diff --git a/.gitignore b/.gitignore
index 0a0825d..82b407a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,3 +6,4 @@ docs/_buid/
*.png
*.jpg
*.jpeg
+*.mp4
diff --git a/diffdope/diffdope.py b/diffdope/diffdope.py
index 47d4587..4bf30a6 100644
--- a/diffdope/diffdope.py
+++ b/diffdope/diffdope.py
@@ -6,10 +6,10 @@
import collections
import io
-import sys
import math
import pathlib
import random
+import sys
import warnings
from dataclasses import dataclass
from itertools import repeat
@@ -36,7 +36,7 @@
# for better print debug
print()
-if not hasattr(sys, 'ps1'):
+if not hasattr(sys, "ps1"):
print = ic
# A logger for this file
@@ -209,9 +209,14 @@ def render_texture_batch(
depth = depth.reshape(shape_keep)[..., 2] * -1
# mask , _ = dr.interpolate(torch.ones(pos_idx.shape).cuda(), rast_out, pos_idx)
- mask, _ = dr.interpolate(torch.ones(pos_idx.shape).cuda(),
- rast_out, pos_idx[0],rast_db=rast_out_db,diff_attrs="all")
- mask = dr.antialias(mask, rast_out, pos_clip_ja, pos_idx[0])
+ mask, _ = dr.interpolate(
+ torch.ones(pos_idx.shape).cuda(),
+ rast_out,
+ pos_idx[0],
+ rast_db=rast_out_db,
+ diff_attrs="all",
+ )
+ mask = dr.antialias(mask, rast_out, pos_clip_ja, pos_idx[0])
# compute vertex color interpolation
if vtx_color is None:
@@ -237,7 +242,7 @@ def render_texture_batch(
color = color * torch.clamp(rast_out[..., -1:], 0, 1) # Mask out background.
if not return_rast_out:
rast_out = None
- return {"rgb": color, "depth": depth, "rast_out": rast_out, 'mask':mask}
+ return {"rgb": color, "depth": depth, "rast_out": rast_out, "mask": mask}
##############################################################################
@@ -973,7 +978,7 @@ def __init__(
self.qx = None # to load on cpu and not gpu
if model_path is None:
- self.mesh = None
+ self.mesh = None
else:
self.mesh = Mesh(path_model=model_path, scale=scale)
@@ -1227,11 +1232,11 @@ def set_batchsize(self, batchsize):
Args:
batchsize (int): batchsize for the tensors
"""
- if not self.path_img is None:
+ if not self.tensor_rgb is None:
self.tensor_rgb.set_batchsize(batchsize)
- if not self.path_depth is None:
+ if not self.tensor_depth is None:
self.tensor_depth.set_batchsize(batchsize)
- if not self.path_segmentation is None:
+ if not self.tensor_segmentation is None:
self.tensor_segmentation.set_batchsize(batchsize)
def get_resolution(self):
@@ -1241,17 +1246,17 @@ def get_resolution(self):
Return
(list): w,h of the image for optimization
"""
- if not self.path_img is None:
+ if not self.tensor_rgb is None:
return [
self.tensor_rgb.img_tensor.shape[-3],
self.tensor_rgb.img_tensor.shape[-2],
]
- if not self.path_depth is None:
+ if not self.tensor_depth is None:
return [
self.tensor_depth.img_tensor.shape[-2],
self.tensor_depth.img_tensor.shape[-1],
]
- if not self.path_segmentation is None:
+ if not self.tensor_segmentation is None:
return [
self.tensor_segmentation.img_tensor.shape[-3],
self.tensor_segmentation.img_tensor.shape[-2],
@@ -1262,11 +1267,11 @@ def cuda(self):
Put on cuda the image tensors
"""
- if not self.path_img is None:
+ if not self.tensor_rgb is None:
self.tensor_rgb.cuda()
- if not self.path_depth is None:
+ if not self.tensor_depth is None:
self.tensor_depth.cuda()
- if not self.path_segmentation is None:
+ if not self.tensor_segmentation is None:
self.tensor_segmentation.cuda()
@@ -1424,7 +1429,7 @@ def render_img(
else:
crop = find_crop(self.optimization_results[index][render_selection][0])
-
+
if batch_index is None:
# make a grid
if self.cfg.render_images.crop_around_mask:
@@ -1656,7 +1661,6 @@ def run_optimization(self):
if self.scene.tensor_segmentation is not None:
self.gt_tensors["segmentation"] = self.scene.tensor_segmentation.img_tensor
-
pbar = tqdm(range(self.cfg.hyperparameters.nb_iterations + 1))
for iteration_now in pbar:
@@ -1728,4 +1732,3 @@ def cuda(self):
self.object3d.cuda()
self.scene.cuda()
self.camera.cuda()
- pass
diff --git a/diffdope_ros/CMakeLists.txt b/diffdope_ros/CMakeLists.txt
new file mode 100644
index 0000000..1086353
--- /dev/null
+++ b/diffdope_ros/CMakeLists.txt
@@ -0,0 +1,213 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(diffdope_ros)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ rospy
+ std_msgs
+ geometry_msgs
+ sensor_msgs
+ actionlib
+ actionlib_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+ FILES
+ TargetObject.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+# Generate actions in the 'action' folder
+add_action_files(
+ FILES
+ RefineObject.action
+ RefineAll.action
+)
+
+# Generate added messages and services with any dependencies listed here
+generate_messages(
+ DEPENDENCIES
+ std_msgs
+ geometry_msgs
+ sensor_msgs
+ actionlib_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+# catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES diffdope_ros
+# CATKIN_DEPENDS acitonlib actionlib_msgs rospy
+# DEPENDS system_lib
+# )
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+# )
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/diffdope_ros.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/diffdope_ros_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+catkin_install_python(PROGRAMS
+ scripts/server.py
+ scripts/refine.py
+ scripts/refine_continuous.py
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_diffdope_ros.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/diffdope_ros/action/RefineAll.action b/diffdope_ros/action/RefineAll.action
new file mode 100644
index 0000000..5623b69
--- /dev/null
+++ b/diffdope_ros/action/RefineAll.action
@@ -0,0 +1,8 @@
+# Request
+diffdope_ros/TargetObject[] target_objects
+---
+# Result
+diffdope_ros/TargetObject[] refined_estimations
+---
+# Feedback
+bool finished
diff --git a/diffdope_ros/action/RefineObject.action b/diffdope_ros/action/RefineObject.action
new file mode 100644
index 0000000..ab2944d
--- /dev/null
+++ b/diffdope_ros/action/RefineObject.action
@@ -0,0 +1,8 @@
+# Request
+diffdope_ros/TargetObject target_object
+---
+# Result
+diffdope_ros/TargetObject refined_estimation
+---
+# Feedback
+bool finished
diff --git a/diffdope_ros/configs/multiobject_with_dope.yaml b/diffdope_ros/configs/multiobject_with_dope.yaml
new file mode 100644
index 0000000..9a7a78b
--- /dev/null
+++ b/diffdope_ros/configs/multiobject_with_dope.yaml
@@ -0,0 +1,46 @@
+---
+segment_anything_checkpoint_path: ~/sam_vit_b_01ec64.pth
+image_resize: 0.5
+save_video: false
+max_saved_videos_per_run: 5
+saved_videos_path: ~/output_videos
+topics:
+ camera_info: /camera/color/camera_info
+ rgb: /camera/color/image_raw
+ depth: /camera/aligned_depth_to_color/image_raw
+objects:
+ - name: bbq_sauce
+ scale: 0.01
+ pose_topic: /dope/pose_BBQSauce
+ model_path: meshes/hope/bbq_sauce.ply
+ - name: alphabet_soup
+ scale: 0.01
+ pose_topic: /dope/pose_AlphabetSoup
+ model_path: meshes/hope/alphabet_soup.ply
+ - name: mustard
+ scale: 0.01
+ pose_topic: /dope/pose_Mustard
+ model_path: meshes/hope/mustard.ply
+losses:
+ l1_rgb_with_mask: false
+ weight_rgb: 0.2
+ l1_depth_with_mask: false
+ weight_depth: 0.2
+ l1_mask: true
+ weight_mask: 1
+hyperparameters:
+ nb_iterations: 30
+ batchsize: 8
+ base_lr: 20
+ learning_rates_bound: [0.01, 100]
+ learning_rate_base: 1
+ lr_decay: 0.1
+render_images:
+ nrow: 4
+ final_width_batch: 2000
+ add_background: true
+ alpha_overlay: 0.7
+ add_countour: true
+ color_countour: [0.46, 0.73, 0]
+ flip_result: true
+ crop_around_mask: false
diff --git a/diffdope_ros/example_data/segmentation_output/.gitkeep b/diffdope_ros/example_data/segmentation_output/.gitkeep
new file mode 100644
index 0000000..e69de29
diff --git a/diffdope_ros/launch/refine.launch b/diffdope_ros/launch/refine.launch
new file mode 100644
index 0000000..e76a912
--- /dev/null
+++ b/diffdope_ros/launch/refine.launch
@@ -0,0 +1,19 @@
+
+
+
+
+
+
+
+
diff --git a/diffdope_ros/launch/refine_continuous.launch b/diffdope_ros/launch/refine_continuous.launch
new file mode 100644
index 0000000..d1d37ce
--- /dev/null
+++ b/diffdope_ros/launch/refine_continuous.launch
@@ -0,0 +1,19 @@
+
+
+
+
+
+
+
+
diff --git a/diffdope_ros/launch/server.launch b/diffdope_ros/launch/server.launch
new file mode 100644
index 0000000..6bd8291
--- /dev/null
+++ b/diffdope_ros/launch/server.launch
@@ -0,0 +1,12 @@
+
+
+
+
+
diff --git a/diffdope_ros/meshes/hope/alphabet_soup.ply b/diffdope_ros/meshes/hope/alphabet_soup.ply
new file mode 100644
index 0000000..01a1ad5
--- /dev/null
+++ b/diffdope_ros/meshes/hope/alphabet_soup.ply
@@ -0,0 +1,55452 @@
+ply
+format ascii 1.0
+comment Created by Blender 2.82 (sub 7) - www.blender.org, source file: ''
+comment TextureFile alphabet_soup.png
+element vertex 41578
+property float x
+property float y
+property float z
+property float nx
+property float ny
+property float nz
+element face 13860
+property list uchar uint vertex_indices
+end_header
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new file mode 100644
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diff --git a/diffdope_ros/msg/TargetObject.msg b/diffdope_ros/msg/TargetObject.msg
new file mode 100644
index 0000000..dc58b80
--- /dev/null
+++ b/diffdope_ros/msg/TargetObject.msg
@@ -0,0 +1,6 @@
+string name
+geometry_msgs/PoseStamped pose
+sensor_msgs/Image rgb_frame
+sensor_msgs/Image depth_frame
+string model_path
+float32 scale
diff --git a/diffdope_ros/package.xml b/diffdope_ros/package.xml
new file mode 100644
index 0000000..85053d1
--- /dev/null
+++ b/diffdope_ros/package.xml
@@ -0,0 +1,68 @@
+
+
+ diffdope_ros
+ 0.0.0
+ The diffdope_ros package
+
+
+
+
+ Rafael Papallas
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ acitonlib
+ actionlib_msgs
+ rospy
+ acitonlib
+ actionlib_msgs
+ rospy
+ acitonlib
+ actionlib_msgs
+ rospy
+
+
+
+
+
+
+
+
diff --git a/diffdope_ros/scripts/refine.py b/diffdope_ros/scripts/refine.py
new file mode 100755
index 0000000..8d49d55
--- /dev/null
+++ b/diffdope_ros/scripts/refine.py
@@ -0,0 +1,202 @@
+import os
+import sys
+import threading
+import time
+from functools import partial
+
+import actionlib
+import cv2
+import hydra
+import rospkg
+import rospy
+from cv_bridge import CvBridge
+from geometry_msgs.msg import PoseStamped
+from omegaconf import DictConfig
+from sensor_msgs.msg import Image as ROS_Image
+
+from diffdope_ros.msg import (
+ RefineAllAction,
+ RefineAllGoal,
+ RefineObjectAction,
+ RefineObjectGoal,
+ TargetObject,
+)
+
+
+def pose_callback(pose_stamped_msg, object_name):
+ global live_dope_pose_per_object
+ with pose_lock:
+ live_dope_pose_per_object[object_name] = pose_stamped_msg
+
+
+def rgb_callback(img_msg):
+ global live_rgb
+ with rgb_lock:
+ live_rgb = img_msg
+
+
+def depth_callback(depth_msg):
+ global live_depth
+ with depth_lock:
+ live_depth = depth_msg
+
+
+def init_ros_subscribers(cfg):
+ rospy.init_node("diffdope", anonymous=True)
+
+ # Create RGB frame subscriber
+ rgb_topic = cfg.topics.rgb
+ rgb_sub = rospy.Subscriber(rgb_topic, ROS_Image, rgb_callback)
+ subscribers.append(rgb_sub)
+
+ # Create depth frame subscriber
+ depth_topic = cfg.topics.depth
+ depth_sub = rospy.Subscriber(depth_topic, ROS_Image, depth_callback)
+ subscribers.append(depth_sub)
+
+ for obj in cfg["objects"]:
+ object_name = obj["name"]
+
+ # Create pose subscriber (DOPE)
+ live_dope_pose_per_object[object_name] = None
+ pose_topic = obj.pose_topic
+ pose_sub = rospy.Subscriber(
+ pose_topic, PoseStamped, partial(pose_callback, object_name=object_name)
+ )
+ subscribers.append(pose_sub)
+
+ # Allow time for subscribers to initialise first pose/frames.
+ time.sleep(1)
+
+
+def get_initialisation_for(object_name):
+ dope_pose, rgb_frame, depth_frame = None, None, None
+
+ # Prevent data race by using a lock
+ while dope_pose is None or rgb_frame is None or depth_frame is None:
+ with pose_lock, rgb_lock, depth_lock:
+ dope_pose = live_dope_pose_per_object[object_name]
+ rgb_frame = live_rgb
+ depth_frame = live_depth
+
+ return dope_pose, rgb_frame, depth_frame
+
+
+def get_object_definition_by_name(cfg, object_name):
+ for obj_cfg in cfg.objects:
+ if obj_cfg.name == object_name:
+ return obj_cfg
+
+
+def wait_until_all_data_available():
+ rospy.loginfo("Waiting for all data to become available ...")
+
+ while True:
+ if live_rgb is None:
+ rospy.loginfo("Waiting for rgb frames ...")
+ elif live_depth is None:
+ rospy.loginfo("Waiting for depth frames ...")
+ elif any([v is None for _, v in live_dope_pose_per_object.items()]):
+ rospy.loginfo("Waiting for some initial poses ...")
+ for k, v in live_dope_pose_per_object.items():
+ if v is None:
+ rospy.loginfo(f"The pose of object {k} isn't available yet ...")
+ else:
+ break
+ time.sleep(0.5)
+
+ rospy.loginfo("All data available. Starting refinement.")
+
+
+def main_single_object(cfg: DictConfig, object_name):
+ client = actionlib.SimpleActionClient("refine_object", RefineObjectAction)
+ client.wait_for_server()
+ obj_cfg = get_object_definition_by_name(cfg, object_name)
+
+ init_pose, rgb_frame, depth_frame = get_initialisation_for(obj_cfg.name)
+
+ goal = RefineObjectGoal()
+ target_object = TargetObject()
+ target_object.name = obj_cfg.name
+ target_object.pose = init_pose
+ target_object.rgb_frame = rgb_frame
+ target_object.depth_frame = depth_frame
+ target_object.model_path = obj_cfg.model_path
+ target_object.scale = obj_cfg.scale
+ goal.target_object = target_object
+
+ client.send_goal(goal)
+ client.wait_for_result()
+
+ result = client.get_result()
+ print(result.refined_estimation.pose)
+
+
+def main_all_objects(cfg: DictConfig):
+ client = actionlib.SimpleActionClient("refine_all", RefineAllAction)
+ client.wait_for_server()
+
+ goal = RefineAllGoal()
+ for obj_cfg in cfg.objects:
+ init_pose, rgb_frame, depth_frame = get_initialisation_for(obj_cfg.name)
+ target_object = TargetObject()
+ target_object.name = obj_cfg.name
+ target_object.pose = init_pose
+ target_object.rgb_frame = rgb_frame
+ target_object.depth_frame = depth_frame
+ target_object.model_path = obj_cfg.model_path
+ target_object.scale = obj_cfg.scale
+ goal.target_objects.append(target_object)
+
+ client.send_goal(goal)
+ client.wait_for_result()
+
+ result = client.get_result()
+ for refined_estimation in result.refined_estimations:
+ print(refined_estimation.name)
+ print(refined_estimation.pose)
+ print()
+
+
+def parse_cfg():
+ diffdope_ros_path = rospkg.RosPack().get_path("diffdope_ros")
+ config_dir = os.path.join(diffdope_ros_path, "configs")
+ config_file = sys.argv[1]
+
+ hydra.initialize_config_dir(version_base=None, config_dir=config_dir)
+ cfg = hydra.compose(config_name=config_file, return_hydra_config=True)
+
+ return cfg
+
+
+def is_object_name_in_cfg(cfg, object_name):
+ for obj_cfg in cfg.objects:
+ if obj_cfg.name == object_name:
+ return True
+
+
+if __name__ == "__main__":
+ bridge = CvBridge()
+ subscribers = []
+ pose_lock = threading.Lock()
+ live_dope_pose_per_object = {}
+
+ rgb_lock = threading.Lock()
+ live_rgb = None
+
+ depth_lock = threading.Lock()
+ live_depth = None
+
+ cfg = parse_cfg()
+ init_ros_subscribers(cfg)
+ wait_until_all_data_available()
+
+ object_name = sys.argv[2]
+ if object_name == "all":
+ rospy.loginfo("Refining all objects...")
+ main_all_objects(cfg)
+ else:
+ rospy.loginfo(f"Refining {object_name} only...")
+ if not is_object_name_in_cfg(cfg, object_name):
+ sys.exit("The object name provided is not in the config file.")
+ main_single_object(cfg, object_name)
diff --git a/diffdope_ros/scripts/refine_continuous.py b/diffdope_ros/scripts/refine_continuous.py
new file mode 100644
index 0000000..3f3d5aa
--- /dev/null
+++ b/diffdope_ros/scripts/refine_continuous.py
@@ -0,0 +1,219 @@
+import os
+import sys
+import threading
+import time
+from functools import partial
+
+import actionlib
+import cv2
+import hydra
+import rospkg
+import rospy
+from cv_bridge import CvBridge
+from geometry_msgs.msg import PoseStamped
+from omegaconf import DictConfig
+from sensor_msgs.msg import Image as ROS_Image
+
+from diffdope_ros.msg import (
+ RefineAllAction,
+ RefineAllGoal,
+ RefineObjectAction,
+ RefineObjectGoal,
+ TargetObject,
+)
+
+
+def pose_callback(pose_stamped_msg, object_name):
+ global live_dope_pose_per_object
+ with pose_lock:
+ live_dope_pose_per_object[object_name] = pose_stamped_msg
+
+
+def rgb_callback(img_msg):
+ global live_rgb
+ with rgb_lock:
+ live_rgb = img_msg
+
+
+def depth_callback(depth_msg):
+ global live_depth
+ with depth_lock:
+ live_depth = depth_msg
+
+
+def init_ros_subscribers(cfg):
+ rospy.init_node("diffdope", anonymous=True)
+
+ # Create RGB frame subscriber
+ rgb_topic = cfg.topics.rgb
+ rgb_sub = rospy.Subscriber(rgb_topic, ROS_Image, rgb_callback)
+ subscribers.append(rgb_sub)
+
+ # Create depth frame subscriber
+ depth_topic = cfg.topics.depth
+ depth_sub = rospy.Subscriber(depth_topic, ROS_Image, depth_callback)
+ subscribers.append(depth_sub)
+
+ for obj in cfg["objects"]:
+ object_name = obj["name"]
+
+ # Create pose subscriber (DOPE)
+ live_dope_pose_per_object[object_name] = None
+ pose_topic = obj.pose_topic
+ pose_sub = rospy.Subscriber(
+ pose_topic, PoseStamped, partial(pose_callback, object_name=object_name)
+ )
+ subscribers.append(pose_sub)
+
+ # Allow time for subscribers to initialise first pose/frames.
+ time.sleep(1)
+
+
+def get_initialisation_for(object_name):
+ dope_pose, rgb_frame, depth_frame = None, None, None
+
+ # Prevent data race by using a lock
+ while dope_pose is None or rgb_frame is None or depth_frame is None:
+ with pose_lock, rgb_lock, depth_lock:
+ dope_pose = live_dope_pose_per_object[object_name]
+ rgb_frame = live_rgb
+ depth_frame = live_depth
+
+ return dope_pose, rgb_frame, depth_frame
+
+
+def get_object_definition_by_name(cfg, object_name):
+ for obj_cfg in cfg.objects:
+ if obj_cfg.name == object_name:
+ return obj_cfg
+
+
+def wait_until_all_data_available():
+ rospy.loginfo("Waiting for all data to become available ...")
+
+ while True:
+ if live_rgb is None:
+ rospy.loginfo("Waiting for rgb frames ...")
+ elif live_depth is None:
+ rospy.loginfo("Waiting for depth frames ...")
+ elif any([v is None for _, v in live_dope_pose_per_object.items()]):
+ rospy.loginfo("Waiting for some initial poses ...")
+ for k, v in live_dope_pose_per_object.items():
+ if v is None:
+ rospy.loginfo(f"The pose of object {k} isn't available yet ...")
+ else:
+ break
+ time.sleep(0.5)
+
+ rospy.loginfo("All data available. Starting refinement.")
+
+
+def main_single_object(cfg: DictConfig, object_name):
+ client = actionlib.SimpleActionClient("refine_object", RefineObjectAction)
+ client.wait_for_server()
+ obj_cfg = get_object_definition_by_name(cfg, object_name)
+ publisher = rospy.Publisher(f"diffdope_{obj_cfg.name}", PoseStamped, queue_size=1)
+
+ try:
+ while True:
+ init_pose, rgb_frame, depth_frame = get_initialisation_for(obj_cfg.name)
+
+ goal = RefineObjectGoal()
+ target_object = TargetObject()
+ target_object.name = obj_cfg.name
+ target_object.pose = init_pose
+ target_object.rgb_frame = rgb_frame
+ target_object.depth_frame = depth_frame
+ target_object.model_path = obj_cfg.model_path
+ target_object.scale = obj_cfg.scale
+ goal.target_object = target_object
+
+ client.send_goal(goal)
+ client.wait_for_result()
+ result = client.get_result()
+ publisher.publish(result.refined_estimation.pose)
+ except KeyboardInterrupt:
+ return
+
+
+def main_all_objects(cfg: DictConfig):
+ client = actionlib.SimpleActionClient("refine_all", RefineAllAction)
+ client.wait_for_server()
+
+ try:
+ while True:
+ goal = RefineAllGoal()
+ for obj_cfg in cfg.objects:
+ init_pose, rgb_frame, depth_frame = get_initialisation_for(obj_cfg.name)
+ target_object = TargetObject()
+ target_object.name = obj_cfg.name
+ target_object.pose = init_pose
+ target_object.rgb_frame = rgb_frame
+ target_object.depth_frame = depth_frame
+ target_object.model_path = obj_cfg.model_path
+ target_object.scale = obj_cfg.scale
+ goal.target_objects.append(target_object)
+
+ client.send_goal(goal)
+ client.wait_for_result()
+
+ result = client.get_result()
+ for refined_estimation in result.refined_estimations:
+ object_name = refined_estimation.name
+ pose = refined_estimation.pose
+ publisher = rospy.Publisher(
+ f"diffdope_{object_name}", PoseStamped, queue_size=1
+ )
+ publisher.publish(pose)
+
+ except KeyboardInterrupt:
+ return
+
+
+def parse_cfg():
+ diffdope_ros_path = rospkg.RosPack().get_path("diffdope_ros")
+ config_dir = os.path.join(diffdope_ros_path, "configs")
+ config_file = sys.argv[1]
+
+ hydra.initialize_config_dir(version_base=None, config_dir=config_dir)
+ cfg = hydra.compose(config_name=config_file, return_hydra_config=True)
+
+ return cfg
+
+
+def is_object_name_in_cfg(cfg, object_name):
+ for obj_cfg in cfg.objects:
+ if obj_cfg.name == object_name:
+ return True
+
+
+if __name__ == "__main__":
+ bridge = CvBridge()
+ subscribers = []
+ pose_lock = threading.Lock()
+ live_dope_pose_per_object = {}
+
+ rgb_lock = threading.Lock()
+ live_rgb = None
+
+ depth_lock = threading.Lock()
+ live_depth = None
+
+ cfg = parse_cfg()
+ init_ros_subscribers(cfg)
+ wait_until_all_data_available()
+
+ if cfg.save_video:
+ rospy.loginfo(
+ "Note you have save_video to True in config file; you may want to turn it off."
+ )
+
+ object_name = sys.argv[2]
+ if object_name == "all":
+ rospy.loginfo("Refining all objects...")
+ main_all_objects(cfg)
+ else:
+ rospy.loginfo(f"Refining {object_name} only...")
+ if not is_object_name_in_cfg(cfg, object_name):
+ sys.exit("The object name provided is not in the config file.")
+ main_single_object(cfg, object_name)
diff --git a/diffdope_ros/scripts/segmentator.py b/diffdope_ros/scripts/segmentator.py
new file mode 100644
index 0000000..e332048
--- /dev/null
+++ b/diffdope_ros/scripts/segmentator.py
@@ -0,0 +1,80 @@
+import os
+from collections import namedtuple
+
+import cv2
+import numpy as np
+import rospkg
+import torch
+from segment_anything import SamPredictor, sam_model_registry
+
+
+class SegmentAnything:
+ def __init__(self, camera_parameters, checkpoint_path):
+ self.camera_parameters = camera_parameters
+ self.sam = sam_model_registry["vit_b"](checkpoint=checkpoint_path)
+
+ DEVICE = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
+ _ = self.sam.to(device=DEVICE)
+
+ self.mask_predictor = SamPredictor(self.sam)
+
+ def _project_position_to_image_plane(self, position):
+ x = position.x / position.z
+ y = position.y / position.z
+
+ new_x = self.camera_parameters.fx * x + self.camera_parameters.cx
+ new_y = self.camera_parameters.fy * y + self.camera_parameters.cy
+
+ return new_x, new_y
+
+ def segment(self, image_bgr, point_in_camera):
+ image_rgb = cv2.cvtColor(image_bgr, cv2.COLOR_BGR2RGB)
+ self.mask_predictor.set_image(image_rgb)
+ x, y = self._project_position_to_image_plane(point_in_camera)
+
+ masks, _, _ = self.mask_predictor.predict(
+ point_coords=np.array([[x, y]]),
+ point_labels=np.array([1]),
+ multimask_output=True,
+ )
+
+ largest_mask = max(masks, key=np.count_nonzero)
+
+ return largest_mask * 255
+
+
+def dummy_demo():
+ diffdope_ros_path = rospkg.RosPack().get_path("diffdope_ros")
+ input_dir = os.path.join(diffdope_ros_path, "example_data", "segmentation_inputs")
+
+ DOPEPoint = namedtuple("DOPEPoint", "x y z")
+ data = [
+ (
+ os.path.join(input_dir, "test1.png"),
+ DOPEPoint(-0.09592835017609432, 0.08744199450987605, 0.5177931977536219),
+ ),
+ (
+ os.path.join(input_dir, "test2.png"),
+ DOPEPoint(-0.0658483455855903, 0.03527420196672081, 0.4323496926767813),
+ ),
+ ]
+
+ Camera = namedtuple("Camera", "fx fy cx cy")
+ camera = Camera(fx=908.85, fy=906.69, cx=626.71, cy=383.20)
+ sa = SegmentAnything(camera, os.path.expanduser("~/sam_vit_b_01ec64.pth"))
+
+ output_dir = os.path.join(diffdope_ros_path, "example_data", "segmentation_output")
+
+ for i, (filename, dope_position) in enumerate(data):
+ print(f"Segmenting {filename}")
+ image_bgr = cv2.imread(f"{filename}")
+ segmentation_mask = sa.segment(image_bgr, dope_position)
+
+ path = os.path.join(output_dir, f"output{i}.png")
+ cv2.imwrite(path, segmentation_mask)
+ print(f"Output segmentation saved at {path}")
+ print()
+
+
+if __name__ == "__main__":
+ dummy_demo()
diff --git a/diffdope_ros/scripts/server.py b/diffdope_ros/scripts/server.py
new file mode 100755
index 0000000..52c4ab9
--- /dev/null
+++ b/diffdope_ros/scripts/server.py
@@ -0,0 +1,361 @@
+#!/bin/python3
+import os
+import re
+import sys
+
+import rospkg
+
+diffdope_ros_path = rospkg.RosPack().get_path("diffdope_ros")
+sys.path.insert(0, os.path.join(diffdope_ros_path, "scripts"))
+
+from collections import namedtuple
+
+import actionlib
+import cv2
+import hydra
+import numpy as np
+import rospy
+import tf.transformations as tf_trans
+import torch
+from cv_bridge import CvBridge
+from geometry_msgs.msg import PoseStamped
+from omegaconf import DictConfig, OmegaConf, open_dict
+from segmentator import SegmentAnything
+from sensor_msgs.msg import CameraInfo
+
+import diffdope as dd
+from diffdope_ros.msg import (
+ RefineAllAction,
+ RefineAllResult,
+ RefineObjectAction,
+ RefineObjectResult,
+ TargetObject,
+)
+
+
+class DiffDOPEServer:
+ def __init__(self, cfg: DictConfig):
+ self.cfg = cfg
+ self.num_of_saved_videos_in_this_run = 0
+ self.camera_parameters = self.__get_camera_intrinsic_params(
+ self.cfg.topics.camera_info
+ )
+
+ # diff-dope internally needs the camera parameters in self.cfg
+ self.__add_camera_parameters_to_cfg()
+
+ checkpoint_path = os.path.expanduser(self.cfg.segment_anything_checkpoint_path)
+ self.segment_anything = SegmentAnything(self.camera_parameters, checkpoint_path)
+ self.__advertise_actions()
+
+ def __advertise_actions(self):
+ self._action_refine_object_server = actionlib.SimpleActionServer(
+ "refine_object",
+ RefineObjectAction,
+ execute_cb=self.__refine_object,
+ auto_start=False,
+ )
+
+ self._action_refine_all_server = actionlib.SimpleActionServer(
+ "refine_all",
+ RefineAllAction,
+ execute_cb=self.__refine_all,
+ auto_start=False,
+ )
+
+ self._action_refine_object_server.start()
+ self._action_refine_all_server.start()
+ rospy.loginfo(
+ "[DiffDOPE Server] Both action servers started. Waiting for requests..."
+ )
+
+ def __add_camera_parameters_to_cfg(self):
+ OmegaConf.set_struct(self.cfg, True)
+ with open_dict(self.cfg):
+ self.cfg.camera = {}
+ self.cfg.camera.fx = self.camera_parameters.fx
+ self.cfg.camera.fy = self.camera_parameters.fy
+ self.cfg.camera.cx = self.camera_parameters.cx
+ self.cfg.camera.cy = self.camera_parameters.cy
+ self.cfg.camera.im_width = self.camera_parameters.image_width
+ self.cfg.camera.im_height = self.camera_parameters.image_height
+
+ def __get_camera_intrinsic_params(self, camera_info_topic_name):
+ camera_info = None
+
+ def camera_info_callback(data):
+ nonlocal camera_info
+ camera_info = data
+
+ rospy.Subscriber(camera_info_topic_name, CameraInfo, camera_info_callback)
+
+ while camera_info is None and not rospy.is_shutdown():
+ rospy.sleep(0.1)
+
+ fx = camera_info.K[0] # Focal length in x-axis
+ fy = camera_info.K[4] # Focal length in y-axis
+ cx = camera_info.K[2] # Principal point in x-axis
+ cy = camera_info.K[5] # Principal point in y-axis
+
+ image_height = camera_info.height
+ image_width = camera_info.width
+
+ Camera = namedtuple("Camera", "fx fy cx cy image_height image_width")
+ camera_intrinsic_parameters = Camera(fx, fy, cx, cy, image_height, image_width)
+ return camera_intrinsic_parameters
+
+ def __refine_object(self, goal):
+ refined_pose = self.__compute_refined_pose(goal.target_object)
+ result = RefineObjectResult()
+ result.refined_estimation = refined_pose
+ self._action_refine_object_server.set_succeeded(result)
+
+ def __refine_all(self, goal):
+ result = RefineAllResult()
+ for target_object in goal.target_objects:
+ refined_pose = self.__compute_refined_pose(target_object)
+ result.refined_estimations.append(refined_pose)
+ self._action_refine_all_server.set_succeeded(result)
+
+ def __compute_refined_pose(self, target_object):
+ initial_pose_estimate = target_object.pose.pose
+
+ scene = self.__generate_scene(
+ target_object.rgb_frame,
+ target_object.depth_frame,
+ initial_pose_estimate.position,
+ )
+ object3d = self.__generate_3d_object(target_object)
+
+ ddope = dd.DiffDope(cfg=self.cfg, scene=scene, object3d=object3d)
+ ddope.run_optimization()
+
+ if (
+ self.cfg.save_video
+ and self.num_of_saved_videos_in_this_run < self.cfg.max_saved_videos_per_run
+ ):
+ self.__save_video(ddope)
+ self.num_of_saved_videos_in_this_run += 1
+
+ if (
+ self.num_of_saved_videos_in_this_run
+ == self.cfg.max_saved_videos_per_run
+ ):
+ rospy.loginfo(
+ f"No new videos will be saved in this run. This is because your config file dictates max of {self.cfg.max_saved_videos_per_run} saved videos per run."
+ )
+ rospy.loginfo(
+ 'This is a mechanism to avoid saving too many videos during "continuous tracking" (refine_continuous.launch).'
+ )
+ rospy.loginfo(
+ "If you prefer, disable saving of video from the config file altogether."
+ )
+
+ refined_pose = self.__create_pose_stamped(ddope.get_pose())
+ refined_target_object = TargetObject()
+ refined_target_object.name = target_object.name
+ refined_target_object.pose = refined_pose
+
+ return refined_target_object
+
+ def __save_video(self, ddope):
+ rospy.loginfo("***You can disable video outputting from the config file***")
+ video_dir = os.path.expanduser(self.cfg.saved_videos_path)
+ self.__create_dir_if_not_exists(video_dir)
+ next_video_id = self.__find_next_available_video_id(video_dir)
+ video_path = os.path.join(video_dir, f"video_{next_video_id}.mp4")
+ ddope.make_animation(output_file_path=video_path)
+ rospy.loginfo(f"Video saved at {video_path}")
+
+ def __convert_opengl_pose_to_opencv(self, transform):
+ transform[0, 3] /= 10
+ transform[1, 3] /= 10
+ transform[2, 3] /= 10
+
+ theta = np.pi
+ rotation_matrix = np.array(
+ [
+ [1, 0, 0, 0],
+ [0, np.cos(theta), -np.sin(theta), 0],
+ [0, np.sin(theta), np.cos(theta), 0],
+ [0, 0, 0, 1],
+ ]
+ )
+
+ return np.dot(rotation_matrix, transform)
+
+ def __create_pose_stamped(self, diffdope_transform):
+ diffdope_transform = self.__convert_opengl_pose_to_opencv(diffdope_transform)
+ translation = diffdope_transform[0:3, 3]
+ quaternion = tf_trans.quaternion_from_matrix(diffdope_transform)
+
+ pose_stamped = PoseStamped()
+ pose_stamped.header.stamp = rospy.Time.now()
+ pose_stamped.header.frame_id = "frame_id"
+
+ pose_stamped.pose.position.x = translation[0]
+ pose_stamped.pose.position.y = translation[1]
+ pose_stamped.pose.position.z = translation[2]
+
+ pose_stamped.pose.orientation.x = quaternion[0]
+ pose_stamped.pose.orientation.y = quaternion[1]
+ pose_stamped.pose.orientation.z = quaternion[2]
+ pose_stamped.pose.orientation.w = quaternion[3]
+
+ return pose_stamped
+
+ def __create_dir_if_not_exists(self, dir):
+ if not os.path.exists(dir):
+ os.makedirs(dir)
+
+ def __find_next_available_video_id(self, directory):
+ max_id = 0
+ pattern = r"video_(\d+)\.mp4"
+
+ for filename in os.listdir(directory):
+ if filename.endswith(".mp4"):
+ match = re.search(pattern, filename)
+ if match:
+ file_id = int(match.group(1))
+ max_id = max(max_id, file_id)
+
+ return max_id + 1
+
+ def __resize_image(self, image, is_depth=False):
+ if self.cfg.image_resize < 1.0:
+ if is_depth:
+ image = cv2.resize(
+ image,
+ (
+ int(image.shape[1] * self.cfg.image_resize),
+ int(image.shape[0] * self.cfg.image_resize),
+ ),
+ interpolation=cv2.INTER_NEAREST,
+ )
+ else:
+ image = cv2.resize(
+ image,
+ (
+ int(image.shape[1] * self.cfg.image_resize),
+ int(image.shape[0] * self.cfg.image_resize),
+ ),
+ )
+
+ return image
+
+ def __convert_rgb_frame_to_diffdope_image(self, cv_bridge, rgb_frame):
+ try:
+ cv_image = cv_bridge.imgmsg_to_cv2(rgb_frame, "bgr8")
+ rgb_frame = cv2.cvtColor(cv_image, cv2.COLOR_BGR2RGB)
+ rgb_frame_normalized = rgb_frame / 255.0
+ rgb_frame = cv2.flip(rgb_frame_normalized, 0) # needed by diff-dope
+ except Exception as e:
+ rospy.logerr(f"CvBridge Error: {e}")
+
+ rgb_frame = self.__resize_image(rgb_frame)
+ rgb_tensor = torch.tensor(rgb_frame).float()
+ rgb_image = dd.Image(img_tensor=rgb_tensor, img_resize=self.cfg.image_resize)
+ return rgb_image
+
+ def __convert_depth_frame_to_diffdope_image(self, cv_bridge, depth_frame):
+ depth_frame = cv_bridge.imgmsg_to_cv2(depth_frame, depth_frame.encoding)
+ depth_frame = depth_frame.astype(np.int16)
+ depth_frame = cv2.flip(depth_frame, 0) # needed by diff-dope
+ depth_frame = self.__resize_image(depth_frame, is_depth=True)
+ depth_tensor = torch.tensor(depth_frame).float()
+ depth_image = dd.Image(
+ img_tensor=depth_tensor, img_resize=self.cfg.image_resize, depth=True
+ )
+
+ return depth_image
+
+ def __convert_segmentation_frame_to_diffdope_image(
+ self, cv_bridge, rgb_frame, point_in_camera
+ ):
+ try:
+ cv_image = cv_bridge.imgmsg_to_cv2(rgb_frame, "bgr8")
+ rgb_frame = cv2.cvtColor(cv_image, cv2.COLOR_BGR2RGB)
+
+ segmentation_frame = self.segment_anything.segment(
+ rgb_frame, point_in_camera
+ )
+ except Exception as e:
+ rospy.logerr(f"CvBridge Error: {e}")
+
+ # Make segmentation a 3 channel RGB image.
+ segmentation_frame = cv2.merge(
+ (segmentation_frame, segmentation_frame, segmentation_frame)
+ )
+ segmentation_frame = segmentation_frame / 255.0
+ segmentation_frame = cv2.flip(segmentation_frame, 0) # needed by diff-dope
+
+ segmentation_frame = self.__resize_image(segmentation_frame)
+ segmentation_tensor = torch.tensor(segmentation_frame).float()
+
+ segmentation_image = dd.Image(
+ img_tensor=segmentation_tensor, img_resize=self.cfg.image_resize
+ )
+
+ return segmentation_image
+
+ def __generate_scene(self, rgb_frame, depth_frame, point_in_camera):
+ cv_bridge = CvBridge()
+ rgb_image = self.__convert_rgb_frame_to_diffdope_image(cv_bridge, rgb_frame)
+ depth_image = self.__convert_depth_frame_to_diffdope_image(
+ cv_bridge, depth_frame
+ )
+ segmentation_image = self.__convert_segmentation_frame_to_diffdope_image(
+ cv_bridge, rgb_frame, point_in_camera
+ )
+
+ scene = dd.Scene(
+ tensor_rgb=rgb_image,
+ tensor_depth=depth_image,
+ tensor_segmentation=segmentation_image,
+ image_resize=self.cfg.image_resize,
+ )
+
+ return scene
+
+ def __generate_3d_object(self, goal: TargetObject):
+ dope_pose = goal.pose.pose
+ dope_position = dope_pose.position
+ position = np.array([dope_position.x, dope_position.y, dope_position.z])
+
+ # Convert to mm
+ position *= 1_000
+
+ quat = dope_pose.orientation
+ rotation = [quat.x, quat.y, quat.z, quat.w]
+
+ model_path = os.path.join(diffdope_ros_path, goal.model_path)
+ object3d = dd.Object3D(
+ position, rotation, model_path=model_path, scale=goal.scale
+ )
+
+ return object3d
+
+
+def parse_cfg():
+ diffdope_ros_path = rospkg.RosPack().get_path("diffdope_ros")
+ config_dir = os.path.join(diffdope_ros_path, "configs")
+ config_file = sys.argv[1]
+
+ hydra.initialize_config_dir(version_base=None, config_dir=config_dir)
+ cfg = hydra.compose(config_name=config_file, return_hydra_config=True)
+
+ return cfg
+
+
+if __name__ == "__main__":
+ rospy.init_node("diffdope_action_server")
+
+ if len(sys.argv) > 1:
+ config_file = sys.argv[1]
+ rospy.loginfo(f"[DiffDOPE Server] Config file working with: {config_file}")
+ else:
+ sys.exit("No config file provided.")
+
+ cfg = parse_cfg()
+ server = DiffDOPEServer(cfg)
+ rospy.spin()
diff --git a/docs/.gitignore b/docs/.gitignore
new file mode 100644
index 0000000..69fa449
--- /dev/null
+++ b/docs/.gitignore
@@ -0,0 +1 @@
+_build/
diff --git a/docs/conf.py b/docs/conf.py
index 36a5ca9..c368b15 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -6,8 +6,6 @@
# -- Project information -----------------------------------------------------
# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
-import os
-import sys
import os
# Ensure Sphinx uses the correct Python interpreter
@@ -43,20 +41,26 @@
html_theme = "sphinx_rtd_theme"
# html_static_path = ["_static"]
+
# In your conf.py file
def autodoc_skip_member(app, what, name, obj, skip, options):
# Ref: https://stackoverflow.com/a/21449475/
- exclusions = ('make_grid', # special-members
- '__doc__', '__module__', '__dict__', # undoc-members
- )
+ exclusions = (
+ "make_grid", # special-members
+ "__doc__",
+ "__module__",
+ "__dict__", # undoc-members
+ )
exclude = name in exclusions
# return True if (skip or exclude) else None # Can interfere with subsequent skip functions.
return True if exclude else None
+
def setup(app):
app.connect("autodoc-skip-member", autodoc_skip_member)
+
import sys
print("Python Version:")
-print(sys.version)
\ No newline at end of file
+print(sys.version)
diff --git a/docs/demos.rst b/docs/demos.rst
new file mode 100644
index 0000000..9ab64b4
--- /dev/null
+++ b/docs/demos.rst
@@ -0,0 +1,142 @@
+Demos
+================
+
+Multi-object using ROS and DOPE with RGB and Depth
+--------------------------------------------------
+
+The demo uses RGB and Depth from a RealSense camera, poses published by DOPE,
+and segments the image using
+`segment-anything `_.
+The demo comes as a catkin package under ``diffdope_ros/``.
+
+Say you cloned the diff-dope repo under your home directory (i.e., ``~/diff-dope``),
+and you have a catkin workspace under your home directory too (i.e., ``~/catkin_ws``),
+you can create a symlink of the package there:
+
+.. code::
+
+ cd ~/catkin_ws/src
+ ln -s ~/diff-dope/diffdope_ros .
+
+You can ``catkin_make`` under ``~/catkin_ws`` now to build the package.
+You can, of course, move the package there instead of creating a symlink.
+
+The demo uses a configuration under
+``diffdope_ros/config/multiobject_with_dope.yaml`` which uses DOPE for initial
+pose estimation, and dictates topics for RGB and Depth (assuming a RealSense
+sensor). It also uses a camera info topic to retrieve camera intrinsic
+parameters as well as the image dimensions.
+
+You can also download a ROS bag from `here `_
+to play with this demo, without the need of a real sensor.
+
+If you wish to use the ROS bag, you can play it back in a loop like so:
+
+.. code::
+
+ rosbag play -l ~/path/to/simple.bag
+
+
+Install diffdope, under the root diffdope directory:
+
+.. code::
+
+ pip install -r requirements.txt
+ pip install -e .
+
+
+You need to install
+`segment-anything `_
+and download the checkpoints.
+
+.. code::
+
+ pip install git+https://github.com/facebookresearch/segment-anything.git
+
+Then head to the
+`model checkpoints section `_,
+and download any of the model checkpoints. Place it somewhere on your
+computer and update the ``segment_anything_checkpoint_path`` of the config file
+to let it know where to find it. If you want to test the segmentation
+functionality independently, you can run the following Python script:
+``diffdope_ros/scripts/segmentator.py``.
+
+Now run DOPE using:
+
+.. code::
+
+ roslaunch dope dope.launch
+
+
+Make sure DOPE detects the objects and that the topics you expect are being
+published. From there you can run the ``refine.launch`` demo like so:
+
+.. code::
+
+ roslaunch diffdope_ros server.py # To start the actionlib server
+
+ # Refine pose for individual object
+ roslaunch diffdope_ros refine.launch object_name:=bbq_sauce
+ roslaunch diffdope_ros refine.launch object_name:=alphabet_soup
+ roslaunch diffdope_ros refine.launch object_name:=mustard
+
+ # or don't pass object_name to refine the pose of all the objects in the config
+ roslaunch diffdope_ros refine.launch
+
+The above names are derived from the config file, ``config/multiobject_with_dope.yaml``.
+The launch files pass this file to the server and refine scripts.
+
+The ``refine.launch`` is just doing a single refinement and exit. There is
+also the ``refine_continuous.launch`` that will do continuous refinement
+and publish the refined pose to a topic ``/diffdope_object_name``.
+
+.. code::
+
+ roslaunch diffdope_ros server.py # To start the actionlib server
+
+ # Refine pose for individual object
+ roslaunch diffdope_ros refine_continuous.launch object_name:=bbq_sauce
+ roslaunch diffdope_ros refine_continuous.launch object_name:=alphabet_soup
+ roslaunch diffdope_ros refine_continuous.launch object_name:=mustard
+
+ # or don't pass object_name to refine the pose of all the objects in the config
+ roslaunch diffdope_ros refine_continuous.launch
+
+
+Parameters
+--------------------------------------------------
+
+Please inspect the ``config/multiobject_with_dope.yaml`` file to see certain
+parameters. For example, by default this demo will produce videos of the
+optimisation, however you can turn this off through the config file
+to speed things up. You can also adjust certain optimisation parameters from
+the config file. Some parameters related to the ROS demo below:
+
++-----------------+-----------------+
+| Parameter | Explanation |
++=================+=================+
+| segment_anything_checkpoint_path | path to the checkpoint file for segment anything. |
++-----------------+-----------------+
+| save_video | whether to save a video visualizing the diffdope optimization. |
++-----------------+-----------------+
+| max_saved_videos_per_run | This will dictate how many videos will be generated per run, to avoid generating too many when running the continuous version. |
++-----------------+-----------------+
+
+Dealing with DOPE and model coordinate frames
+--------------------------------------------------
+
+Please note the following important details when you try to use a new object
+and pose from DOPE:
+
+* DOPE pose output may not match the coordinate frame used in the 3D model of
+ the object you wish to use. In this case, you need to apply a static
+ transformation to bring the DOPE pose output to match the one used in your 3D
+ model. DOPE provides a way in the config file (``model_transforms``) to define such transformation
+ per object. For more details on this subject, please read `this `_.
+* The scaling of the object is important. We suggest that you scale your 3D object
+ in Blender to bring it closer to the scale of the examples. For example,
+ the HOPE objects as downloaded from the official repository, we had to scale them
+ by a factor of 10. Although a parameter to scale the 3D object in the config
+ is available, we had difficulties to get it to work properly and found better
+ luck by manually scaling the 3D object in Blender. You can import a reference
+ object (like the BBQ Sauce model we provide) in Blender to see the scale.
diff --git a/docs/index.rst b/docs/index.rst
index 39a9305..772c12c 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -11,6 +11,7 @@ Welcome to Diff-DOPE's documentation!
:caption: Contents:
modules
+ demos
Indices and tables
==================
diff --git a/examples/readme.md b/examples/readme.md
new file mode 100644
index 0000000..a366204
--- /dev/null
+++ b/examples/readme.md
@@ -0,0 +1,4 @@
+# Demos
+
+For more details of how to run certain demos, refer to
+the [docs page](docs/).
diff --git a/examples/run_bop_scene.py b/examples/run_bop_scene.py
index a8f341f..9b53c7b 100644
--- a/examples/run_bop_scene.py
+++ b/examples/run_bop_scene.py
@@ -1,7 +1,7 @@
+import json
import os
import cv2
-import json
import hydra
from icecream import ic
from omegaconf import DictConfig, OmegaConf
@@ -11,89 +11,90 @@
@hydra.main(version_base=None, config_path="../configs/", config_name="diffdope")
def main(cfg: DictConfig):
-
# basic ddope object
ddope = dd.DiffDope(cfg=cfg)
- # load a scene
- path_scene_bop = '/home/jtremblay/code/camera2robot/hope/val/000001/'
+ # load a scene
+ path_scene_bop = "/home/jtremblay/code/camera2robot/hope/val/000001/"
# models path
- path_scene_bop_models = '/home/jtremblay/code/camera2robot/hope/models/'
+ path_scene_bop_models = "/home/jtremblay/code/camera2robot/hope/models/"
- # scene error generated for the paper.
- path_error_scene_bop = '/home/jtremblay/code/diff-dope/data/hope/val/000001/scene_error_deg_040_trans_016.json'
+ # scene error generated for the paper.
+ path_error_scene_bop = "/home/jtremblay/code/diff-dope/data/hope/val/000001/scene_error_deg_040_trans_016.json"
- with open(f"{path_error_scene_bop}", 'r') as f:
+ with open(f"{path_error_scene_bop}", "r") as f:
data_scene = json.load(f)
- # load frame 0
- frame = "0"
+ # load frame 0
+ frame = "0"
frame_0 = data_scene[frame]
# keep track of the models loaded
loaded_models = {}
- # load the depth and rgb image
+ # load the depth and rgb image
scene = dd.Scene(
- path_img = f"{path_scene_bop}/rgb/{frame.zfill(6)}.png",
- path_depth = f"{path_scene_bop}/depth/{frame.zfill(6)}.png",
- path_segmentation = f"{path_scene_bop}/rgb/{frame.zfill(6)}.png",
- image_resize = cfg.scene.image_resize
+ path_img=f"{path_scene_bop}/rgb/{frame.zfill(6)}.png",
+ path_depth=f"{path_scene_bop}/depth/{frame.zfill(6)}.png",
+ path_segmentation=f"{path_scene_bop}/rgb/{frame.zfill(6)}.png",
+ image_resize=cfg.scene.image_resize,
)
scene.cuda()
scene.set_batchsize(cfg.hyperparameters.batchsize)
-
for i_obj, obj in enumerate(frame_0):
-
# load the object
- if not obj['obj_id'] in loaded_models:
- loaded_models[obj['obj_id']] = dd.Mesh(f'{path_scene_bop_models}/obj_{str(obj["obj_id"]).zfill(6)}.ply',
- scale = 0.01
+ if not obj["obj_id"] in loaded_models:
+ loaded_models[obj["obj_id"]] = dd.Mesh(
+ f'{path_scene_bop_models}/obj_{str(obj["obj_id"]).zfill(6)}.ply',
+ scale=0.01,
)
- loaded_models[obj['obj_id']].set_batchsize(cfg.hyperparameters.batchsize)
- loaded_models[obj['obj_id']].cuda()
+ loaded_models[obj["obj_id"]].set_batchsize(cfg.hyperparameters.batchsize)
+ loaded_models[obj["obj_id"]].cuda()
# ic(loaded_models[obj['obj_id']])
-
# load the pose
pose_to_update = dd.Object3D(
- position = obj['cam_t_m2c'],
- rotation = obj['cam_R_m2c'],
- scale = 0.01,
- batchsize = cfg.hyperparameters.batchsize
+ position=obj["cam_t_m2c"],
+ rotation=obj["cam_R_m2c"],
+ scale=0.01,
+ batchsize=cfg.hyperparameters.batchsize,
)
- pose_to_update.mesh = loaded_models[obj['obj_id']]
+ pose_to_update.mesh = loaded_models[obj["obj_id"]]
pose_to_update.cuda()
# load the segmentation
mask = dd.Image(
- img_path = f"{path_scene_bop}/mask_visib/{frame.zfill(6)}_{str(i_obj).zfill(6)}.png",
- img_resize = cfg.scene.image_resize
+ img_path=f"{path_scene_bop}/mask_visib/{frame.zfill(6)}_{str(i_obj).zfill(6)}.png",
+ img_resize=cfg.scene.image_resize,
)
ic(mask)
mask.cuda()
mask.set_batchsize(cfg.hyperparameters.batchsize)
-
- # set things for the optimization
+
+ # set things for the optimization
scene.tensor_segmentation = mask
ddope.scene = scene
ddope.object3d = pose_to_update
- # run the optimiztion
+ # run the optimization
ddope.run_optimization()
-
+
# Output pose
- ic(f'object {i_obj}',ddope.get_argmin(), ddope.get_pose())
+ ic(f"object {i_obj}", ddope.get_argmin(), ddope.get_pose())
# render an image
img = ddope.render_img()
- cv2.imwrite(f"{hydra.core.hydra_config.HydraConfig.get().runtime.output_dir}/{str(i_obj).zfill(2)}.png", img)
-
+ cv2.imwrite(
+ f"{hydra.core.hydra_config.HydraConfig.get().runtime.output_dir}/{str(i_obj).zfill(2)}.png",
+ img,
+ )
+
# ddope.make_animation(output_file_path=
# f"{hydra.core.hydra_config.HydraConfig.get().runtime.output_dir}/{str(i_obj).zfill(2)}.mp4")
+
if __name__ == "__main__":
main()
diff --git a/license.md b/license.md
index 7a6940f..6d506c0 100644
--- a/license.md
+++ b/license.md
@@ -40,9 +40,8 @@ Subject to the terms and conditions of this License, each Licensor grants to you
## 4. Disclaimer of Warranty.
-THE WORK IS PROVIDED “AS IS” WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WARRANTIES OR CONDITIONS OF M ERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE OR NON-INFRINGEMENT. YOU BEAR THE RISK OF UNDERTAKING ANY ACTIVITIES UNDER THIS LICENSE.
+THE WORK IS PROVIDED “AS IS” WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WARRANTIES OR CONDITIONS OF M ERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE OR NON-INFRINGEMENT. YOU BEAR THE RISK OF UNDERTAKING ANY ACTIVITIES UNDER THIS LICENSE.
## 5. Limitation of Liability.
EXCEPT AS PROHIBITED BY APPLICABLE LAW, IN NO EVENT AND UNDER NO LEGAL THEORY, WHETHER IN TORT (INCLUDING NEGLIGENCE), CONTRACT, OR OTHERWISE SHALL ANY LICENSOR BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF OR RELATED TO THIS LICENSE, THE USE OR INABILITY TO USE THE WORK (INCLUDING BUT NOT LIMITED TO LOSS OF GOODWILL, BUSINESS INTERRUPTION, LOST PROFITS OR DATA, COMPUTER FAILURE OR MALFUNCTION, OR ANY OTHER COMM ERCIAL DAMAGES OR LOSSES), EVEN IF THE LICENSOR HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
-
diff --git a/readme.md b/readme.md
index eff8a74..58893c4 100644
--- a/readme.md
+++ b/readme.md
@@ -22,12 +22,18 @@ python examples/simple_scene.py
The first run will compile several CUDA kernels, which will take a brief amount of time. Subsequent runs will be faster. After the script finishes, you should see the resulting object pose displayed as a matrix, as well as a filename for a video animation of the optimization process.
## Run on BOP
-You can check `examples/run_bop_scene.py` to see how to load poses from a dataset and run optization. This uses the pertubed poses from the diff-dope paper. The paths in the file are absolute so you are going to need to change them.
+You can check `examples/run_bop_scene.py` to see how to load poses from a dataset and run optization. This uses the pertubed poses from the diff-dope paper. The paths in the file are absolute so you are going to need to change them.
+
+## Run a ROS example
+
+You can check a ROS example using an integrated system with SegmentAnything and
+DOPE (for initial estimate) and Diff-DOPE as a pose refiner. More details about
+this example [here](docs/demos.rst).
## Features and TODO
- Add a point cloud visualizer to check the output pose, use open 3d
- Add an example that uses a 3rd party neural network to add as a loss, canny detection, latent space
-- The `find_crop` behaviour is not amazing, need to rework.
+- The `find_crop` behaviour is not amazing, need to rework.
## Development notes