00001 # Software License Agreement (BSD License) 00002 # 00003 # Copyright (c) 2008, Willow Garage, Inc. 00004 # All rights reserved. 00005 # 00006 # Redistribution and use in source and binary forms, with or without 00007 # modification, are permitted provided that the following conditions 00008 # are met: 00009 # 00010 # * Redistributions of source code must retain the above copyright 00011 # notice, this list of conditions and the following disclaimer. 00012 # * Redistributions in binary form must reproduce the above 00013 # copyright notice, this list of conditions and the following 00014 # disclaimer in the documentation and/or other materials provided 00015 # with the distribution. 00016 # * Neither the name of Willow Garage, Inc. nor the names of its 00017 # contributors may be used to endorse or promote products derived 00018 # from this software without specific prior written permission. 00019 # 00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 # 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 # POSSIBILITY OF SUCH DAMAGE. 00032 00033 import numpy 00034 from numpy import matrix, vsplit, sin, cos, reshape 00035 import rospy 00036 00037 param_names = ['spacing_x', 'spacing_y'] 00038 00039 class Checkerboard: 00040 ''' 00041 Primitive for generating 3D points of a checkerboard. 00042 ''' 00043 00044 # Dictionary with four elems 00045 # num_x: number of internal corners along x axis (Not configurable) 00046 # num_y: number of internal corners along y axis (Not configurable) 00047 # width_x: spacing between corners along x direction 00048 # width_y: spacing between corners along y direction 00049 def __init__(self, config = {'corners_x': 2, 00050 'corners_y': 2, 00051 'spacing_x': .10, 00052 'spacing_y': .10} ): 00053 rospy.logdebug('Initializing Checkerboard') 00054 self._corners_x = config['corners_x'] 00055 self._corners_y = config['corners_y'] 00056 00057 param_vec = reshape( matrix([ config['spacing_x'], config['spacing_y'] ], float), (-1,1)) 00058 self.inflate(param_vec) 00059 00060 def calc_free(self, free_config): 00061 return [free_config[x] == 1 for x in param_names] 00062 00063 def params_to_config(self, param_vec): 00064 return { 'corners_x' : self._corners_x, 00065 'corners_y' : self._corners_y, 00066 'spacing_x' : float(param_vec[0,0]), 00067 'spacing_y' : float(param_vec[1,0]) } 00068 00069 # Convert column vector of params into config 00070 def inflate(self, param_vec): 00071 self._spacing_x = param_vec[0,0] 00072 self._spacing_y = param_vec[1,0] 00073 00074 # Return column vector of config 00075 def deflate(self): 00076 param_vec = reshape(matrix( [self._spacing_x, self._spacing_y], float ), (-1,1)) 00077 return param_vec 00078 00079 # Returns # of params needed for inflation & deflation 00080 def get_length(self): 00081 return len(param_names) 00082 00083 # Generate the 3D points associated with all the corners of the checkerboard 00084 # returns - 4xN numpy matrix with all the points (in homogenous coords) 00085 def generate_points(self): 00086 N = self._corners_x * self._corners_y 00087 pts = matrix(numpy.zeros((4,N), float)) 00088 for y in range(0,self._corners_y): 00089 for x in range(0,self._corners_x): 00090 n = y*self._corners_x + x 00091 pts[:,n] = numpy.matrix([ [x * self._spacing_x], 00092 [y * self._spacing_y], 00093 [0], 00094 [1] ]) 00095 return pts 00096