From e712c3e47a4a57cb636d853a8bbd06d76f672991 Mon Sep 17 00:00:00 2001
From: swittl <simon.wittl@th-deg.de>
Date: Mon, 15 Jul 2024 11:10:17 +0200
Subject: [PATCH] echo update
---
rq_controller/rq_workflow.py | 80 +++++++++++++++++++-----------------
1 file changed, 43 insertions(+), 37 deletions(-)
diff --git a/rq_controller/rq_workflow.py b/rq_controller/rq_workflow.py
index b729565..f79cd44 100644
--- a/rq_controller/rq_workflow.py
+++ b/rq_controller/rq_workflow.py
@@ -2,8 +2,10 @@ from __future__ import annotations
from rq_hardware.hardware_client import HardwareClient
from rq_ddetection.defect_detection_client import DefectDetectionClient
+from rq_reconstruction.reconstruction_client import ReconstructionClient
+from rq_trajectory.trajectory_optimization_client import TrajectoryOptimizationClient
-from rq_controller.common import PyProjection, PyRegionOfIntrest
+from rq_controller.common import PyProjection, PyRegionOfIntrest, PyVolume
import rclpy
@@ -13,12 +15,13 @@ from scipy.spatial.transform import Rotation
import numpy as np
-class WorkflowNode(Node):
+class WorkflowNode():
def __init__(self):
- super().__init__('rq_workflow_node')
self.hardware_interface = HardwareClient()
self.defect_detection_interface = DefectDetectionClient()
+ self.trajectory = TrajectoryOptimizationClient()
+ self.reconstruction = ReconstructionClient()
def defect_detection(self, projections: list[PyProjection]) -> list[PyRegionOfIntrest]:
@@ -51,55 +54,58 @@ class WorkflowNode(Node):
reached, cost, _ = self.hardware_interface.reachability_response_2_py(response)
return reached, cost
+ def get_volume(self, projection_stack: list[PyProjection], roi: PyRegionOfIntrest):
+ future = self.reconstruction.get_volume(projection_stack, roi)
-def main():
- rclpy.init()
+ rclpy.spin_until_future_complete(self.reconstruction, future)
+
+ response = future.result()
+ return self.reconstruction.response_2_py(response)
- workflow = WorkflowNode()
+ def trajectory_update(self, current_projection: PyProjection):
+ future = self.trajectory.trajectory_update(current_projection)
- number_of_projections = 10
+ rclpy.spin_until_future_complete(self.trajectory, future)
- projection_list = list()
- angles = np.linspace(0, np.pi, number_of_projections)
- rotation = Rotation.from_euler('z', angles, degrees=False)
+ response = future.result()
+ return self.trajectory.trajectory_update_response_2_py(response)
+
+ def trajectory_initialize(self, roi: list[PyRegionOfIntrest]):
+ future = self.trajectory.trajectory_initialize(roi)
- fod_mm = 1000.
- fdd_mm = 2000.
+ rclpy.spin_until_future_complete(self.trajectory, future)
- src_pos = np.array([0, fod_mm, 0])
- det_pos = np.array([0, fod_mm-fdd_mm, 0])
+
- for i in range(number_of_projections):
- src_pos_rotated = rotation[i].apply(src_pos)
- det_pos_rotated = rotation[i].apply(det_pos)
- quad = (rotation[i] * Rotation.from_euler('x', 90, degrees=True)).as_quat()
+def main():
+ print('This minimal example need the nodes described in the rq_workflow/launch/echo_launch.py script.')
+ rclpy.init()
+ workflow = WorkflowNode()
+ print('Aquire some scout views...')
+ projection_list = list()
+ for i in range(5):
+ print(f' - At projection {i}')
scan_pose = PyProjection.dummy()
- scan_pose.focal_spot_mm = src_pos_rotated
- scan_pose.detector_postion_mm = det_pos_rotated
- scan_pose.detector_orientation_quad = quad
-
- scan_pose.voltage_kv = 100.
- scan_pose.current_ua = 1.
- scan_pose.exposure_time_ms = 500.
+ scan_pose.focal_spot_mm += i
+ projection_list.append(workflow.aquire_projection(scan_pose))
- reachable, cost = workflow.check_reachability(scan_pose)
+ print('Detect errors in scout views ...')
+ roi = workflow.defect_detection(projection_list)
- if reachable:
- print("Pose can be reached -> scan...")
- else:
- print("Pose not reachable -> skip ...")
- continue
+ print('Init traj opt ...')
+ workflow.trajectory_initialize(roi)
- projection = workflow.aquire_projection(scan_pose)
- projection_list.append(projection)
+ print('Get next scan pose from traj opt ...')
+ next_scan_pose, finished = workflow.trajectory_update(projection_list[-1])
- defect_roi = workflow.defect_detection(projection_list)
+ print('Aquire scan pose ...')
+ projection_list.append(workflow.aquire_projection(next_scan_pose))
- for roi in defect_roi:
- print(f'Roi center: {roi.center_points_mm}')
- print(f'Roi dimension: {roi.dimensions_mm}')
+ print('Resconstruct projections ...')
+ volume = workflow.get_volume(projection_list, roi[0])
+ print('FINISHED !!!')
if __name__ == '__main__':
main()
\ No newline at end of file
--
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