calib_cam_r_cob3-1.py

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#!/usr/bin/python

import time
from random import *

import roslib
roslib.load_manifest('cob_script_server')
import rospy

import tf
from tf.transformations import euler_from_quaternion

import cv
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
from math import *


from simple_script_server import script

class CalibCam(script):

        def Initialize(self):
                self.bridge = CvBridge()
                self.image_sub = rospy.Subscriber("/stereo/right/image_color",Image,self.callback)
                self.cv_image = cv.CreateImage((1,1), 1 , 3)
                self.sss.init("head")
                self.sss.init("torso")
                self.sss.init("sdh")

        def Run(self):
                print "start"
                seed()
                maxVal = 0.04
                file_path = "./"
                listener = tf.TransformListener()
                nr_images = 14

                # move components to initial position
                self.sss.move("head","back")
                self.sss.move("arm","calib")
                self.sss.move("torso","home")
                self.sss.move("sdh","home")

                self.sss.wait_for_input()
                self.sss.move("sdh","calib")
                self.sss.wait_for_input()

                # start calbration routine
                for i in range(1,nr_images):
                        if i==1:
                                r1 = maxVal
                                r2 = maxVal
                        elif i==2:
                                r1 = -maxVal
                                r2 = maxVal
                        elif i==3:
                                r1 = maxVal
                                r2 = -maxVal
                        elif i==4:
                                r1 = -maxVal
                                r2 = -maxVal
                        else:   
                                r1 = (random()-0.5)*2*maxVal;
                                r2 = (random()-0.5)*2*maxVal;
                        self.sss.move("torso",[[r1,r2,r1,r2]])
                        self.sss.sleep(1)
                        try:
                                (trans,rot) = listener.lookupTransform('/base_link', '/head_color_camera_r_link', rospy.Time(0))
                                rpy = euler_from_quaternion(rot)
                                cyaw = cos(rpy[2])
                                syaw = sin(rpy[2])
                                cpitch = cos(rpy[1])
                                spitch = sin(rpy[1])
                                croll = cos(rpy[0])
                                sroll = sin(rpy[0])
                                R11 = cyaw*cpitch
                                R12 = cyaw*spitch*sroll-syaw*croll
                                R13 = cyaw*spitch*croll+syaw*sroll
                                R21 = syaw*cpitch
                                R22 = syaw*spitch*sroll+cyaw*croll
                                R23 = syaw*spitch*croll-cyaw*sroll
                                R31 = -spitch
                                R32 = cpitch*sroll
                                R33 = cpitch*croll
                                fout = open(file_path+'calpic'+str(i)+'.coords','w')
                                fout.write(str(R11)+' '+str(R12)+' '+str(R13)+' '+str(trans[0]*1000)+'\n'+str(R21)+' '+str(R22)+' '+str(R23)+' '+str(trans[1]*1000)+'\n'+str(R31)+' '+str(R32)+' '+str(R33)+' '+str(trans[2]*1000))
                                fout.close()
                        except (tf.LookupException, tf.ConnectivityException):
                                print "tf exception"

                        self.sss.sleep(1)
                        cv.SaveImage(file_path+'calpic'+str(i)+'.png',self.cv_image)
                        self.sss.sleep(1)
                self.sss.move("torso","home")
                print "finished"
                
        def callback(self,data):
                try:
                        self.cv_image = self.bridge.imgmsg_to_cv(data, "bgr8")
                except CvBridgeError, e:
                        print e
                
if __name__ == "__main__":
        SCRIPT = CalibCam()
        SCRIPT.Start()

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cob_script_server
Author(s): Florian Weisshardt
autogenerated on Fri Jan 11 09:35:33 2013