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transform.py
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transform.py
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#!/usr/bin/env python
import numpy as np
'''
convert the point in the captured image to point related to the robot base to execute grasp
'''
from robot_grasp.srv import calibration_transform
import rospy
cx=947.266;
cy=577.551; # (cx, cy) is center of image
fx=1068.6277;
fy=1069.2988; # (fx, fy) is focal length
dz=depth=0.713;
# R, image point to camera
Intrinsic_matrix = np.array([[fx, 0, cx],
[0, fy, cy],
[0, 0, 1.0]])
# [R | T], R is the rotation matrix from robot base to camera coordinator, T is the translation vector [dx, dy, dz] and dz # m
Extrinsic_matrix = np.array([[0.05067265, -0.99716277, 0.05566597, -0.52],
-0.99558933, -0.05484203, -0.07611985, -0.59],
0.07895671, -0.05156326, -0.9955436, 0.713],
0, 0, 0, 1]])
def transform(req):
# (xm, ym) is the point on the image, the left-up corner is (0, 0)
xm = req.obj_real_detected_in_cam.pose[0];
ym = req.obj_real_detected_in_cam.pose[1];
Orientation = req.obj_real_detected_in_cam.pose[2];
# calculate the 3-d projected point from 2-d image point
x1 = (xm-cx)*depth/fx;
x2 = (ym-cy)*depth/fy;
projection_point = np.array([x1, x2, depth, 1])
# P_robotBase = T * P_camera
grasp_point = np.dot(Extrinsic_matrix), projection_point)
res_obj_param = []
res_obj_param.append(grasp_point[0])
res_obj_param.append(grasp_point[1])
res_obj_param.append(grasp_point[2])
res_obj_param.append(Orientation)
return res_obj_param;
def main():
rospy.init_node('coordinates_transformer')
s = rospy.Service('transform', calibration_transform, transform)
print "Ready to do transform."
rospy.spin()
if __name__ == "__main__":
main()