Update scripts/visualize.py

scripts/visualize.py

@@ -4,30 +4,94 @@ import h5py
 import imageio
 import argparse
 import numpy as np
+from dataclasses import dataclass
+
+
+MAIN_BGR_H  = 384
+MAIN_BGR_W  = 480
+ELEVATION_H = 200
+ELEVATION_W = 200
+
+
+@dataclass
+class ExcavatorModel:
+    name: str = ''
+
+    # body
+    boom_len: float = 0.0
+    arm_len: float = 0.0
+    operating_arm_height: float = 0.0
+    boom_init_angle: float = 0.0
+    arm_init_angle: float = 0.0
+    arm_offset_x: float = 0.0
+    arm_offset_y: float = 0.0
+
+    # bucket
+    bucket_length: float = 0.0
+    bucket_width: float = 0.0
+
+    # elevation resolution
+    meter_per_pixel_u: float = 0.0
+    meter_per_pixel_v: float = 0.0
+
+
+class ExcavatorKinematics(object):
+    def __init__(self, excavator: str):
+        self.model = self._get_model(excavator)
+
+    def _get_model(self, excavator: str) -> ExcavatorModel:
+        exc = ExcavatorModel(name=excavator)
+        if excavator == '75':
+            exc.boom_len = 3.6957
+            exc.arm_len = 1.62233
+            exc.operating_arm_height = 1.4
+            exc.boom_init_angle = 1.0
+            exc.arm_init_angle = 1.5
+            exc.arm_offset_x = 0.0
+            exc.arm_offset_y = -0.1
+            exc.bucket_length = 0.8
+            exc.bucket_width = 0.6
+            exc.meter_per_pixel_u = 0.1
+            exc.meter_per_pixel_v = 0.1
+        
+        elif excavator in ('490', '306'):
+            exc.boom_len = 6.670
+            exc.arm_len = 2.90746
+            exc.operating_arm_height = 2.46
+            exc.boom_init_angle = 1.0
+            exc.arm_init_angle = 1.5
+            exc.arm_offset_x = 0.0
+            exc.arm_offset_y = 0.0
+            exc.bucket_length = 1.5
+            exc.bucket_width = 1.2
+            exc.meter_per_pixel_u = 0.2
+            exc.meter_per_pixel_v = 0.2
+        
+        else:
+            raise NotImplementedError
+        
+        return exc
+
+    def fk(self, joints: np.ndarray) -> np.ndarray:
+        assert joints.shape[1] == 4
+
+        boom = joints[:, 0]
+        arm = joints[:, 1]
+        x = self.model.boom_len * np.sin(boom + self.model.boom_init_angle) + \
+            self.model.arm_len * np.sin(np.pi - boom - self.model.boom_init_angle - arm - self.model.arm_init_angle)
+        z = self.model.boom_len * np.cos(boom + self.model.boom_init_angle) - \
+            self.model.arm_len * np.cos(np.pi - boom - self.model.boom_init_angle - arm - self.model.arm_init_angle)
+        y = np.zeros_like(x)
+        xyz = np.stack([x, y, z], axis=1) 
+        
+        return xyz
 
 
-METER_PER_PIXEL_X = 0.2
-METER_PER_PIXEL_Y = 0.2
-BUCKET_HALF_X = 2
-BUCKET_HALF_Y = 2
-MAIN_BGR_H = 384
-MAIN_BGR_W = 480
-
-
-def excavator_kinematic(qpos, k=6.670, n=2.90746):
-    '''根据关节角度、大小臂长度计算末端位姿'''
-    # 490: k=6.670, n=2.90746
-    boom = qpos[:, 0]
-    arm = qpos[:, 1]
-    bucket = qpos[:, 2]
-    swing = qpos[:, 3]
-    x = k * np.sin(boom + 1) + n * np.sin(np.pi - boom - 1 - arm - 1.5)
-    z = k * np.cos(boom + 1) - n * np.cos(np.pi - boom - 1 - arm - 1.5) 
-    
-    return x, z, swing, bucket
-
-
-def resize_with_aspect_ratio(image, width=None, height=None):
+def resize_with_aspect_ratio(
+        image: np.ndarray,
+        width: int=None,
+        height: int=None
+    ) -> np.ndarray:
     if width is None and height is None:
         return image
     
@@ -51,36 +115,43 @@ def resize_with_aspect_ratio(image, width=None, height=None):
     return padded
 
 
-def traj_visualization(data_path, out_dir, fmt='mp4', fps=30):
+def traj_visualization(
+        excavator: str,
+        data_path: str,
+        out_dir: str,
+        fmt: str='mp4',
+        fps: int=30
+    ) -> None:
     # load data
     with h5py.File(data_path) as f:
         elevations = np.array(f['observations']['images']['elevation'])
         joints = np.array(f['observations']['qpos'])
         mains = np.array(f['observations']['images']['main'])
-
     assert elevations.shape[0] == joints.shape[0]
-    H, W = elevations.shape[1:3]
 
     # forward kinemetics
-    x = excavator_kinematic(joints, k=6.670, n=2.90746)[0]
-    # x = excavator_kinematic(joints, k=3.6957, n=1.62233)[0]
-    px = (x / METER_PER_PIXEL_X).astype(np.int32)
+    exc = ExcavatorKinematics(excavator)
+    xyz = exc.fk(joints)
+    px = (xyz[:, 0] / exc.model.meter_per_pixel_u).astype(np.int32)
+
+    bucket_half_u = int(exc.model.bucket_length / 2 / exc.model.meter_per_pixel_u)
+    bucket_half_v = int(exc.model.bucket_width / 2 / exc.model.meter_per_pixel_v)
     
     # visualization
     frames = []
     for i in range(elevations.shape[0]):
         # end pose
         traj_elevation = elevations[i].copy()
-        center_u = W // 2
-        center_v = H // 2 - px[i]
-        traj_elevation[center_v - BUCKET_HALF_X: center_v + BUCKET_HALF_X,
-                       center_u - BUCKET_HALF_Y: center_u + BUCKET_HALF_Y] = (255, 0, 0)
+        center_u = ELEVATION_W // 2
+        center_v = ELEVATION_H // 2 - px[i]
+        traj_elevation[center_v - bucket_half_v: center_v + bucket_half_v,
+                       center_u - bucket_half_u: center_u + bucket_half_u] = (255, 0, 0)
 
         # elevation
         traj_elevation = resize_with_aspect_ratio(traj_elevation, height=MAIN_BGR_H, width=MAIN_BGR_W)
         
         # main bgr
-        traj_main = mains[i].copy()[..., ::-1]
+        traj_main = mains[i].copy()[..., ::-1]  # BGR -> RGB
         traj_main = resize_with_aspect_ratio(traj_main, height=MAIN_BGR_H, width=MAIN_BGR_W)
         traj_img = np.concatenate([traj_main, traj_elevation], axis=1)
         
@@ -94,12 +165,11 @@ def traj_visualization(data_path, out_dir, fmt='mp4', fps=30):
 
 if __name__=="__main__":
     parser = argparse.ArgumentParser()
+    parser.add_argument("--excavator", type=str, required=True, help='excavator name')
     parser.add_argument("--data_path", type=str, required=True, help='path to the h5 file')
     parser.add_argument("--out_dir", type=str, required=True, help='path the output directory')
     parser.add_argument("--format", type=str, required=False, default='mp4', help='format of the output file, mp4 or gif are supported')
-    parser.add_argument("--fps", type=str, required=False, default=30, help='FPS of the output file')
+    parser.add_argument("--fps", type=int, required=False, default=30, help='FPS of the output file')
     args = parser.parse_args()
 
-
-    "/home/netease/data/excavator_motion/490/robot_data_20250430_123028.h5"
-    traj_visualization(args.data_path, args.out_dir, args.format)
+    traj_visualization(args.excavator, args.data_path, args.out_dir, args.format, args.fps)