Created example with DOPE and DIff-DOPE integration through ROS actinolib.

.gitignore

@@ -6,3 +6,4 @@ docs/_buid/
 *.png
 *.jpg
 *.jpeg
+*.mp4

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

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)

diffdope_ros/action/RefineAll.action

@@ -0,0 +1,8 @@
+# Request
+diffdope_ros/TargetObject[] target_objects
+---
+# Result
+diffdope_ros/TargetObject[] refined_estimations
+---
+# Feedback
+bool finished

diffdope_ros/action/RefineObject.action

@@ -0,0 +1,8 @@
+# Request
+diffdope_ros/TargetObject target_object
+---
+# Result
+diffdope_ros/TargetObject refined_estimation
+---
+# Feedback
+bool finished