From f94b4c41e31c5f09177ec32945f2819693a70b51 Mon Sep 17 00:00:00 2001 From: Carlos Date: Wed, 13 Mar 2024 05:04:54 +0000 Subject: [PATCH 01/12] code for template matching,still choosing right method --- .../computer_vision/sift_template.py | 23 +++++++++++++++---- 1 file changed, 19 insertions(+), 4 deletions(-) diff --git a/visual_servoing/visual_servoing/computer_vision/sift_template.py b/visual_servoing/visual_servoing/computer_vision/sift_template.py index ed7a2d6..c912377 100644 --- a/visual_servoing/visual_servoing/computer_vision/sift_template.py +++ b/visual_servoing/visual_servoing/computer_vision/sift_template.py @@ -100,11 +100,11 @@ def cd_template_matching(img, template): (img_height, img_width) = img_canny.shape[:2] # Keep track of best-fit match - best_match = None - + best_match = -float("inf") + bounding_box = ((0,0),(0,0)) # Loop over different scales of image for scale in np.linspace(1.5, .5, 50): - # Resize the image + # Resize the template image resized_template = imutils.resize(template_canny, width = int(template_canny.shape[1] * scale)) (h,w) = resized_template.shape[:2] # Check to see if test image is now smaller than template image @@ -115,9 +115,24 @@ def cd_template_matching(img, template): # Use OpenCV template matching functions to find the best match # across template scales. + #Apply template Matching (best seem like CCORR_NORMED or CCOEFF_NORMED) + res = cv2.matchTemplate(img_canny,resized_template,cv2.TM_CCOEFF_NORMED) + min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(res) + + if max_val > best_match: + best_match = max_val + x1,y1 = max_loc + x2 = x1 + int(w/scale) + y2 = y1 + int(h/scale) + bounding_box = ((x1,y1),(x2,y2)) + + + + + # Remember to resize the bounding box using the highest scoring scale # x1,y1 pixel will be accurate, but x2,y2 needs to be correctly scaled - bounding_box = ((0,0),(0,0)) + #bounding_box = ((0,0),(0,0)) ########### YOUR CODE ENDS HERE ########### return bounding_box From 63ccf75d96c67ab1f743227e49391869a596d929 Mon Sep 17 00:00:00 2001 From: Karen Guo Date: Wed, 13 Mar 2024 16:50:19 +0000 Subject: [PATCH 02/12] added color segmentation, but not sure if it works --- .../color_segmentation.cpython-38.pyc | Bin 1124 -> 1636 bytes .../__pycache__/sift_template.cpython-38.pyc | Bin 2974 -> 2974 bytes .../computer_vision/color_segmentation.py | 25 ++++++++++++++++++ 3 files changed, 25 insertions(+) diff --git a/visual_servoing/visual_servoing/computer_vision/__pycache__/color_segmentation.cpython-38.pyc b/visual_servoing/visual_servoing/computer_vision/__pycache__/color_segmentation.cpython-38.pyc index 3fdb461dbb44f32c4653bb777163d7a383962834..7e9387a207be6c7d2a18b4763e9fe1192377a50c 100644 GIT binary patch delta 670 zcmY*X&2HL25cclc*cjVH{YzE#0peR#^_UAms6-+G8CpeFB+KB%IA9yCmjt9;@dP>L z*h{$eTIJR!srK4jIJPg)t^+-ErTO&DH#0jkt9>*cE$5SMn~FT&fBeE(z=tTB{mA1cgZ z&Y?1fW5^+ceZ@5%EcgJ{E+RnAy^SOgOM;8GFG}H0DLAD7x8;hY+;v;#y1+LRib+V5 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+ hsv_img = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) + + # orange color bounds in HSV + # Hue has values from 0 to 180, Saturation and Value from 0 to 255 + orange_low = (0, 100, 100) + orange_high = (20, 255, 255) + + mask = cv2.inRange(hsv_img, orange_low, orange_high) + + # erode and dilate to get rid of noise + # structuring element is what erosion looks at - if everything inside is orange, then it will be kept + kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (5, 5)) + mask = cv2.erode(mask, kernel, iterations=1) + mask = cv2.dilate(mask, kernel, iterations=1) + + # returns list of contours and hiearchy, retr ignores inside countours, approx is for compression + contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) + # should only be one if its just cone + biggest_contour = max(contours, key = cv2.contourArea) + x, y, w, h = cv2.boundingRect(biggest_contour) + bounding_box = ((x, y), (x + w, y + h)) + + # cv2.rectangle(img, bounding_box[0], bounding_box[1], (0, 255, 0), 2) + # cv2.imshow('Contours', img) + ########### YOUR CODE ENDS HERE ########### From f7be80d3b98386367fdb2b05f77b31f07ddf221e Mon Sep 17 00:00:00 2001 From: Carlos Date: Wed, 13 Mar 2024 19:13:02 +0000 Subject: [PATCH 03/12] decided to use TM_CCORR_NORMED --- .../visual_servoing/computer_vision/sift_template.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/visual_servoing/visual_servoing/computer_vision/sift_template.py b/visual_servoing/visual_servoing/computer_vision/sift_template.py index c912377..82f6628 100644 --- a/visual_servoing/visual_servoing/computer_vision/sift_template.py +++ b/visual_servoing/visual_servoing/computer_vision/sift_template.py @@ -116,7 +116,7 @@ def cd_template_matching(img, template): # across template scales. #Apply template Matching (best seem like CCORR_NORMED or CCOEFF_NORMED) - res = cv2.matchTemplate(img_canny,resized_template,cv2.TM_CCOEFF_NORMED) + res = cv2.matchTemplate(img_canny,resized_template,cv2.TM_CCORR_NORMED) min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(res) if max_val > best_match: From f6723316d00a5af23c43580c2704a44583ba075a Mon Sep 17 00:00:00 2001 From: Karen Guo Date: Wed, 13 Mar 2024 19:26:51 +0000 Subject: [PATCH 04/12] changed orange range --- .../color_segmentation.cpython-38.pyc | Bin 1636 -> 1636 bytes .../computer_vision/color_segmentation.py | 7 +++++-- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/visual_servoing/visual_servoing/computer_vision/__pycache__/color_segmentation.cpython-38.pyc b/visual_servoing/visual_servoing/computer_vision/__pycache__/color_segmentation.cpython-38.pyc index 7e9387a207be6c7d2a18b4763e9fe1192377a50c..d24aad354b064a690c89570410934b205a1e2cd1 100644 GIT binary patch delta 119 zcmaFD^Mr>tl$V!_0SJ!&`IvfrBX1OoasZI`(hW#xGQSi8vHt^!B7Tqn(@RzmTVQh+ zOF5%4I}0NV6CVp7qX44-vltT}qY$G6XOSjIA!`vckh;a1SDIT;d5bBppa^71k>+F* GHUj`z(-{H) delta 119 zcmaFD^Mr>tl$V!_0SI>8_?S9-BX1Ooate@F!~-NWnO}+ksh9sj0(>9=rkAWBHvi@> zmU2d878XVpCO#HEMgc|vW-%r{Mj=KC&LRzvLe?T?Aa#p1uQa!y@)lEGK@rH3B8|x= GYz6@JDHrnq diff --git a/visual_servoing/visual_servoing/computer_vision/color_segmentation.py b/visual_servoing/visual_servoing/computer_vision/color_segmentation.py index cbdb010..fe2f8c0 100644 --- a/visual_servoing/visual_servoing/computer_vision/color_segmentation.py +++ b/visual_servoing/visual_servoing/computer_vision/color_segmentation.py @@ -39,8 +39,11 @@ def cd_color_segmentation(img, template): # orange color bounds in HSV # Hue has values from 0 to 180, Saturation and Value from 0 to 255 - orange_low = (0, 100, 100) - orange_high = (20, 255, 255) + #orange_low = (0, 100, 100) + #orange_high = (18, 255, 255) + + orange_low = (0, 80, 70) + orange_high = (18, 255, 255) mask = cv2.inRange(hsv_img, orange_low, orange_high) From 0762e86ebda79e8360ec0d8cf7932983133d4369 Mon Sep 17 00:00:00 2001 From: Karen Guo Date: Wed, 13 Mar 2024 20:01:29 +0000 Subject: [PATCH 05/12] changed values for color seg --- .../color_segmentation.cpython-38.pyc | Bin 1636 -> 1736 bytes .../__pycache__/sift_template.cpython-38.pyc | Bin 2974 -> 3210 bytes .../computer_vision/color_segmentation.py | 5 +++-- .../visual_servoing/computer_vision/debug.jpg | Bin 0 -> 74588 bytes 4 files changed, 3 insertions(+), 2 deletions(-) create mode 100644 visual_servoing/visual_servoing/computer_vision/debug.jpg diff --git a/visual_servoing/visual_servoing/computer_vision/__pycache__/color_segmentation.cpython-38.pyc b/visual_servoing/visual_servoing/computer_vision/__pycache__/color_segmentation.cpython-38.pyc index d24aad354b064a690c89570410934b205a1e2cd1..5d011a65be1c7ff5873c22037acc7ac0ea2cc784 100644 GIT binary patch delta 203 zcmaFDbAp#Ql$V!_0SMd}KBa!y$oqnkiyg>w2IAs#lm9a=*C}CGz*oai!<51y2_jh~ z8B#b?xE8W9G5}@xQ@Cpw7BVpcWr7(rc{Zm?JARmGW- znpB#umsOCiDKL2@%W9EZoJFb0C5d_IIjOhUGjq#}GD}h?hp;YTl$-pMRYsXfiiwA< hNC#vfYY{V$y2YATnp;qLiz%<52;}f0oyjI_1_1jXGgJTo delta 80 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From: jaclyn-thi Date: Wed, 13 Mar 2024 20:03:41 +0000 Subject: [PATCH 06/12] SIFT algorithm - fixed things --- .../computer_vision/sift_template.py | 42 ++++++++++--------- 1 file changed, 22 insertions(+), 20 deletions(-) diff --git a/visual_servoing/visual_servoing/computer_vision/sift_template.py b/visual_servoing/visual_servoing/computer_vision/sift_template.py index 82f6628..a8bba1e 100644 --- a/visual_servoing/visual_servoing/computer_vision/sift_template.py +++ b/visual_servoing/visual_servoing/computer_vision/sift_template.py @@ -65,10 +65,27 @@ def cd_sift_ransac(img, template): h, w = template.shape pts = np.float32([ [0,0],[0,h-1],[w-1,h-1],[w-1,0] ]).reshape(-1,1,2) + # print("pts",pts) + # print("pts.shape",pts.shape) ########## YOUR CODE STARTS HERE ########## - x_min = y_min = x_max = y_max = 0 + x_min = y_min = x_max = y_max = -1 + + for pt in pts: + # print("point",pt) + point=pt[0] + x=point[0] + y=point[1] + + if xx_max or x_max==-1: + x_max=x + if yy_max or y_max==-1: + y_max=y ########### YOUR CODE ENDS HERE ########### @@ -100,11 +117,11 @@ def cd_template_matching(img, template): (img_height, img_width) = img_canny.shape[:2] # Keep track of best-fit match - best_match = -float("inf") - bounding_box = ((0,0),(0,0)) + best_match = None + # Loop over different scales of image for scale in np.linspace(1.5, .5, 50): - # Resize the template image + # Resize the image resized_template = imutils.resize(template_canny, width = int(template_canny.shape[1] * scale)) (h,w) = resized_template.shape[:2] # Check to see if test image is now smaller than template image @@ -115,24 +132,9 @@ def cd_template_matching(img, template): # Use OpenCV template matching functions to find the best match # across template scales. - #Apply template Matching (best seem like CCORR_NORMED or CCOEFF_NORMED) - res = cv2.matchTemplate(img_canny,resized_template,cv2.TM_CCORR_NORMED) - min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(res) - - if max_val > best_match: - best_match = max_val - x1,y1 = max_loc - x2 = x1 + int(w/scale) - y2 = y1 + int(h/scale) - bounding_box = ((x1,y1),(x2,y2)) - - - - - # Remember to resize the bounding box using the highest scoring scale # x1,y1 pixel will be accurate, but x2,y2 needs to be correctly scaled - #bounding_box = ((0,0),(0,0)) + bounding_box = ((0,0),(0,0)) ########### YOUR CODE ENDS HERE ########### return bounding_box From f2be452e572f5ccadf62d6099e64cf71be79beab Mon Sep 17 00:00:00 2001 From: Carlos Date: Wed, 13 Mar 2024 20:21:41 +0000 Subject: [PATCH 07/12] add visuals to tests --- .../computer_vision/cv_test.py | 38 ++++++++++++++++++- 1 file changed, 36 insertions(+), 2 deletions(-) diff --git a/visual_servoing/visual_servoing/computer_vision/cv_test.py b/visual_servoing/visual_servoing/computer_vision/cv_test.py index a41673e..b2bbbf8 100644 --- a/visual_servoing/visual_servoing/computer_vision/cv_test.py +++ b/visual_servoing/visual_servoing/computer_vision/cv_test.py @@ -63,7 +63,7 @@ def iou_score(bbox1, bbox2): return score -def test_algorithm(detection_func, csv_file_path, template_file_path, swap=False): +def test_algorithm(detection_func, csv_file_path, template_file_path, swap=False,visual=False): """ Test a cone detection function and return the average score based on all the test images Input: @@ -95,7 +95,17 @@ def test_algorithm(detection_func, csv_file_path, template_file_path, swap=False # Detection bbox bbox_est = detection_func(img, template) score = iou_score(bbox_est, bbox_true) - + + if visual: + # Draw ground truth bbox in green + cv2.rectangle(img, (bbox_true[0][0], bbox_true[0][1]), (bbox_true[1][0], bbox_true[1][1]), (0, 255, 0), 2) + # Draw estimated bbox red + cv2.rectangle(img, (bbox_est[0][0], bbox_est[0][1]), (bbox_est[1][0], bbox_est[1][1]), (0, 0, 255), 2) + # Show image + cv2.imwrite(f'{img_path.split("/")[-1].split(".")[0]}_result.jpg', img) + + + # Add score to dict scores[img_path] = score @@ -169,5 +179,29 @@ def test_all_algorithms(csv_file_path, template_file_path, output_file_path, swa if scores: for (img, val) in scores.items(): print((img, val)) + + elif len(sys.argv) == 4: + scores = None + algo_dict = dict({"color":cd_color_segmentation, + "sift":cd_sift_ransac, + "template":cd_template_matching}) + data_dict = dict({"cone":(cone_csv_path, cone_template_path), + "map":(localization_csv_path, localization_template_path), + "citgo":(citgo_csv_path, citgo_template_path)}) + swap = False + args = sys.argv[1:3] + if args[0] in {"cone", "map", "citgo"} and args[1] in {"color", "template", "sift"}: + if args[0] == "map": + swap = True + scores = test_algorithm(algo_dict[args[1]],data_dict[args[0]][0],data_dict[args[0]][1], swap=swap,visual=sys.argv[3]) + else: + print("Argument/s not recognized") + + if scores: + for (img, val) in scores.items(): + print((img, val)) + + + else: print("too many arguments") From 25c04a33dac9da69072948e68c00d2c59a17d595 Mon Sep 17 00:00:00 2001 From: Carlos Date: Wed, 13 Mar 2024 20:49:05 +0000 Subject: [PATCH 08/12] cone detector code --- visual_servoing/visual_servoing/cone_detector.py | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/visual_servoing/visual_servoing/cone_detector.py b/visual_servoing/visual_servoing/cone_detector.py index 8fc0679..c4330e0 100644 --- a/visual_servoing/visual_servoing/cone_detector.py +++ b/visual_servoing/visual_servoing/cone_detector.py @@ -50,6 +50,19 @@ def image_callback(self, image_msg): image = self.bridge.imgmsg_to_cv2(image_msg, "bgr8") + bounding_box = cd_color_segmentation(image) + + #If valid bounding box send message, invalid bounding box is ((0,0),(0,0)) + if (bounding_box[0][0] + bounding_box[0][1] + bounding_box[1][0] + bounding_box[1][1]) !=0: + bot_y = bounding_box[1][1] + center_bot_x = int((bounding_box[0][0]+bounding_box[1][0])/2) + + pixel_msg = ConeLocationPixel() + pixel_msg.u = center_bot_x + pixel_msg.v = bot_y + + self.cone_pub.publish(pixel_msg) + debug_msg = self.bridge.cv2_to_imgmsg(image, "bgr8") self.debug_pub.publish(debug_msg) From dd54341adc2f895e6dd423a2ff690841080ed312 Mon Sep 17 00:00:00 2001 From: Karen Guo Date: Wed, 13 Mar 2024 20:53:06 +0000 Subject: [PATCH 09/12] changed HSV values and added test result images --- .../visual_servoing/computer_vision/.DS_Store | Bin 0 -> 6148 bytes .../color_segmentation.cpython-38.pyc | Bin 1736 -> 1791 bytes .../__pycache__/sift_template.cpython-38.pyc | Bin 3210 -> 3148 bytes .../computer_vision/color_segmentation.py | 14 ++++++++------ .../visual_servoing/computer_vision/debug.jpg | Bin 74588 -> 74373 bytes .../test_colorseg/test10_result.jpg | Bin 0 -> 77326 bytes .../test_colorseg/test11_result.jpg | Bin 0 -> 77387 bytes .../test_colorseg/test12_result.jpg | Bin 0 -> 76953 bytes .../test_colorseg/test13_result.jpg | Bin 0 -> 76939 bytes .../test_colorseg/test14_result.jpg | Bin 0 -> 76021 bytes .../test_colorseg/test15_result.jpg | Bin 0 -> 75083 bytes .../test_colorseg/test16_result.jpg 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zrj?>XbnPt4lB?NW>5<;8yJulLkCD4}GH`G+jPO7-QB^ppZVO>uWxUZXEWRJhc@4$n z4Rdu1T8A*QDv$M`mpmhaHjWP*o-1h{47$~{dow1ZX=5ZotdjC;rIDNhl6?6m%jNPi zpkt!t!Q`?!QLd*>|g#BXMis3V!gC@O^wsV17s%Yqcf4b@(EQK=L!WBQl}>^%^X$8 z^^Hg2<-9AW_=eJLTH+aEj^ZmD$BsL92W*iRUI*y@fZX`DMc5bgJbSZ>oED6r;B*7q_Ml)Sj zhTbaCbc@dw_#@5J^y>ymrcFlKUgR8%s|5pY;gPjQSP_v$6`F0z%%!?H{{RqA;P0|r z$7OV4x0*(K%iG0acxEnGx`g|vLl2bWj=k&W502g`8nwsSSrLbls}zif%~f6jB%b3O UbpCWvPEGS8(!x=vC#paH*}xUGpa1{> literal 0 HcmV?d00001 From be51a851c4e3eba76b7361d23a88c79e8c126409 Mon Sep 17 00:00:00 2001 From: Yohan Guyomard Date: Wed, 13 Mar 2024 21:11:14 +0000 Subject: [PATCH 10/12] Did the thing --- CHEATSHEET.md | 19 ++++++++++++ .../visual_servoing/homography_transformer.py | 30 ++++++++++++------- 2 files changed, 39 insertions(+), 10 deletions(-) create mode 100644 CHEATSHEET.md diff --git a/CHEATSHEET.md b/CHEATSHEET.md new file mode 100644 index 0000000..c44f1ee --- /dev/null +++ b/CHEATSHEET.md @@ -0,0 +1,19 @@ +# Cheatsheet + +## Homography Transformation +### Setup +- Connect to the racecar's docker image (`ssh racecar` -> `connect` -> `cd racecar_ws`) +- Build (`colcon build && source install/setup.bash`) +- Launch the camera (`ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed`) + - If it errors with something about a display, run `unset DISPLAY` before this command + +### Visualizing Stuff +- Launching noVNC: + - Locally, *not* on the racecar: `ssh -L 6081:localhost:6081 racecar@192.168.1.74` + - Open [noVNC](http://localhost:6081/vnc.html?resize=remote) in your web browser +- Open a terminal, enter `rqt` and go to `Plugins > Visualization > Image View` +- Change the subscription topic (left-most dropdown) to `/zed/zed_node/left/image_rect_color` + - You may need to hit "refresh topics" (button to the right of the dropdown) if it's not working +- Change the publishing topic (text box below the dropdown) to `/zed/rgb/image_rect_color_mouse_left` and click the checkmark to its left + - This enables publishing left mouse clicks' positions to that topic +- Open a terminal, enter `rviz2` \ No newline at end of file diff --git a/visual_servoing/visual_servoing/homography_transformer.py b/visual_servoing/visual_servoing/homography_transformer.py index 21ff020..9539f89 100644 --- a/visual_servoing/visual_servoing/homography_transformer.py +++ b/visual_servoing/visual_servoing/homography_transformer.py @@ -12,6 +12,7 @@ from ackermann_msgs.msg import AckermannDriveStamped from visualization_msgs.msg import Marker from vs_msgs.msg import ConeLocation, ConeLocationPixel +from geometry_msgs.msg import Point #The following collection of pixel locations and corresponding relative #ground plane locations are used to compute our homography matrix @@ -21,10 +22,10 @@ ###################################################### ## DUMMY POINTS -- ENTER YOUR MEASUREMENTS HERE -PTS_IMAGE_PLANE = [[-1, -1], - [-1, -1], - [-1, -1], - [-1, -1]] # dummy points +PTS_IMAGE_PLANE = [[354, 212], + [242, 217], + [354, 277], + [565, 224]] # dummy points ###################################################### # PTS_GROUND_PLANE units are in inches @@ -32,10 +33,10 @@ ###################################################### ## DUMMY POINTS -- ENTER YOUR MEASUREMENTS HERE -PTS_GROUND_PLANE = [[-1, -1], - [-1, -1], - [-1, -1], - [-1, -1]] # dummy points +PTS_GROUND_PLANE = [[36, 0], + [37, 18], + [15, 2], + [30, -18]] # dummy points ###################################################### METERS_PER_INCH = 0.0254 @@ -48,6 +49,7 @@ def __init__(self): self.cone_pub = self.create_publisher(ConeLocation, "/relative_cone", 10) self.marker_pub = self.create_publisher(Marker, "/cone_marker", 1) self.cone_px_sub = self.create_subscription(ConeLocationPixel, "/relative_cone_px", self.cone_detection_callback, 1) + self.mouse_px_sub = self.create_subscription(Point, "/zed/rgb/image_rect_color_mouse_left", self.mouse_click_callback, 1) if not len(PTS_GROUND_PLANE) == len(PTS_IMAGE_PLANE): rclpy.logerr("ERROR: PTS_GROUND_PLANE and PTS_IMAGE_PLANE should be of same length") @@ -68,8 +70,7 @@ def __init__(self): def cone_detection_callback(self, msg): #Extract information from message - u = msg.u - v = msg.v + u, v = msg.u, msg.v #Call to main function x, y = self.transformUvToXy(u, v) @@ -81,6 +82,15 @@ def cone_detection_callback(self, msg): self.cone_pub.publish(relative_xy_msg) + + def mouse_click_callback(self, msg: Point): + u, v = msg.x, msg.y + x, y = self.transformUvToXy(u, v) + + self.get_logger().info(f"({x}m, {y}m)") + + self.draw_marker(x, y, "map") + def transformUvToXy(self, u, v): """ From 9f4b0e41b615a8057e1bf44b22eddd3c9a06a13e Mon Sep 17 00:00:00 2001 From: kramerkraus Date: Thu, 14 Mar 2024 15:35:54 +0000 Subject: [PATCH 11/12] parking controller iteration 1 --- visual_servoing/visual_servoing/PID.py | 43 +++++++++++++ .../visual_servoing/parking_controller.py | 60 ++++++++++++++++++- 2 files changed, 101 insertions(+), 2 deletions(-) create mode 100755 visual_servoing/visual_servoing/PID.py diff --git a/visual_servoing/visual_servoing/PID.py b/visual_servoing/visual_servoing/PID.py new file mode 100755 index 0000000..9c3802f --- /dev/null +++ b/visual_servoing/visual_servoing/PID.py @@ -0,0 +1,43 @@ +class PIDController: + def __init__(self, kp, ki, kd, setpoint): + self.kp = kp + self.ki = ki + self.kd = kd + self.setpoint = setpoint + self.prev_error = 0 + self.integral = 0 + + def set_setpoint(self, setpoint): + self.setpoint = setpoint + + def set_gains(self, kp, ki, kd): + self.kp = kp + self.ki = ki + self.kd = kd + + def compute_control_signal(self, current_value, dt): + error = self.setpoint - current_value + self.integral += error * dt + derivative = (error - self.prev_error) / dt + + kp_file_path = 'kp.txt' + with open(kp_file_path, 'a') as file: + file.write(f'{self.kp*error} ') + + ki_file_path = 'ki.txt' + with open(ki_file_path, 'a') as file: + file.write(f'{self.ki*error} ') + + kd_file_path = 'kd.txt' + with open(kd_file_path, 'a') as file: + file.write(f'{self.kd*error} ') + + error_file_path = 'error.txt' + with open(error_file_path, 'a') as file: + file.write(f'{error} ') + + control_signal = self.kp * error + self.ki * self.integral + self.kd * derivative + + self.prev_error = error + + return control_signal diff --git a/visual_servoing/visual_servoing/parking_controller.py b/visual_servoing/visual_servoing/parking_controller.py index 481aff6..4f9605f 100644 --- a/visual_servoing/visual_servoing/parking_controller.py +++ b/visual_servoing/visual_servoing/parking_controller.py @@ -5,7 +5,9 @@ import numpy as np from vs_msgs.msg import ConeLocation, ParkingError +from visual_servoing.PID import * from ackermann_msgs.msg import AckermannDriveStamped +import time class ParkingController(Node): """ @@ -15,7 +17,7 @@ class ParkingController(Node): """ def __init__(self): super().__init__("parking_controller") - + self.start_time = time.time() self.declare_parameter("drive_topic") DRIVE_TOPIC = self.get_parameter("drive_topic").value # set in launch file; different for simulator vs racecar @@ -25,10 +27,14 @@ def __init__(self): self.create_subscription(ConeLocation, "/relative_cone", self.relative_cone_callback, 1) - self.parking_distance = .75 # meters; try playing with this number! + self.parking_distance = 1.0 # meters; try playing with this number! self.relative_x = 0 self.relative_y = 0 + self.L = 0.3 #meters, wheel base of the car + self.v = 0.0 #velocity of the car + self.delta = 0.0 #steering angle + self.get_logger().info("Parking Controller Initialized") def relative_cone_callback(self, msg): @@ -40,11 +46,49 @@ def relative_cone_callback(self, msg): # YOUR CODE HERE # Use relative position and your control law to set drive_cmd + x = self.relative_x + y = self.relative_y + + theta = np.tan(y/x) + d = (x**2+y**2)**.5 + + critical_radius = (0.85**2+self.parking_distance**2)**0.5 + + if ((x**2 + (y-0.85)**2) < critical_radius**2) or (x**2 + (y+0.85**2) < critical_radius**2): #handles the case where the cone is in the dead area + u_speed = -0.5 + + thetacontroller = PIDController(1,0,0,0) + end_time = time.time() + dt = self.start_time-end_time + u_steering = thetacontroller.compute_control_signal(theta,dt) + + else: + thetacontroller = PIDController(-1,0,0,0) + end_time = time.time() + dt = self.start_time-end_time + u_steering = thetacontroller.compute_control_signal(theta,dt) + + + + speedcontroller = PIDController(-1,0,0,self.parking_distance) + u_speed = speedcontroller.compute_control_signal(d,dt) + + #publish drive command + u_speed = np.clip(u_speed,-1.,1.) #limit the speed setting + drive_cmd.drive.speed = u_speed + self.v = u_speed + + u_steering = np.clip(u_steering,-0.34,0.34) #limit the steering angle + drive_cmd.drive.steering_angle = u_steering + self.delta = u_steering + + ################################# self.drive_pub.publish(drive_cmd) self.error_publisher() + self.start_time = time.time() def error_publisher(self): """ @@ -57,6 +101,18 @@ def error_publisher(self): # YOUR CODE HERE # Populate error_msg with relative_x, relative_y, sqrt(x^2+y^2) + x = self.relative_x + y = self.relative_y + + d = (x**2+y**2)**.5 + + d_error = d - self.parking_distance + x_error = x - self.parking_distance + y_error = y + + error_msg.x_error = x_error + error_msg.y_error = y_error + error_msg.distance_error = d_error ################################# From 7a105db8b13ed41c585c6960d7355dbdc3c64bc5 Mon Sep 17 00:00:00 2001 From: kramerkraus Date: Sat, 16 Mar 2024 01:13:57 +0000 Subject: [PATCH 12/12] made gain two, works if behind --- pics_vids/90 deg turn steering 2 speed 1.png | Bin 0 -> 22764 bytes pics_vids/Deadzone_right.gif | Bin 0 -> 3298711 bytes pics_vids/Too_far_left.gif | Bin 0 -> 5939736 bytes pics_vids/deadzone_left.gif | Bin 0 -> 3685969 bytes pics_vids/test.png | Bin 0 -> 14964 bytes pics_vids/too far right.gif | Bin 0 -> 5261895 bytes .../visual_servoing/parking_controller.py | 22 ++++++++++++++---- 7 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