Homography Images

capture_save.py

@@ -1,7 +1,7 @@
 import cv2 
 
 key = cv2. waitKey(1)
-webcam = cv2.VideoCapture('rtsp://admin:[email protected]/4') #replace 0 with the IP URL of the streaming camera
+webcam = cv2.VideoCapture('rtsp://admin:[email protected]/1') #replace 0 with the IP URL of the streaming camera
 while True:
     try:
         check, frame = webcam.read()
@@ -16,16 +16,7 @@
             img_new = cv2.imshow("Captured Image", img_new)
             cv2.waitKey(1650)
             cv2.destroyAllWindows()
-            print("Processing image...")
-            img_ = cv2.imread('saved_img.jpg', cv2.IMREAD_ANYCOLOR)
-            print("Converting RGB image to grayscale...")
-            gray = cv2.cvtColor(img_, cv2.COLOR_BGR2GRAY)
-            print("Converted RGB image to grayscale...")
-            print("Resizing image to 28x28 scale...")
-            img_ = cv2.resize(gray,(28,28))
-            print("Resized...")
-            img_resized = cv2.imwrite(filename='saved_img-final.jpg', img=img_)
-            print("Image saved!")
+
 
             break
         elif key == ord('q'):

catkin_ws/build/CMakeCache.txt

@@ -14,12 +14,27 @@
 # EXTERNAL cache entries
 ########################
 
+//Build debug target (ON) or release (OFF)
+BUILD_DEBUG_TARGET:BOOL=ON
+
 //Builds the googlemock subproject
 BUILD_GMOCK:BOOL=ON
 
+//Build sick_scan library with function hiding except for SickScanApi-functions
+// (ON) or without function hiding (OFF)
+BUILD_LIB_HIDE_FUNCTIONS:BOOL=OFF
+
 //Build dynamically-linked binaries
 BUILD_SHARED_LIBS:BOOL=ON
 
+//Build sick_scan with LDMRS support (ON, libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs
+// required) or without LDMRS support (OFF)
+BUILD_WITH_LDMRS_SUPPORT:BOOL=ON
+
+//Build sick_scan with SCANSEGMENT_XD support (ON) or without SCANSEGMENT_XD
+// support (OFF)
+BUILD_WITH_SCANSEGMENT_XD_SUPPORT:BOOL=ON
+
 //List of ';' separated packages to exclude
 CATKIN_BLACKLIST_PACKAGES:STRING=
 
@@ -306,6 +321,10 @@ EMPY_EXECUTABLE:FILEPATH=EMPY_EXECUTABLE-NOTFOUND
 //Empy script
 EMPY_SCRIPT:STRING=/usr/lib/python3/dist-packages/em.py
 
+//Build emulator for offline and unittests (ON) or without emulator
+// (OFF)
+ENABLE_EMULATOR:BOOL=OFF
+
 //Path to a library.
 GMOCK_LIBRARY:FILEPATH=GMOCK_LIBRARY-NOTFOUND
 
@@ -352,6 +371,9 @@ LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release
 //Path to a program.
 NOSETESTS:FILEPATH=/usr/bin/nosetests3
 
+//pkg-config executable
+PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config
+
 //Path to a program.
 PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3
 
@@ -397,6 +419,9 @@ SETUPTOOLS_DEB_LAYOUT:BOOL=ON
 //Name of the computer/site where compile is being run
 SITE:STRING=rbccps-2080
 
+//The directory containing a CMake configuration file for SickLDMRS.
+SickLDMRS_DIR:PATH=SickLDMRS_DIR-NOTFOUND
+
 //LSB Distrib tag
 UBUNTU:BOOL=TRUE
 
@@ -433,6 +458,15 @@ cpp_common_DIR:PATH=/opt/ros/noetic/share/cpp_common/cmake
 //The directory containing a CMake configuration file for cv_bridge.
 cv_bridge_DIR:PATH=/opt/ros/noetic/share/cv_bridge/cmake
 
+//The directory containing a CMake configuration file for diagnostic_msgs.
+diagnostic_msgs_DIR:PATH=/opt/ros/noetic/share/diagnostic_msgs/cmake
+
+//The directory containing a CMake configuration file for diagnostic_updater.
+diagnostic_updater_DIR:PATH=/opt/ros/noetic/share/diagnostic_updater/cmake
+
+//The directory containing a CMake configuration file for dynamic_reconfigure.
+dynamic_reconfigure_DIR:PATH=/opt/ros/noetic/share/dynamic_reconfigure/cmake
+
 //The directory containing a CMake configuration file for gencpp.
 gencpp_DIR:PATH=/opt/ros/noetic/share/gencpp/cmake
 
@@ -510,7 +544,7 @@ interactive_markers_DIR:PATH=/opt/ros/noetic/share/interactive_markers/cmake
 laser_geometry_DIR:PATH=/opt/ros/noetic/share/laser_geometry/cmake
 
 //Path to a library.
-lib:FILEPATH=/opt/ros/noetic/lib/libroscpp_serialization.so
+lib:FILEPATH=/opt/ros/noetic/lib/libtf2.so
 
 //The directory containing a CMake configuration file for map_msgs.
 map_msgs_DIR:PATH=/opt/ros/noetic/share/map_msgs/cmake
@@ -581,6 +615,12 @@ selected_points_publisher_SOURCE_DIR:STATIC=/home/rbccps/Desktop/RBCCPS2023/catk
 //The directory containing a CMake configuration file for sensor_msgs.
 sensor_msgs_DIR:PATH=/opt/ros/noetic/share/sensor_msgs/cmake
 
+//Value Computed by CMake
+sick_scan_BINARY_DIR:STATIC=/home/rbccps/Desktop/RBCCPS2023/catkin_ws/build/sick_scan_xd
+
+//Value Computed by CMake
+sick_scan_SOURCE_DIR:STATIC=/home/rbccps/Desktop/RBCCPS2023/catkin_ws/src/sick_scan_xd
+
 //The directory containing a CMake configuration file for std_msgs.
 std_msgs_DIR:PATH=/opt/ros/noetic/share/std_msgs/cmake
 
@@ -765,7 +805,7 @@ CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_NM
 CMAKE_NM-ADVANCED:INTERNAL=1
 //number of local generators
-CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=6
+CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=5
 //ADVANCED property for variable: CMAKE_OBJCOPY
 CMAKE_OBJCOPY-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_OBJDUMP
@@ -810,6 +850,8 @@ CMAKE_UNAME:INTERNAL=/usr/bin/uname
 CMAKE_VERBOSE_MAKEFILE-ADVANCED:INTERNAL=1
 //Details about finding PY_em
 FIND_PACKAGE_MESSAGE_DETAILS_PY_em:INTERNAL=[/usr/lib/python3/dist-packages/em.py][v()]
+//Details about finding PkgConfig
+FIND_PACKAGE_MESSAGE_DETAILS_PkgConfig:INTERNAL=[/usr/bin/pkg-config][v0.29.1()]
 //Details about finding PythonInterp
 FIND_PACKAGE_MESSAGE_DETAILS_PythonInterp:INTERNAL=[/usr/bin/python3][v3.8.10()]
 //Details about finding Threads
@@ -842,6 +884,8 @@ GTEST_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
 GTEST_MAIN_LIBRARY-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: GTEST_MAIN_LIBRARY_DEBUG
 GTEST_MAIN_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: PKG_CONFIG_EXECUTABLE
+PKG_CONFIG_EXECUTABLE-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: PYTHON_EXECUTABLE
 PYTHON_EXECUTABLE-ADVANCED:INTERNAL=1
 //This needs to be in PYTHONPATH when 'setup.py install' is called.

catkin_ws/build/catkin_generated/order_packages.cmake

@@ -4,8 +4,8 @@ set(CATKIN_ORDERED_PACKAGES "")
 set(CATKIN_ORDERED_PACKAGE_PATHS "")
 set(CATKIN_ORDERED_PACKAGES_IS_META "")
 set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
-list(APPEND CATKIN_ORDERED_PACKAGES "selected_points_publisher")
-list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "selected_points_publisher")
+list(APPEND CATKIN_ORDERED_PACKAGES "sick_scan")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "sick_scan_xd")
 list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
 list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
 list(APPEND CATKIN_ORDERED_PACKAGES "vision")

catkin_ws/build/catkin_make.cache

@@ -1,2 +1,2 @@
-selected_points_publisher:vision
+sick_scan_xd:vision
 -DCATKIN_DEVEL_PREFIX=/home/rbccps/Desktop/RBCCPS2023/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/rbccps/Desktop/RBCCPS2023/catkin_ws/install -G Unix Makefiles

catkin_ws/build/sick_scan_xd/catkin_generated/ordered_paths.cmake

@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/noetic/lib")

computeHomography.py

@@ -1,17 +1,24 @@
 import numpy as np
-pts_src=np.array([[-18.5,-18.5,1],[18.5,-18.5,1],[18.5,18.5,1],[-18.5,18.5,1],[-18.5,101.5,1],[18.5,101.5,1],[18.5,138.5,1],[-18.5,138.5,1],[-18.5,221.5,1],[18.5,221.5,1],[18.5,258.5,1],[-18.5,258.5,1],[41.5,341.5,1],[78.5,341.5,1],[78.5,378.5,1],[41.5,378.5,1],[-138.5,221.5,1],[-101.5,221.5,1],[-101.5,258.5,1],[-138.5,258.5,1],[-138.5,101.5,1],[-101.5,101.5,1],[-101.5,138.5,1],[-138.5,138.5,1]])  # planar object points 
-pts_dst=np.array([[663,451,1],[755,449,1],[740,388,1],[655,390,1],[636,274,1],[712,273,1],[702,234,1],[632,234,1],[620,158,1],[681,159,1],[676,133,1],[616,132,1],[693,81,1],[744,83,1],[735,64,1],[687,62,1],[421,162,1],[482,161,1],[485,133,1],[427,136,1],[392,279,1],[467,278,1],[471,236,1],[401,238,1]]) # image points
+pts_src=np.array([[-18.5,18.5,1],[-18.5,-18.5,1],[18.5,-18.5,1],[18.5,18.5,1],[-78.5,-41.5,1],[-78.5,-78.5,1],[-41.5,-78.5,1],[-41.5,-41.5,1],[-18.5,178.5,1],[-18.5,161.5,1],[18.5,161.5,1],[18.5,178.5,1],[-18.5,318.5,1],[-18.5,281.5,1],[18.5,281.5,1],[18.5,318.5,1],[-138.5,138.5,1],[-138.5,101.5,1],[-101.5,101.5,1],[-101.5,138.5,1],[-198.5,258.5,1],[-198.5,221.5,1],[-161.5,221.5,1],[-161.5,258.5,1]])  # planar object points 
+pts_dst=np.array([[836,462,1],[834,339,1],[743,396,1],[738,460,1],[657,581,1],[670,502,1],[568,497,1],[548,573,1],[823,224,1],[822,191,1],[756,189,1],[754,222,1],[816,131,1],[814,110,1],[758,109,1],[759,139,1],[573,279,1],[586,241,1],[517,242,1],[500,279,1],[516,173,1],[529,147,1],[475,148,1],[459,173,1]]) # image points
 import cv2
 h, status = cv2.findHomography(pts_src, pts_dst)
 # print(h)
 
 
-pts_src=np.array([[-78.5,341.5],[-41.5,341.5],[-41.5,378.5],[-78.5,378.5],[-18.5,-18.5],[18.5,-18.5],[18.5,18.5],[-18.5,18.5]])  # planar object points 
+#pts_src=np.array([[-78.5,341.5],[-41.5,341.5],[-41.5,378.5],[-78.5,378.5],[-18.5,-18.5],[18.5,-18.5],[18.5,18.5],[-18.5,18.5]])  # planar object points 
+
+pts_src=np.array([[101.5,198.5],[101.5,161.5],[138.5,161.5],[138.5,198.5],[101.5,378.5],[101.5,341.5],[138.5,341.5],[138.5,378.5],[101.5,78.5],[101.5,41.5],[138.5,41.5],[138.5,78.5]])  # planar object test points 
+
+
+
 # print(np.shape(pts_src))
 h=np.array([[2.59275014,1.22742257,703.045769],[0.0176127956,-0.801686794,417.718048],[0.000208861672,0.00224224441,1.00000000]])
 pts_dst=np.zeros((3,1)) # image points
 distortion_matrix = np.array([-0.44779831 , 0.21493212,0.0086979,-0.00269077,0.00281984])
-camera_matrix = np.array([[931.82769928,0,645.03076458],[0,927.95336118,333.43480061],[0,0,1]])
+camera_matrix = np.array([[951.66304851,0,643.42125081],
+ [0,947.84899404,334.96279408],
+ [0,0,1]])
 # print(np.shape(camera_matrix))
 # print(np.shape(distortion_matrix))
 pts_src_1=[]
@@ -60,7 +67,10 @@
 # print("Hello")
 
 # print(dst)
-img_test=np.array([[[523.0],[80.0]],[[576.0],[80.0]],[[574.0],[61.0]],[[525.0],[63.0]],[[663.0],[451.0]],[[755.0],[449.0]],[[740.0],[388.0]],[[655.0],[390.0]]])
+#img_test=np.array([[[523.0],[80.0]],[[576.0],[80.0]],[[574.0],[61.0]],[[525.0],[63.0]],[[663.0],[451.0]],[[755.0],[449.0]],[[740.0],[388.0]],[[655.0],[390.0]]])
+
+img_test=np.array([[[1039.0],[233.0]],[[1024.0],[202.0]],[[964.0],[198.0]],[[976.0],[231.0]],[[978.0],[109.0]],[[969.0],[88.0]],[[923.0],[85.0]],[[928.0],[104.0]],[[1089.0],[368.0]],[[1072.0],[321.0]],[[999.0],[319.0]],[[1013.0],[366.0]]])#image test points
+
 # # print(img_test)
 img_test_1=[]
 

ground_truth/track_sick.py

@@ -19,7 +19,7 @@ def __init__(self):
 		self.pub = rospy.Publisher("/converted_pc", PointCloud2, queue_size=1)
 		self.header = Header()
 		self.rate=rospy.Rate(50)
-		self.header.frame_id = "laser"
+		self.header.frame_id = "cloud"
 		self.fields = [PointField('x', 0, PointField.FLOAT32, 1),
           PointField('y', 4, PointField.FLOAT32, 1),
           PointField('z', 8, PointField.FLOAT32, 1),
@@ -109,7 +109,7 @@ def scan_cb(self,msg):
 			pass
 
 		# if lengthplank!=0.0:
-		if 0.35<=lengthplank<=0.61:
+		if 0.35<=lengthplank<=0.81:
 		# if lengthplank>0.0:
 			# print("again")
 

img_coordinates.py

@@ -16,7 +16,7 @@ def click_event(event, x, y, flags, params):
       cv2.circle(img, (x,y), 3, (0,255,255), -1)
 
 # read the input image
-img = cv2.imread('checker_points.png')
+img = cv2.imread('saved_img.jpg')
 
 # create a window
 cv2.namedWindow('Point Coordinates')

matrices.py

@@ -1,4 +1,4 @@
-#mainstream # 1280x720
+#mainstream # 1280x720	
 distortion_matrix = np.array[[-0.44779831  0.21493212  0.0086979  -0.00269077  0.00281984]]
 camera_matrix = np.array[[931.82769928   0.         645.03076458]
  [  0.         927.95336118 333.43480061]