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Commit 91b91cc9 authored by EtienneAr's avatar EtienneAr
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Update launchfiles

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launch/singleview.launch deleted 100644 → 0
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View file @ 248cfcb4
<launch>
<arg name="camera_id" default="0" />
<arg name="dataset" default="ycbv"/>
<arg name="allow_tracking" default="false"/>
<arg name="camera_name" default="usb_cam_$(arg camera_id)"/>
<!-- Start camera -->
<include file="$(find ros_cosypose)/launch/cameras_bringup.launch">
<arg name="usbcam_ids" value="$(arg camera_id)"/>
</include>
<node name="$(anon image_proc)" pkg="image_proc" type="image_proc" ns="$(arg camera_name)"/>
<!-- ros_cosypose -->
<node name="$(anon object_pose_estimation.py)" pkg="ros_cosypose" type="object_pose_estimation.py">
<param name="dataset" value="$(arg dataset)"/>
<param name="allow_tracking" value="$(arg allow_tracking)"/>
<param name="camera_name" value="$(arg camera_name)"/>
</node>
<!-- some basic frames -->
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 map world 100" />
<node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="1 0 0 0 0 0 1 world $(arg camera_name) 100" />
<!-- RViz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ros_cosypose)/launch/config.rviz"/>
<node name="$(anon rviz_translator.py)" pkg="ros_cosypose" type="rviz_translator.py">
<param name="in_object_topic" value="cosyobject_list"/>
<param name="out_poses_topic" value="cosyobject_poses"/>
<param name="out_marker_topic" value="cosyobject_markers"/>
<param name="models_relative_path" value="bop_datasets/$(arg dataset)/models/"/> <!-- Relative to cosypose local_data directory -->
</node>
</launch>
launch/singleview_loop.launch 0 → 100644
+ 20
− 0
View file @ 91b91cc9
<launch>
<arg name="camera_id" default="0" />
<arg name="dataset" default="ycbv"/>
<arg name="camera_name" default="usb_cam_$(arg camera_id)"/>
<arg name="allow_tracking" default="false"/>
<!-- Start camera -->
<include file="$(find ros_cosypose)/launch/singleview_service.launch">
<arg name="camera_id" value="$(arg camera_id)"/>
<arg name="dataset" value="$(arg dataset)"/>
<arg name="camera_name" value="$(arg camera_name)"/>
</include>
<!-- call ros_cosypose in loop and publish on topics -->
<node name="$(anon pose_estimation_loop.py)" pkg="ros_cosypose" type="pose_estimation_loop.py">
<param name="camera_name" value="$(arg camera_name)"/>
<param name="allow_tracking" value="$(arg allow_tracking)"/>
</node>
</launch>
launch/singleview_rviz.launch 0 → 100644
+ 34
− 0
View file @ 91b91cc9
<launch>
<arg name="camera_id" default="0" />
<arg name="dataset" default="ycbv"/>
<arg name="camera_name" default="usb_cam_$(arg camera_id)"/>
<arg name="allow_tracking" default="false"/>
<!-- Start camera -->
<include file="$(find ros_cosypose)/launch/singleview_service.launch">
<arg name="camera_id" value="$(arg camera_id)"/>
<arg name="dataset" value="$(arg dataset)"/>
<arg name="camera_name" value="$(arg camera_name)"/>
</include>
<!-- call ros_cosypose in loop and publish on topics -->
<node name="$(anon pose_estimation_loop.py)" pkg="ros_cosypose" type="pose_estimation_loop.py">
<param name="camera_name" value="$(arg camera_name)"/>
<param name="allow_tracking" value="$(arg allow_tracking)"/>
</node>
<!-- some basic frames -->
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 map world 100" />
<node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="1 0 0 0 0 0 1 world $(arg camera_name) 100" />
<!-- RViz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ros_cosypose)/launch/config.rviz"/>
<node name="$(anon rviz_translator.py)" pkg="ros_cosypose" type="rviz_translator.py">
<param name="in_object_topic" value="cosyobject_list"/>
<param name="out_poses_topic" value="cosyobject_poses"/>
<param name="out_marker_topic" value="cosyobject_markers"/>
<param name="models_relative_path" value="bop_datasets/$(arg dataset)/models/"/> <!-- Relative to cosypose local_data directory -->
</node>
</launch>
launch/singleview_service.launch
+ 0
− 21
View file @ 91b91cc9
<launch>
<arg name="camera_id" default="0" />
<arg name="dataset" default="ycbv"/>
<arg name="allow_tracking" default="false"/>
<arg name="camera_name" default="usb_cam_$(arg camera_id)"/>
<!-- Start camera -->
......@@ -16,23 +14,4 @@
<node name="$(anon pose_estimation.py)" pkg="ros_cosypose" type="pose_estimation.py">
<param name="dataset" value="$(arg dataset)"/>
</node>
<!-- call ros_cosypose in loop and publish on topics -->
<node name="$(anon pose_estimation_loop.py)" pkg="ros_cosypose" type="pose_estimation_loop.py">
<param name="camera_name" value="$(arg camera_name)"/>
</node>
<!-- some basic frames -->
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 map world 100" />
<node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="1 0 0 0 0 0 1 world $(arg camera_name) 100" />
<!-- RViz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ros_cosypose)/launch/config.rviz"/>
<node name="$(anon rviz_translator.py)" pkg="ros_cosypose" type="rviz_translator.py">
<param name="in_object_topic" value="cosyobject_list"/>
<param name="out_poses_topic" value="cosyobject_poses"/>
<param name="out_marker_topic" value="cosyobject_markers"/>
<param name="models_relative_path" value="bop_datasets/$(arg dataset)/models/"/> <!-- Relative to cosypose local_data directory -->
</node>
</launch>
scripts/pose_estimation.py
+ 0
− 1
View file @ 91b91cc9
......@@ -80,7 +80,6 @@ class PredictionService:
# Predict poses using cosypose
self.predictor([image, ], cameras, pose_estimation_prior=pose_estimation_prior, detector_kwargs=self.detector_kwargs)
pose_predictions = self.predictor.pose_predictions
rospy.logwarn(pose_predictions)
# transform cosypose objects to ros msg
objects_array = CosyObjectArray()
......
scripts/pose_estimation_loop.py
+ 5
− 3
View file @ 91b91cc9
......@@ -5,13 +5,14 @@ from ros_cosypose.msg import CosyObjectArray, CosyObject
from ros_cosypose.srv import GetPrediction, GetPredictionResponse
class PoseEstimationLoop:
def __init__(self, camera_name):
def __init__(self, camera_name, allow_tracking):
self._latest_img = None
self.camera_name = camera_name
self._sub = rospy.Subscriber(f'/{self.camera_name}/image_rect_color', Image, self.imgmsg_cb, queue_size=1, buff_size=2**24)
rospy.wait_for_service('pose_estimation')
self._srv = rospy.ServiceProxy('pose_estimation', GetPrediction)
self._pub = rospy.Publisher('cosyobject_list', CosyObjectArray, queue_size=1)
self.allow_tracking = allow_tracking
self.prediction = None
def imgmsg_cb(self, msg):
......@@ -22,7 +23,7 @@ class PoseEstimationLoop:
while not rospy.is_shutdown() :
if self._latest_img != None:
prior = []
if self.prediction != None:
if self.allow_tracking and self.prediction != None:
prior = self.prediction.objects
response = self._srv(cam_info.K, self._latest_img, prior)
self._pub.publish(response.prediction)
......@@ -33,4 +34,5 @@ class PoseEstimationLoop:
if __name__ == '__main__':
rospy.init_node('object_pose_estimation', anonymous=True)
camera_name = rospy.get_param('~camera_name', "usb_cam_0")
PoseEstimationLoop(camera_name).main()
allow_tracking = rospy.get_param('~allow_tracking', "false")
PoseEstimationLoop(camera_name, allow_tracking).main()
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