cleanup

Signed-off-by: Paul Gesel <[email protected]>

Author: pac48

src/example_behaviors/include/example_behaviors/sam2_segmentation.hpp

@@ -44,7 +44,18 @@ class SAM2Segmentation : public moveit_studio::behaviors::AsyncBehaviorBase
 
 
 private:
- void set_onnx_image_from_ros_image(const sensor_msgs::msg::Image& image_msg, moveit_pro_ml::ONNXImage& onnx_image);
+  /**
+  * @brief Convert a ROS image message to the ONNX image format used by the SAM 2 model.
+   * @param image_msg The ROS message to be converted
+   * @param onnx_image The ONNX image
+   */
+ void set_onnx_image_from_ros_image(const sensor_msgs::msg::Image& image_msg, moveit_pro_ml::ONNXImage& onnx_image);/**
+
+  /**
+  * @brief Convert an ONNX image to a ROS image message.
+   * @param onnx_image The ONNX image to be converted
+   * @param image_msg The ROS message
+   */
  void set_ros_image_from_onnx_image(const moveit_pro_ml::ONNXImage& onnx_image,  sensor_msgs::msg::Image& image_msg);
 
  std::shared_ptr<moveit_pro_ml::SAM2> sam2_;

src/example_behaviors/src/sam2_segmentation.cpp

@@ -89,19 +89,19 @@ namespace example_behaviors
     }
     const auto& [image_msg, points_2d] = ports.value();
 
-    if (image_msg.encoding != "rgb8"|| image_msg.encoding != "rgba8")
+    if (image_msg.encoding != "rgb8" && image_msg.encoding != "rgba8")
     {
       auto error_message = fmt::format("Invalid image message format. Expected `(rgb8, rgba8)` got :\n{}", image_msg.encoding);
       return tl::make_unexpected(error_message);
     }
 
-    // create ONNX formatted image tensor from ROS image
+    // Create ONNX formatted image tensor from ROS image
     set_onnx_image_from_ros_image(image_msg, onnx_image_);
 
     std::vector<moveit_pro_ml::PointPrompt> point_prompts;
     for (auto const& point : points_2d)
     {
-      // assume all point are the same label
+      // Assume all point are the same label
       point_prompts.push_back({{kImageInferenceWidth*static_cast<float>(point.point.x), kImageInferenceHeight*static_cast<float>(point.point.y)}, {1.0f}});
     }
 
@@ -130,7 +130,7 @@ namespace example_behaviors
     return {
       {
         "description",
-        "Segments a ROS image message using the click points provided as a vector of <code>geometry_msgs/PointStamped</code> messages."
+        "Segments a ROS image message using the provided points represented as a vector of <code>geometry_msgs/PointStamped</code> messages."
       }
     };
   }

src/lab_sim/objectives/run_sam2_onnx.xml

@@ -1,24 +1,41 @@
-<?xml version="1.0" encoding="utf-8"?>
-<root BTCPP_format="4" main_tree_to_execute="Run SAM 2 ONNX">
+<?xml version="1.0" encoding="utf-8" ?>
+<root
+  BTCPP_format="4"
+  main_tree_to_execute="Segment Point Cloud from Clicked Point"
+>
   <!--//////////-->
-  <BehaviorTree ID="Run SAM 2 ONNX" _description="Captures a point cloud and and filters it to only include points of a segmented object.     The user is prompted to select the object to be segment using clicked points." _favorite="true">
+  <BehaviorTree
+    ID="Segment Point Cloud from Clicked Point"
+    _description="Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object."
+    _favorite="true"
+  >
     <Control ID="Sequence">
-      <Action ID="ClearSnapshot"/>
-      <Action ID="GetImage" topic_name="/wrist_camera/color"/>
-      <Action ID="GetPointsFromUser" point_prompts="Select a prompt point 1;Select a prompt point 2" point_names="Point1;Point2" view_name="/wrist_camera/color"/>
-      <Action ID="SAM2Segmentation"/>
-      <Action ID="GetPointCloud" topic_name="/wrist_camera/points"/>
-      <Action ID="GetCameraInfo" topic_name="/wrist_camera/camera_info" message_out="{camera_info}" timeout_sec="5.000000"/>
-      <Action ID="GetMasks3DFromMasks2D"/>
+      <Action ID="ClearSnapshot" />
+      <Action ID="GetImage" topic_name="/wrist_camera/color" />
+      <Action
+        ID="GetPointsFromUser"
+        point_prompts="Select the object to be segmented;"
+        point_names="Point1;"
+        view_name="/wrist_camera/color"
+      />
+      <Action ID="SAM2Segmentation" />
+      <Action ID="GetPointCloud" topic_name="/wrist_camera/points" />
+      <Action
+        ID="GetCameraInfo"
+        topic_name="/wrist_camera/camera_info"
+        message_out="{camera_info}"
+        timeout_sec="5.000000"
+      />
+      <Action ID="GetMasks3DFromMasks2D" />
       <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
-        <Action ID="GetPointCloudFromMask3D" point_cloud="{point_cloud}"/>
+        <Action ID="GetPointCloudFromMask3D" point_cloud="{point_cloud}" />
       </Decorator>
-      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}"/>
-      <Action ID="PublishPointCloud" point_cloud="{point_cloud_fragment}"/>
-      <Action ID="SwitchUIPrimaryView"/>
+      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" />
+      <Action ID="PublishPointCloud" point_cloud="{point_cloud_fragment}" />
+      <Action ID="SwitchUIPrimaryView" />
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Run SAM 2 ONNX"/>
+    <SubTree ID="Segment Point Cloud from Clicked Point" />
   </TreeNodesModel>
 </root>