From 363fd2ddc090cd7d620400a5efc1ccdb4a896295 Mon Sep 17 00:00:00 2001
From: swittl <simon.wittl@th-deg.de>
Date: Fri, 21 Jun 2024 09:26:20 +0200
Subject: [PATCH] projection fix
---
.vscode/c_cpp_properties.json | 17 ++++++
.vscode/settings.json | 16 ++++++
.../__pycache__/__init__.cpython-38.pyc | Bin 0 -> 305 bytes
.../__pycache__/projection.cpython-38.pyc | Bin 0 -> 3604 bytes
.../projection_geometry.cpython-38.pyc | Bin 0 -> 2113 bytes
.../region_of_intrest.cpython-38.pyc | Bin 0 -> 1505 bytes
.../io/__pycache__/__init__.cpython-38.pyc | Bin 0 -> 171 bytes
.../io/__pycache__/loader.cpython-38.pyc | Bin 0 -> 1318 bytes
.../io/__pycache__/writer.cpython-38.pyc | Bin 0 -> 2453 bytes
.../__pycache__/__init__.cpython-38.pyc | Bin 0 -> 179 bytes
.../rq_json/__pycache__/load.cpython-38.pyc | Bin 0 -> 2254 bytes
.../rq_json/__pycache__/write.cpython-38.pyc | Bin 0 -> 2402 bytes
rq_controller/common/projection.py | 49 +++++++++++++++---
rq_controller/common/projection_geometry.py | 26 ++++++++--
14 files changed, 95 insertions(+), 13 deletions(-)
create mode 100644 .vscode/c_cpp_properties.json
create mode 100644 .vscode/settings.json
create mode 100644 rq_controller/common/__pycache__/__init__.cpython-38.pyc
create mode 100644 rq_controller/common/__pycache__/projection.cpython-38.pyc
create mode 100644 rq_controller/common/__pycache__/projection_geometry.cpython-38.pyc
create mode 100644 rq_controller/common/__pycache__/region_of_intrest.cpython-38.pyc
create mode 100644 rq_controller/common/io/__pycache__/__init__.cpython-38.pyc
create mode 100644 rq_controller/common/io/__pycache__/loader.cpython-38.pyc
create mode 100644 rq_controller/common/io/__pycache__/writer.cpython-38.pyc
create mode 100644 rq_controller/common/io/rq_json/__pycache__/__init__.cpython-38.pyc
create mode 100644 rq_controller/common/io/rq_json/__pycache__/load.cpython-38.pyc
create mode 100644 rq_controller/common/io/rq_json/__pycache__/write.cpython-38.pyc
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..bf74468
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,17 @@
+{
+ "configurations": [
+ {
+ "browse": {
+ "databaseFilename": "${default}",
+ "limitSymbolsToIncludedHeaders": false
+ },
+ "includePath": [
+ "c:\\dev\\rq_workflow\\install\\include\\**",
+ "C:\\dev\\rq_workflow\\install\\include\\**",
+ "C:\\dev\\ros2_humble\\include\\**"
+ ],
+ "name": "ROS"
+ }
+ ],
+ "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..5626c31
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,16 @@
+{
+ "python.autoComplete.extraPaths": [
+ "c:\\dev\\rq_workflow\\install\\Lib\\site-packages",
+ "C:\\dev\\rq_workflow\\install\\Lib\\site-packages",
+ "C:\\ci\\ws\\install\\lib\\python3.8\\dist-packages",
+ "C:\\dev\\ros2_humble\\Lib\\site-packages",
+ ""
+ ],
+ "python.analysis.extraPaths": [
+ "c:\\dev\\rq_workflow\\install\\Lib\\site-packages",
+ "C:\\dev\\rq_workflow\\install\\Lib\\site-packages",
+ "C:\\ci\\ws\\install\\lib\\python3.8\\dist-packages",
+ "C:\\dev\\ros2_humble\\Lib\\site-packages",
+ ""
+ ]
+}
\ No newline at end of file
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diff --git a/rq_controller/common/projection.py b/rq_controller/common/projection.py
index d196bc7..b802794 100644
--- a/rq_controller/common/projection.py
+++ b/rq_controller/common/projection.py
@@ -1,22 +1,32 @@
+from __future__ import annotations
+
import numpy as np
from numpy import ndarray
from .projection_geometry import PyProjectionGeometry
from rq_interfaces.msg import Projection, ProjectionGeometry
+from sensor_msgs.msg import Image
+import ros2_numpy
+
class PyProjection(PyProjectionGeometry):
def __init__(self, focal_spot_mm: ndarray, detector_postion_mm: ndarray, detector_orientation_quad: ndarray, image: np.ndarray,
- detector_heigth_mm: float, detector_width_mm: float, frame_id: str = 'object') -> None:
- super().__init__(focal_spot_mm, detector_postion_mm, detector_orientation_quad, frame_id)
- self.image = image
+ detector_heigth_mm: float, detector_width_mm: float, frame_id: str = 'object',
+ focal_spot_orientation_quad: np.ndarray = np.array([0., 0., 0, 1.]),
+ voltage_kv: float = 100., current_ua: float = 100., exposure_time_ms: float = 1000.) -> None:
+ super().__init__(focal_spot_mm, detector_postion_mm, detector_orientation_quad, frame_id, focal_spot_orientation_quad)
+ self.image = image.astype(np.uint16)
self.detector_heigth_mm = detector_heigth_mm
self.detector_width_mm = detector_width_mm
+ self.voltage_kv = voltage_kv
+ self.current_ua = current_ua
+ self.exposure_time_ms = exposure_time_ms
@classmethod
def dummy(cls):
- return cls(np.array([1., 0., 0]),
- np.array([-1., 0., 0]),
+ return cls(np.array([0., 100., 0]),
+ np.array([0., -100., 0]),
np.array([1., 0., 0, 1.]),
np.zeros((10, 10)),
10., 10.)
@@ -36,12 +46,25 @@ class PyProjection(PyProjectionGeometry):
msg.projection_geometry.detector_orientation_quad.z,
msg.projection_geometry.detector_orientation_quad.w])
- image = msg.image
+ focal_spot_orientation = np.array([msg.projection_geometry.focal_spot_orientation_quad.x,
+ msg.projection_geometry.focal_spot_orientation_quad.y,
+ msg.projection_geometry.focal_spot_orientation_quad.z,
+ msg.projection_geometry.focal_spot_orientation_quad.w])
+
+
detector_heigth_mm = msg.detector_heigth_mm
detector_width_mm = msg.detector_width_mm
frame_id = msg.projection_geometry.header.frame_id
- return cls(focal_spot_mm, detector_center_mm, detector_orientation_quad, image, detector_heigth_mm, detector_width_mm, frame_id)
+ image = ros2_numpy.numpify(msg.image)
+
+ voltage_kv = msg.voltage_kv
+ current_ua = msg.current_ua
+ exposure_time_ms = msg.exposure_time_ms
+
+ return cls(focal_spot_mm, detector_center_mm, detector_orientation_quad, image,
+ detector_heigth_mm, detector_width_mm, frame_id, focal_spot_orientation,
+ voltage_kv, current_ua, exposure_time_ms)
def as_message(self) -> ProjectionGeometry:
message = Projection()
@@ -60,13 +83,23 @@ class PyProjection(PyProjectionGeometry):
projection_geometry.detector_orientation_quad.z = self.detector_orientation_quad[2]
projection_geometry.detector_orientation_quad.w = self.detector_orientation_quad[3]
+ projection_geometry.focal_spot_orientation_quad.x = self.focal_spot_orientation_quad[0]
+ projection_geometry.focal_spot_orientation_quad.y = self.focal_spot_orientation_quad[1]
+ projection_geometry.focal_spot_orientation_quad.z = self.focal_spot_orientation_quad[2]
+ projection_geometry.focal_spot_orientation_quad.w = self.focal_spot_orientation_quad[3]
+
message.projection_geometry = projection_geometry
- message.image = self.image
+ message.image = ros2_numpy.msgify(Image, self.image, 'mono16')
+
message.detector_heigth_mm = self.detector_heigth_mm
message.detector_width_mm = self.detector_width_mm
message.projection_geometry.header.frame_id = self.frame_id
+ message.voltage_kv = self.voltage_kv
+ message.current_ua = self.current_ua
+ message.exposure_time_ms = self.exposure_time_ms
+
return message
@property
diff --git a/rq_controller/common/projection_geometry.py b/rq_controller/common/projection_geometry.py
index 6b4bd73..8548dcd 100644
--- a/rq_controller/common/projection_geometry.py
+++ b/rq_controller/common/projection_geometry.py
@@ -1,12 +1,17 @@
+from __future__ import annotations
+
import numpy as np
-from rq_interfaces.msg import ProjectionGeometry
+from rq_interfaces.msg import ProjectionGeometry, Projection
class PyProjectionGeometry():
- def __init__(self, focal_spot_mm: np.ndarray, detector_postion_mm: np.ndarray, detector_orientation_quad: np.ndarray,
- frame_id: str = 'object') -> None:
+ def __init__(self, focal_spot_mm: np.ndarray, detector_postion_mm: np.ndarray,
+ detector_orientation_quad: np.ndarray,
+ frame_id: str = 'object', focal_spot_orientation_quad: np.ndarray = np.array([0., 0., 0, 1.])
+ ) -> None:
self.focal_spot_mm = focal_spot_mm
self.detector_postion_mm = detector_postion_mm
+ self.focal_spot_orientation_quad = focal_spot_orientation_quad
self.detector_orientation_quad = detector_orientation_quad
self.frame_id = frame_id
@@ -14,7 +19,7 @@ class PyProjectionGeometry():
def dummy(cls):
return cls(np.array([1., 0., 0]),
np.array([-1., 0., 0]),
- np.array([1., 0., 0, 1.]))
+ np.array([0., 0., 0, 1.]))
@classmethod
def from_message(cls, msg: ProjectionGeometry):
@@ -30,9 +35,15 @@ class PyProjectionGeometry():
msg.detector_orientation_quad.y,
msg.detector_orientation_quad.z,
msg.detector_orientation_quad.w])
+
+ focal_spot_orientation = np.array([msg.focal_spot_orientation_quad.x,
+ msg.focal_spot_orientation_quad.y,
+ msg.focal_spot_orientation_quad.z,
+ msg.focal_spot_orientation_quad.w])
+
frame_id = msg.header.frame_id
- return cls(focal_spot_mm, detector_center_mm, detector_orientation_quad, frame_id)
+ return cls(focal_spot_mm, detector_center_mm, detector_orientation_quad, frame_id, focal_spot_orientation)
def as_message(self) -> ProjectionGeometry:
message = ProjectionGeometry()
@@ -45,6 +56,11 @@ class PyProjectionGeometry():
message.detector_postion_mm.y = self.detector_postion_mm[1]
message.detector_postion_mm.z = self.detector_postion_mm[2]
+ message.focal_spot_orientation_quad.x = self.focal_spot_orientation_quad[0]
+ message.focal_spot_orientation_quad.y = self.focal_spot_orientation_quad[1]
+ message.focal_spot_orientation_quad.z = self.focal_spot_orientation_quad[2]
+ message.focal_spot_orientation_quad.w = self.focal_spot_orientation_quad[3]
+
message.detector_orientation_quad.x = self.detector_orientation_quad[0]
message.detector_orientation_quad.y = self.detector_orientation_quad[1]
message.detector_orientation_quad.z = self.detector_orientation_quad[2]
--
GitLab