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import rospy
import cv2
import math
import cv_bridge
import numpy as np
import message_filters
from sensor_msgs.msg import Image
from darknet_ros_msgs.msg import BoundingBoxes
from darknet_ros_msgs.msg import ObjectCount
import message_filters
from cv_bridge import CvBridge, CvBridgeError
def find_pose(contour, flag):
mu = cv2.moments(contour, flag)
x = mu['m10'] / mu['m00']
y = mu['m01'] / mu['m00']
a = mu['m20'] / mu['m00'] - x * x
b = mu['m11'] / mu['m00'] - x * y
c = mu['m02'] / mu['m00'] - y * y
Angle = math.atan2(2 * b, (a - c)) / 2
return x, y, Angle
def draw_grasp_line(image2, w, h, x, y, ang):
h = 1.3 * h
ver_ang = (90 - abs(ang)) * math.pi / 180
if w < h:
w, h = h, w
sin_ver_ang = math.sin(ver_ang)
cos_ver_ang = math.cos(ver_ang)
if ang < 0:
A_x = int(x - cos_ver_ang * h / 2)
B_x = int(x + cos_ver_ang * h / 2)
A_y = int(y + sin_ver_ang * h / 2)
B_y = int(y - sin_ver_ang * h / 2)
else:
A_x = int(x - cos_ver_ang * h / 2)
B_x = int(x + cos_ver_ang * h / 2)
A_y = int(y - sin_ver_ang * h / 2)
B_y = int(y + sin_ver_ang * h / 2)
A = (A_x, A_y)
B = (B_x, B_y)
cv2.line(image2, A, B, (0, 0, 255), 5, 8)
return
def img_proc(image, position_list):
img_proc_list = []
for i in range(len(position_list)):
img = image[position_list[i][2]:position_list[i][4],position_list[i][1]: position_list[i][3]]
img2 = cv2.GaussianBlur(img, (3, 3), 0)
img3 = cv2.cvtColor(img2, cv2.COLOR_BGR2GRAY)
retval, img4 = cv2.threshold(img3, 232, 255, cv2.THRESH_BINARY_INV)
binary,contours, hierarchy = cv2.findContours(img4, cv2.RETR_TREE, cv2.CHAIN_APPROX_NONE)
n = len(contours)
contours_area = []
for j in range(len(contours)):
contours_area.append(cv2.contourArea(contours[j]))
max_id = np.argmax(np.array(contours_area))
cv2.drawContours(img, contours, max_id, (0, 255, 0), 3)
center_x, center_y, angle = find_pose(contours[max_id], False)
inverse_angle2 = -round(angle * 180 / math.pi, 1)
int_center_x = int(center_x)
int_center_y = int(center_y)
cv2.circle(img, (int_center_x, int_center_y), 5, (0, 0, 255), -1)
min_rect = cv2.minAreaRect(contours[max_id])
min_rect_height = int(min_rect[1][1])
min_rect_width = int(min_rect[1][0])
draw_grasp_line(img, min_rect_width, min_rect_height, int_center_x, int_center_y, inverse_angle2)
int_center_x = int_center_x + int(position_list[i][1])
int_center_y = int_center_y + int(position_list[i][2])
img_proc_list.append([position_list[i][0], int_center_x, int_center_y, inverse_angle2])
return img_proc_list,image
def multi_callback(subscriber_bounding, subscriber_image):
detected_list=[]
bridge= cv_bridge.CvBridge()
cv_image = bridge.imgmsg_to_cv2(subscriber_image, "bgr8")
frame = np.array(cv_image, dtype=np.uint8)
for i in range(len(subscriber_bounding.bounding_boxes)):
detected_list.append([subscriber_bounding.bounding_boxes[i].Class,subscriber_bounding.bounding_boxes[i].xmin,
subscriber_bounding.bounding_boxes[i].ymin,subscriber_bounding.bounding_boxes[i].xmax,subscriber_bounding.bounding_boxes[i].ymax])
detected_result,detected_image=img_proc(cv_image, detected_list)
ros_image=bridge.cv2_to_imgmsg(detected_image, "bgr8")
image_pub.publish(ros_image)
rospy.loginfo("抓姿已生成！！!")
rospy.loginfo(detected_result)
if __name__ == '__main__':
try:
rospy.init_node("darknet_msgs_proc")
rospy.loginfo("开始测试消息订阅....")
image_pub=rospy.Publisher('/processed_image',Image,queue_size = 1)
subscriber_bounding = message_filters.Subscriber('/darknet_ros/bounding_boxes', BoundingBoxes, queue_size=1)
subscriber_image = message_filters.Subscriber('/camera/color/image_raw', Image,queue_size=1)
sync = message_filters.ApproximateTimeSynchronizer([subscriber_bounding, subscriber_image],10,1)
sync.registerCallback(multi_callback)
rospy.spin()
except KeyboardInterrupt:
print("KeyboardInterrupt")
cv2.destroyAllWindows()
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