diff --git a/README.md b/README.md index 466479e..e1ff069 100644 --- a/README.md +++ b/README.md @@ -36,6 +36,21 @@ emio.printStatus() # Print the status of the robot emio.disconnect() # Close the connection to the robot ``` +### UDP Bridge +To use the UDP bridge, you can directly call the tool: + +```bash +python -m emioapi startUDP +``` + +This will start a UDP bridge that will listen and send data according to the parameters in file [`emioapi/udp_bridge/udp_bridge_params.py`](./emioapi/udp_bridge/udp_bridge_params.py) + +You also have options that you can set at the call. List them using: +```bash +python -m emioapi startUDP -h +``` + + ## For Developers The documentation is generated using [pydoc-markdown](https://pypi.org/project/pydoc-markdown/). To generate the documentation, you need to install `pydoc-markdown`: diff --git a/emioapi/__main__.py b/emioapi/__main__.py index 9507c7c..1a3d874 100644 --- a/emioapi/__main__.py +++ b/emioapi/__main__.py @@ -1,12 +1,37 @@ -import emioapi -import sys +""" +## Emio API Tools -from emioapi._logging_config import logger +This module provides command-line tools for working with Emio devices, including camera +calibration and starting a UDP bridge for real-time communication between the Emio robot +and a remote host (e.g., Simulink). + +To use these tools, run the following command in your terminal: +```bash +python -m emioapi [options] +``` +### Available Commands +- `calibrate`: Calibrate the Emio camera. This command will open the camera feed + and allow you to perform the calibration process. The camera will be automatically closed after calibration. +- `startUDP`: Start a UDP bridge for motor/camera data. + This command will launch a UDP bridge that sends the camera's markers and motors positions and receives motor commands from a remote host. + The bridge can be configured with various options such as FPS, number of markers, remote IP/port, etc. + +You can run each command with the `--help` flag to see the specific options available for that command. For example: +```bash +python -m emioapi --help +python -m emioapi calibrate --help +python -m emioapi startUDP --help +``` + +""" def calibrate(): """ - Calibrate the camera of the first Emio camera found + Calibrate the camera of the first Emio camera found. For more informations about the calibration process, please refer to the EmioCamera.calibrate() method documentation. """ + import emioapi + from emioapi._logging_config import logger + camera = emioapi.EmioCamera(show=True) print("Available cameras:", emioapi.EmioCamera.listCameras()) @@ -32,14 +57,108 @@ def calibrate(): else: print("Failed to open camera.") +def startUDP(args): + """ + Start a UDP bridge configured with the parameters found in args or will default to `emioapi/udpbridge/udpbridge_params.py`. + + A handshake is done at the beginning to ensure that the remote host is ready to receive data. It should follow the same protocol describded below with dummy data. + + The sequence number is a simple counter that is incremented at each frame. It is used by the process_motors process to make sure that the remote is synchronized. + + The protocol is as follows: + - The bridge sends a packet made of a sequence number, the four motors positions and followed by the marker(s) position(s) (x, y, z) + - The remote host should reply with a packet containing the four motors positions to send to the Emio robot. + + """ + import emioapi.udpbridge.udpbridge as udpBdrige + config = udpBdrige.UDPBridgeConfig( + fps = args.fps, + nb_markers = args.nb_markers, + side = args.side, + sort = args.sort, + remote_ip = args.remote_ip, + remote_port = args.remote_port, + local_port = args.local_port, + bind_port = args.bind_port, + recv_timeout = args.recv_timeout, + camera_only = args.camera_only, + motors_only = args.motors_only + ) + + print("-"*50) + print(f"Starting UDP bridge with config: {config}") + print("-"*50) + + udpBdrige.startUDPbridge(config) + + +def _parse_args(): + + import argparse + import emioapi.udpbridge.udpbridgeparams as prm + + p = argparse.ArgumentParser( + description="Emio API tools for Emio", + prog="emioapi", + formatter_class=argparse.ArgumentDefaultsHelpFormatter + ) + + subparsers = p.add_subparsers( + title="Available Commands", + dest="command", + required=True + ) + + # --- Subparser for 'calibrate' command --- + parser_calibrate = subparsers.add_parser("calibrate", help="Calibrate the Emio camera.", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser_calibrate.description = calibrate.__doc__ + + + # --- Subparser for 'startUDP' command --- + parser_udp = subparsers.add_parser("startUDP", help="Start a UDP bridge for motor/camera data.", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + + parser_udp.description = startUDP.__doc__ + + # Add the specific arguments needed for startUDP here + parser_udp.add_argument("--fps", type=int, default=prm.fps, help="Frames per second (e.g., 30)") + parser_udp.add_argument("--nb-markers", type=int, default=prm.nb_markers, help="Number of markers to process") + parser_udp.add_argument("--side", choices=["top", "front", "plane"], default=prm.side, help="Camera side view") + parser_udp.add_argument("--sort", choices=["y", "z"], default=prm.sort, help="Sorting axis") + parser_udp.add_argument("--remote-ip", type=str, default=prm.remote_ip, help="Remote IP address") + parser_udp.add_argument("--remote-port", type=int, default=prm.remote_port, help="Remote Port") + parser_udp.add_argument("--local-port", type=int, default=prm.local_port, help="Local Port") + parser_udp.add_argument("--bind-port", type=int, default=prm.bind_port, help="Bind port for local communication") + parser_udp.add_argument("--recv-timeout", type=float, default=prm.recv_timeout, help="Receive timeout in seconds") + parser_udp.add_argument("--camera-only", action=argparse.BooleanOptionalAction, default=False, help="Only send the markers position without waiting for the motors command. The motors positions will be sent as 0. And no command will be applied to the motors.") + parser_udp.add_argument("--motors-only", action=argparse.BooleanOptionalAction, default=False, help="Only send the motors position without waiting for the camera data") + + try: + # Parse the arguments + args = p.parse_args() + + print(f"Command chosen: {args.command}" + (f" with parameters: {vars(args)}" if args.command == "startUDP" else "")) + + # Execute the function associated with the chosen command + if args.command == "calibrate": + calibrate() + elif args.command == "startUDP": + startUDP(args) + else: + print(f"Unknown command: {args.command}") + except: + p.print_help() + print() + parser_calibrate.print_help() + print() + parser_udp.print_help() + pass + if __name__ == "__main__": - if len(sys.argv) > 1 and sys.argv[1] == 'calibrate': - calibrate() - else: - print("Available functions from emioapi tool:") - for name in dir(sys.modules[__name__]): - if not name.startswith("_"): - attr = getattr(sys.modules[__name__], name) - if callable(attr): - print(f" {name} - {attr.__doc__}") \ No newline at end of file + try: + args = _parse_args() + except Exception as e: + import traceback + print(f"An error happened: {traceback.format_exc()}") \ No newline at end of file diff --git a/emioapi/_depthcamera.py b/emioapi/_depthcamera.py index 22bf120..d9da9ce 100644 --- a/emioapi/_depthcamera.py +++ b/emioapi/_depthcamera.py @@ -1,6 +1,4 @@ -import os import json -from time import sleep import time from enum import Enum @@ -9,7 +7,7 @@ import pyrealsense2 as rs from ._camerafeedwindow import CameraFeedWindow -from ._positionestimation import PositionEstimation, image_pixel_to_mm, CONFIG_FILENAME +from ._positionestimation import PositionEstimation, CONFIG_FILENAME from emioapi._logging_config import logger DEFAULT_CAMERA_PARAMS = {"hue_h": 90, "hue_l": 36, "sat_h": 255, "sat_l": 138, "value_h": 255, "value_l": 35, "erosion_size": 0, "area": 100} @@ -68,6 +66,7 @@ class DepthCamera: parameter = {} tracking = False trackers_pos = [] + trackers_pos_image = [] maskWindow = None frameWindow = None hsvWindow = None @@ -77,6 +76,7 @@ class DepthCamera: maskFrame = None frame: np.ndarray = None depth_frame: np.ndarray = None + depth_rsframe: np.ndarray = None depth_max = 430 depth_min = 2 calibration_status = CalibrationStatusEnum.NOT_CALIBRATED @@ -123,6 +123,7 @@ def __init__(self, return self.trackers_pos = [] + self.trackers_pos_image = [] if parameter: self.parameter = parameter @@ -290,19 +291,24 @@ def get_frame(self): color_frame = frames.get_color_frame() if not depth_frame or not color_frame: - return False, color_frame, depth_frame + return False # Convert images to numpy arrays - depth_image = np.asanyarray(depth_frame.get_data()) - color_image = np.asanyarray(color_frame.get_data()) - return True, color_image, depth_image, depth_frame + self.depth_frame = np.asanyarray(depth_frame.get_data()) + self.frame = np.asanyarray(color_frame.get_data()) + self.depth_rsframe = depth_frame + return True - def update(self): - ret, self.frame, self.depth_frame, depth_rsframe = self.get_frame() + def update(self): + ret = self.get_frame() if ret is False: return + self.process_frame() + + def process_frame(self): + # if frame is read correctly ret is True self.hsvFrame = cv.cvtColor(self.frame, cv.COLOR_BGR2HSV) @@ -333,6 +339,7 @@ def update(self): areas = [cv.contourArea(cnt) for cnt in contours] self.trackers_pos = [] + self.trackers_pos_image = [] for i, a in enumerate(areas): if a > self.parameter['area']: x, y = compute_contour_center(contours[i]) @@ -341,6 +348,7 @@ def update(self): depth = compute_median_depth(contours[i], self.depth_frame) if self.depth_frame[y, x] == 0 else self.depth_frame[y, x] worldx, worldy, worldz = self.position_estimator.camera_image_to_simulation(x, y, depth) self.trackers_pos.append([worldx, worldy, worldz]) + self.trackers_pos_image.append([x, y, depth]) cv.drawContours(marker_mask, [contours[i]], -1, color=255, thickness=-1) for frame in [self.hsvFrame, self.frame]: @@ -352,7 +360,7 @@ def update(self): cv.drawContours(self.frame, [contours[i]], -1, (255, 255, 0), 3) if self.compute_point_cloud: - points = self.pc.calculate(depth_rsframe) + points = self.pc.calculate(self.depth_rsframe) v = points.get_vertices() self.point_cloud = np.asanyarray(v).view(np.float32).reshape(-1, 3) # xyz @@ -370,7 +378,7 @@ def update(self): self.hsvWindow.set_frame(self.hsvFrame) if self.depthWindow is not None and self.depthWindow.running: - colorized = np.asanyarray(rs.colorizer().colorize(depth_rsframe).get_data()) + colorized = np.asanyarray(rs.colorizer().colorize(self.depth_rsframe).get_data()) self.depthWindow.set_frame(colorized) self.rootWindow.update() @@ -395,4 +403,4 @@ def run_loop(self): self.rootWindow.update() self.update() - self.close() + self.close() \ No newline at end of file diff --git a/emioapi/_positionestimation.py b/emioapi/_positionestimation.py index 730f645..28bf8c0 100644 --- a/emioapi/_positionestimation.py +++ b/emioapi/_positionestimation.py @@ -343,7 +343,36 @@ def calibrate(self, frame, depth_image, aggregate, window=None)-> bool: window.set_frame(frame) return True + + + def camera_image_to_simulation_plane_intersection(self, x: int, y: int, plane_n: np.ndarray, plane_d: float) -> list[float]: + """ + Calculate the position of the object in our frame space by projecting the ray from the camera to the image point on a plane. + + Args + x,y: int + The pixel coordinates + + plane_n: np.ndarray + The normal vector of the plane + plane_d: float + The distance of the plane from the origin along its normal vector + + Return: + position: numpy.ndarray + The real world coordinates of the object in the Emio frame space + """ + ray_world = self.camera_image_to_simulation(x, y, 1.0) - self.t + camera_pos_world = self.t + denom = plane_n.dot(ray_world) + + if abs(denom) < 1e-6: + raise ValueError("Ray is parallel to the plane") + s = - (plane_n.dot(camera_pos_world) + plane_d) / denom + result = camera_pos_world + s * ray_world + return [result[0], result[1], result[2]] + def camera_image_to_simulation(self, x: int, y: int, depth: float) -> list[float]: """ diff --git a/emioapi/emioapi.py b/emioapi/emioapi.py index 5cd5785..7f968b2 100644 --- a/emioapi/emioapi.py +++ b/emioapi/emioapi.py @@ -11,12 +11,6 @@ pip install git+https://github.com/SofaComplianceRobotics/Emio.API.git@main ``` -## Camera Calibration Tool -Once emioapi installed, you can directly call the calibration tool to calibrate the camera of Emio. -From a terminal with a Python having the emioapi moduules intalled, run: -```bash -python -m emioapi calibrate -``` """ from dataclasses import field diff --git a/emioapi/emiocamera.py b/emioapi/emiocamera.py index cf916c5..509cfbf 100644 --- a/emioapi/emiocamera.py +++ b/emioapi/emiocamera.py @@ -61,6 +61,7 @@ class EmioCamera: _running: bool = False _parameter: dict = None _trackers_pos: list = [] + _trackers_pos_image: list = [] _point_cloud: np.ndarray = None _hsv_frame: np.ndarray = None _mask_frame: np.ndarray = None @@ -261,6 +262,19 @@ def trackers_pos(self) -> list: else: return [] + @property + def trackers_pos_image(self) -> list: + """ + Get the positions of the trackers in the image frame. + Returns: + list: The positions of the trackers in the image frame as a list of lists. + """ + with self._lock: + if self._tracking: + return self._trackers_pos_image + else: + return [] + @property def point_cloud(self) -> np.ndarray: """ @@ -462,7 +476,17 @@ def update(self): Update the camera frames and tracking elements (markers and point cloud) """ if self._camera is not None: - self._camera.update() + if self.get_frame(): + self.process_frame() + + def get_frame(self) -> bool: + if self._camera is not None: + return self._camera.get_frame() + return False + + def process_frame(self): + if self._camera is not None: + self._camera.process_frame() with self._lock: self._hsv_frame = self._camera.hsvFrame self._mask_frame = self._camera.maskFrame @@ -471,6 +495,7 @@ def update(self): for p_camera in self._camera.trackers_pos: p_emio = [p_camera[0], p_camera[1], p_camera[2], 0, 0, 0, 1] self._trackers_pos.append(p_emio[0:3]) + self._trackers_pos_image = self._camera.trackers_pos_image.copy() logger.debug(f"Trackers positions in camera frame: {self._camera.trackers_pos}, converted to Emio frame: {self._trackers_pos}") if self._compute_point_cloud: self._point_cloud = self._camera.point_cloud @@ -482,4 +507,4 @@ def close(self): self._running = False if self._camera is not None: self._camera.close() -#endregion +#endregion \ No newline at end of file diff --git a/emioapi/emiomotors.py b/emioapi/emiomotors.py index 5d1b840..3d4b54d 100644 --- a/emioapi/emiomotors.py +++ b/emioapi/emiomotors.py @@ -7,10 +7,13 @@ class EmioMotors(DynamixelMotors): """ - Class to control emio motors. - The class is designed to be used with the emio device. + Class to control Emio motors. + The class is designed to be used with the Emio device. The motors are controlled in position mode. The class is thread-safe and can be used in a multi-threaded environment. + It is a wrapper around the `DynamixelMotors` class from the `dynamixelmotorsapi` package, with some specific configurations for the Emio device. + You can find the documentation of the DynamixelMotors class in the [dynamixelmotorsapi](./dynamixelmotors-api.md) package. + Example: ```python from emioapi import EmioMotors diff --git a/pyproject.toml b/pyproject.toml index 7246d42..7a6968b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -5,15 +5,15 @@ build-backend = "setuptools.build_meta" [project] name = "emioapi" version = "0.2.1" -requires-python = ">=3.10" +requires-python = ">=3.10.10" readme = "README.md" dependencies = [ "pyrealsense2; platform_system != 'Darwin'", "pyrealsense2-macosx; platform_system == 'Darwin'", - "opencv-python", "numpy==1.26.4", "pillow", "dynamixelmotorsapi @ git+https://github.com/SofaComplianceRobotics/DynamixelMotorsAPI@main", + "opencv-python>=4.11.0.86", ] description = "An API for controlling the motors of the EMIO robot." keywords = ["roboticsc", "emio", "api"] @@ -39,7 +39,8 @@ type = "python" type = "filter" skip_empty_modules = true exclude_private = true -expression = "not name.startswith('_') and '_' not in obj.location.filename and default()" +exclude_special = false +expression = "(not '_' in obj.location.filename and default()) or ('__main__' in obj.location.filename and default())" [[tool.pydoc-markdown.processors]] type="smart" @@ -50,7 +51,7 @@ type="crossref" [tool.pydoc-markdown.renderer] type = "markdown" filename = "emio-api.md" -descriptive_class_title = false +descriptive_class_title = "$ Class" descriptive_module_title = false render_page_title = true render_module_header = false @@ -59,7 +60,7 @@ add_full_prefix = false insert_header_anchors = false classdef_code_block = true signature_code_block = true -signature_in_header = true +signature_in_header = false code_headers = false use_fixed_header_levels = true render_toc = false 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