) + continue + rect = rect_from_roi(roi) + rect = ((rect[0][0], rect[0][1] + 50), (rect[0][0] + 10, rect[1][1])) # Hard coded for testing + cv2.rectangle(mask, rect[0], rect[1], (255, 255, 255), -1) + probabilities = self.classifier.probabilities(img, mask) + if idx not in self.totems: + self.totems[idx] = Totem() + self.totems[idx].add_sample(probabilities[0]) + debug = cv2.bitwise_or(img, debug, mask=mask) + for idx in self.totems: + classification = self.totems[idx].classify() + print '{} is {}'.format(idx, self.classifier.class_to_string(classification)) + self.debug_pub.publish(debug) + + +if __name__ == '__main__': + rospy.init_node('totem_color_classifier') + TotemsColorClassifierNode() + rospy.spin() From eb60fd8b54d6fd9f44e2dc0b66c03881bbdb04b5 Mon Sep 17 00:00:00 2001 From: Kevin Allen Date: Wed, 2 May 2018 10:18:29 -0400 Subject: [PATCH 7/7] PERCEPTION: update stc datasets to be relative to fileserver --- perception/navigator_vision/config/stc/datasets.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/navigator_vision/config/stc/datasets.yaml b/perception/navigator_vision/config/stc/datasets.yaml index 3707962e..c11a50ff 100644 --- a/perception/navigator_vision/config/stc/datasets.yaml +++ b/perception/navigator_vision/config/stc/datasets.yaml @@ -2,19 +2,19 @@ datasets: - name: navigator_stc_seecam sources: - - file: stc.bag # bag file name. Will be resolved relative to bag dir set in yaml of cli argument + - file: 2018-02-18/stc.bag # bag file name. Will be resolved relative to bag dir set in yaml of cli argument topic: /camera/seecam/image_raw # Topic in bag to extract images from encoding: rect_color # How to process image if needed, can be mono, rect, color, or rect_color freq: 0.5 # Number of images to extract per second of bag time - - file: stc_closer.bag + - file: 2018-02-04/stc_closer.bag topic: /camera/seecam/image_raw encoding: rect_color freq: 0.5 - - file: scanthecode.bag + - file: 2018-02-04/scanthecode.bag topic: /camera/seecam/image_raw encoding: rect_color freq: 0.05 - - file: stc2.bag + - file: 2018-02-18/stc2.bag topic: /camera/seecam/image_raw encoding: rect_color freq: 0.5