diff --git a/rbs_bt_executor/bt_trees/test_tree.xml b/rbs_bt_executor/bt_trees/test_tree.xml index 256fbc5..b3be4c3 100644 --- a/rbs_bt_executor/bt_trees/test_tree.xml +++ b/rbs_bt_executor/bt_trees/test_tree.xml @@ -1,155 +1,17 @@ - - + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/rbs_bt_executor/bt_trees/test_tree_main.xml b/rbs_bt_executor/bt_trees/test_tree_main.xml new file mode 100644 index 0000000..256fbc5 --- /dev/null +++ b/rbs_bt_executor/bt_trees/test_tree_main.xml @@ -0,0 +1,155 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/rbs_bt_executor/bt_trees/6Dpe_test.xml b/rbs_bt_executor/bt_trees/test_tree_pe_configure.xml similarity index 75% rename from rbs_bt_executor/bt_trees/6Dpe_test.xml rename to rbs_bt_executor/bt_trees/test_tree_pe_configure.xml index d5de82f..24a4921 100644 --- a/rbs_bt_executor/bt_trees/6Dpe_test.xml +++ b/rbs_bt_executor/bt_trees/test_tree_pe_configure.xml @@ -5,12 +5,12 @@ diff --git a/rbs_bt_executor/src/PoseEstimation.cpp b/rbs_bt_executor/src/PoseEstimation.cpp index 84f36e3..d9e9e6f 100644 --- a/rbs_bt_executor/src/PoseEstimation.cpp +++ b/rbs_bt_executor/src/PoseEstimation.cpp @@ -22,12 +22,10 @@ public: while (!_set_params_client->wait_for_service(1s)) { if (!rclcpp::ok()) { - RCLCPP_ERROR(_node->get_logger(), - "Interrupted while waiting for the service. Exiting."); + RCLCPP_ERROR(_node->get_logger(), "Interrupted while waiting for the service. Exiting."); break; } - RCLCPP_WARN(_node->get_logger(), - "service not available, waiting again..."); + RCLCPP_WARN(_node->get_logger(), "service not available, waiting again..."); } _model_name = getInput("ObjectName").value(); @@ -71,6 +69,9 @@ private: if (req_type == "configure") { set_mesh_param(); transition_id_ = lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE; + } else if (req_type == "calibrate") { + set_str_param(); + transition_id_ = lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE; } else if (req_type == "activate") { transition_id_ = lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE; } else if (req_type == "deactivate") { @@ -78,6 +79,7 @@ private: } else if (req_type == "cleanup") { transition_id_ = lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP; } + //calibrate translation.set__id(transition_id_); return translation; } @@ -91,6 +93,13 @@ private: return model_path; } + void set_str_param() { + RCLCPP_INFO_STREAM(_node->get_logger(), "Set string parameter: <" + _model_name + ">"); + + std::vector _parameters{rclcpp::Parameter("mesh_path", _model_name)}; + _set_params_client->set_parameters(_parameters); + } + void set_mesh_param() { auto _package_name = ament_index_cpp::get_package_share_directory("rbs_perception"); _model_path = build_model_path(_model_name, _package_name); diff --git a/rbs_perception/config/fork.ply b/rbs_perception/config/fork.ply index 6be2e1a..9e13ffd 100644 --- a/rbs_perception/config/fork.ply +++ b/rbs_perception/config/fork.ply @@ -1,220438 +1,93753 @@ ply format ascii 1.0 -comment Created by Blender 3.3.0 - www.blender.org -element vertex 5258 +comment Created in Blender version 4.0.1 +element vertex 42971 property float x property float y property float z -property float nx -property float ny -property float nz property float s property float t -element face 215165 +element face 50770 property list uchar uint vertex_indices end_header --0.059507 -0.099248 -0.119507 0.268434 -0.884900 -0.380650 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"fy": 923.076, diff --git a/rbs_perception/config/str_param.json b/rbs_perception/config/str_param.json new file mode 100644 index 0000000..321dc65 --- /dev/null +++ b/rbs_perception/config/str_param.json @@ -0,0 +1,5 @@ +{ + "mesh_path":"/home/shalenikol/robossembler_ws/src/robossembler-ros2/rbs_perception/config/fork.ply", + "gtpose_0":[1.3,0.0,0.0,0.0,0.0,0.0], + "darknet_path_0":"/home/shalenikol/test_detection" +} \ No newline at end of file diff --git a/rbs_perception/scripts/pose_estimation_lifecycle.py b/rbs_perception/scripts/pose_estimation_lifecycle.py index 91956d2..41170e8 100755 --- a/rbs_perception/scripts/pose_estimation_lifecycle.py +++ b/rbs_perception/scripts/pose_estimation_lifecycle.py @@ -8,10 +8,12 @@ from typing import Optional import os +import subprocess import shutil import json import tempfile from pathlib import Path +import transforms3d as t3d import rclpy from rclpy.lifecycle import Node @@ -23,10 +25,12 @@ from rclpy.timer import Timer from ament_index_python.packages import get_package_share_directory from sensor_msgs.msg import Image, CameraInfo from geometry_msgs.msg import Pose, TransformStamped -from tf2_ros import TransformBroadcaster +from tf2_ros import TransformBroadcaster, TransformException +from tf2_ros.buffer import Buffer +from tf2_ros.transform_listener import TransformListener + from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images import cv2 # OpenCV library -from megapose.scripts.run_inference_on_example import ModelPreload, run_inference_rbs #, run_inference class PoseEstimator(Node): """Our lifecycle node.""" @@ -41,6 +45,8 @@ class PoseEstimator(Node): for name, val in y.items(): if name == "nodeName": self.nodeName = val + elif name == "cameraLink": + self.camera_link = val elif name == "topicImage": self.topicImage = val elif name == "topicCameraInfo": @@ -53,6 +59,8 @@ class PoseEstimator(Node): self.topicSrv = val elif name == "tf2_send_pose": self.tf2_send_pose = val + elif name == "mesh_scale": + self.mesh_scale = val def __init__(self, node_name, **kwargs): """Construct the node.""" @@ -66,17 +74,22 @@ class PoseEstimator(Node): self._is_camerainfo = False self._K = [[0., 0., 0.], [0., 0., 0.], [0., 0., 0.]] self._res = [0, 0] - self._pose = [[1., 0., 0., 0.], [0., 0., 0.]] + self._pose = [[1., 0., 0., 0.], [0., 0., 0.]] # pose in format "TWO" (megapose) self.tf2_send_pose = 0 + self.mesh_scale = 1.0 + self.quat_rotate_xyz = [0.5, 0.5, -0.5, -0.5] self.megapose_model = None + self.darknet_path = "" self.nodeName = node_name + self.camera_link = "outer_rgbd_camera" self.topicImage = "/outer_rgb_camera/image" self.topicCameraInfo = "/outer_rgb_camera/camera_info" self.topicDepth = "/outer_rgbd_camera/depth_image" self.publishDelay = 2.0 self.topicSrv = self.nodeName + "/detect6Dpose" self._InitService() + self.camera_pose = Pose() #self.get_camera_pose() self.tmpdir = tempfile.gettempdir() self.mytemppath = Path(self.tmpdir) / "rbs_per" @@ -88,6 +101,8 @@ class PoseEstimator(Node): super().__init__(self.nodeName, **kwargs) self.declare_parameter("mesh_path", rclpy.Parameter.Type.STRING) + self.tf_buffer = Buffer() + self.tf_listener = TransformListener(self.tf_buffer, self) # Initialize the transform broadcaster self.tf_broadcaster = TransformBroadcaster(self) # Used to convert between ROS and OpenCV images @@ -102,23 +117,37 @@ class PoseEstimator(Node): self._count += 1 if self._pub is not None and self._pub.is_activated: - # опубликуем результат оценки позы + # опубликуем результат оценки позы # publish pose estimation result q = self._pose[0] t = self._pose[1] + # transform from View space in World space + # rotate + q_mir = t3d.quaternions.qmult(self.quat_rotate_xyz, q) + # translate (xyz = +z-x-y) + t_mir = [t[2], -t[0], -t[1]] + + cam_p = self.camera_pose.position + #cam_Q = self.camera_pose.orientation + # q_rot = [msgQ.w, msgQ.x, msgQ.y, msgQ.z] + # q = t3d.quaternions.qinverse(q) #q[0] = -q[0] + # q_mir = t3d.quaternions.qmult(q_rot,q) + + #q_mir = q + p = Pose() - p.position.x = t[0] - p.position.y = t[1] - p.position.z = t[2] - p.orientation.w = q[0] - p.orientation.x = q[1] - p.orientation.y = q[2] - p.orientation.z = q[3] + p.position.x = t_mir[0] + cam_p.x + p.position.y = t_mir[1] + cam_p.y + p.position.z = t_mir[2] + cam_p.z + p.orientation.w = q_mir[0] + p.orientation.x = q_mir[1] + p.orientation.y = q_mir[2] + p.orientation.z = q_mir[3] self._pub.publish(p) if self.tf2_send_pose: - self.tf_obj_pose(self._pose) + self.tf_obj_pose(p.position,q_mir) #(self._pose) - def tf_obj_pose(self,pose): + def tf_obj_pose(self, tr, q): """ Передача позиции объекта в tf2 """ @@ -128,16 +157,16 @@ class PoseEstimator(Node): t.header.frame_id = 'world' t.child_frame_id = self.objName # coordinates - tr = pose[1] - t.transform.translation.x = tr[0] - t.transform.translation.y = tr[1] - t.transform.translation.z = tr[2] + #tr = pose[1] + t.transform.translation.x = tr.x #[0] + t.transform.translation.y = tr.y #[1] + t.transform.translation.z = tr.z #[2] # rotation - q = pose[0] - t.transform.rotation.x = q[1] # 0 - t.transform.rotation.y = q[2] # 1 - t.transform.rotation.z = q[3] # 2 - t.transform.rotation.w = q[0] # 3 + #q = pose[0] + t.transform.rotation.w = q[0] + t.transform.rotation.x = q[1] + t.transform.rotation.y = q[2] + t.transform.rotation.z = q[3] # Send the transformation self.tf_broadcaster.sendTransform(t) @@ -151,7 +180,30 @@ class PoseEstimator(Node): TransitionCallbackReturn.FAILURE transitions to "unconfigured". TransitionCallbackReturn.ERROR or any uncaught exceptions to "errorprocessing" """ - mesh_path = self.get_parameter("mesh_path").get_parameter_value().string_value + gtpose = None + str_param = self.get_parameter("mesh_path").get_parameter_value().string_value + if str_param[0] == "!": # filename json + json_file = str_param[1:] + if not os.path.isfile(json_file): + self.get_logger().info("not JSon '"+ json_file +"'") + return TransitionCallbackReturn.FAILURE + str_param = Path(json_file).read_text() + try: + y = json.loads(str_param) + except json.JSONDecodeError as e: + self.get_logger().info(f"JSon error: {e}") + return TransitionCallbackReturn.FAILURE + if "mesh_path" not in y: + self.get_logger().info("JSon 'mesh_path' not set") + return TransitionCallbackReturn.FAILURE + mesh_path = y["mesh_path"] + if "gtpose" in y: + gtpose = y["gtpose"] + if "darknet_path" in y: + self.darknet_path = y["darknet_path"] + else: + mesh_path = str_param + if not os.path.isfile(mesh_path): self.get_logger().info("Parameter 'mesh_path' not set") return TransitionCallbackReturn.FAILURE @@ -179,8 +231,12 @@ class PoseEstimator(Node): self._pub = self.create_lifecycle_publisher(Pose, self.topicSrv, 10) self._timer = self.create_timer(self.publishDelay, self.publish) - # Preload Megapose model - self.megapose_model = ModelPreload(self.objPath,"megapose-1.0-RGB-multi-hypothesis") + if gtpose == None: + # Preload Megapose model + from megapose.scripts.run_inference_on_example import ModelPreload + self.megapose_model = ModelPreload(self.objPath,"megapose-1.0-RGB-multi-hypothesis") + else: + self._pose = [t3d.euler.euler2quat(gtpose[3], gtpose[4], gtpose[5]), gtpose[:3]] self.get_logger().info('on_configure() is called.') return TransitionCallbackReturn.SUCCESS @@ -258,17 +314,23 @@ class PoseEstimator(Node): [k_[3], k_[4], k_[5]], [k_[6], k_[7], k_[8]] ] + # self._K = [ + # [k_[0]*2.0, k_[1], data.width / 2.0], # k_[2]], # + # [k_[3], k_[4]*2.0, data.height / 2.0], # k_[5]], # + # [k_[6], k_[7], k_[8]] #self.mesh_scale] + # ] + # *** for test tPath = self.objPath / "inputs" - #{"label": "fork", "bbox_modal": [329, 189, 430, 270]} output_fn = tPath / "object_data.json" output_json_dict = { "label": self.objName, - "bbox_modal": [2,2,self._res[1]-4,self._res[0]-4] + "bbox_modal": [168,173,260,252] # 0.2 0 0 -> [288,170,392,253] } data = [] data.append(output_json_dict) output_fn.write_text(json.dumps(data)) + # *** #{"K": [[25.0, 0.0, 8.65], [0.0, 25.0, 6.5], [0.0, 0.0, 1.0]], "resolution": [480, 640]} output_fn = self.objPath / "camera_data.json" @@ -287,8 +349,6 @@ class PoseEstimator(Node): """ Depth image callback function. """ - #self.get_logger().info("Receiving depth image") - # Convert ROS Image message to OpenCV image current_frame = self.br.imgmsg_to_cv2(data) @@ -302,6 +362,43 @@ class PoseEstimator(Node): else: data = "No result file: '" + str(f) + "'" return data + + def rel2bbox(self, rel_coord): + bb_w = rel_coord["width"] + bb_h = rel_coord["height"] + x = int((rel_coord["center_x"] - bb_w/2.) * self._res[1]) + y = int((rel_coord["center_y"] - bb_h/2.) * self._res[0]) + w = int(bb_w * self._res[1]) + h = int(bb_h * self._res[0]) + return [x,y,w,h] + + def yolo2megapose(self, res_json: str, path_to: Path) -> bool: + str_param = Path(res_json).read_text() + y = json.loads(str_param)[0] + conf = 0.5 # threshold of detection + found_coord = None + for detections in y["objects"]: + if detections["name"] == self.objName: + c_conf = detections["confidence"] + if c_conf > conf: + conf = c_conf + found_coord = detections["relative_coordinates"] + + if found_coord: + bbox = self.rel2bbox(found_coord) + else: + bbox = [2, 2, self._res[1]-4, self._res[0]-4] + + #tPath = path_to / "inputs" + output_fn = path_to / "inputs/object_data.json" + output_json_dict = { + "label": self.objName, + "bbox_modal": bbox #[288,170,392,253] + } + data = [] + data.append(output_json_dict) + output_fn.write_text(json.dumps(data)) + return bool(found_coord) def listener_callback(self, data): """ @@ -310,25 +407,58 @@ class PoseEstimator(Node): if not self._is_camerainfo: self.get_logger().warning("No data from CameraInfo") return + # get camera pose + camera_name = self.camera_link #self.topicImage.split('/')[1] + try: + t = self.tf_buffer.lookup_transform("world", camera_name, rclpy.time.Time()) + except TransformException as ex: + self.get_logger().info(f'Could not transform {camera_name} to world: {ex}') + return + self.camera_pose.position.x = t.transform.translation.x + self.camera_pose.position.y = t.transform.translation.y + self.camera_pose.position.z = t.transform.translation.z + self.camera_pose.orientation.w = t.transform.rotation.w + self.camera_pose.orientation.x = t.transform.rotation.x + self.camera_pose.orientation.y = t.transform.rotation.y + self.camera_pose.orientation.z = t.transform.rotation.z # Convert ROS Image message to OpenCV image current_frame = self.br.imgmsg_to_cv2(data) # Save image for Megapose - cv2.imwrite(str(self.objPath / "image_rgb.png"), current_frame) + frame_im = str(self.objPath / "image_rgb.png") + cv2.imwrite(frame_im, current_frame) self._image_cnt += 1 - # 6D pose estimation - self.get_logger().info(f"megapose: begin {self._image_cnt} {self.objPath}") - #run_inference(self.objPath,"megapose-1.0-RGB-multi-hypothesis") - run_inference_rbs(self.megapose_model) + detected = False + darknet_bin = os.path.join(self.darknet_path, "darknet") + if os.path.isfile(darknet_bin): + # object detection (YoloV4 - darknet) + self.get_logger().info(f"darknet: begin {self._image_cnt}") + result_json = str(self.objPath / "res.json") - data = self.load_result(self.objPath) - if data[0] == "[": - y = json.loads(data)[0] - self._pose = y["TWO"] + subprocess.run([darknet_bin, "detector", "test", + "yolov4_objs2.data", + "yolov4_objs2.cfg", + "yolov4.weights", + "-dont_show", "-ext_output", # -thresh 0.5 + "-out", result_json, frame_im], + cwd = self.darknet_path #, stdout = subprocess.PIPE + ) + detected = self.yolo2megapose(result_json, self.objPath) + self.get_logger().info(f"darknet: end {self._image_cnt}") - self.get_logger().info(f"megapose: end {self._image_cnt}") + if detected and self.megapose_model: + # 6D pose estimation + self.get_logger().info(f"megapose: begin {self._image_cnt} {self.objPath}") + from megapose.scripts.run_inference_on_example import run_inference_rbs + run_inference_rbs(self.megapose_model) + + data = self.load_result(self.objPath) + if data[0] == "[": + y = json.loads(data)[0] + self._pose = y["TWO"] + self.get_logger().info(f"megapose: end {self._image_cnt}") def main(): rclpy.init() diff --git a/rbs_simulation/worlds/mir.sdf b/rbs_simulation/worlds/mir.sdf index 32060b1..9f0d0fa 100644 --- a/rbs_simulation/worlds/mir.sdf +++ b/rbs_simulation/worlds/mir.sdf @@ -127,7 +127,12 @@ model://fork fork_gt - -0.5 0 0.25 0 0 0 + 1.5 0.3 0.25 0 0 0 + + model://king + king1 + 1.5 0.2 0.25 0 0 0 +