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griswaldbrooksgriswaldbrooks
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Merge pull request #458 from PickNikRobotics/10385-automask-example-main
10385 Adds examples of using sam2 automask with image from factory setting
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‎src/factory_sim/CMakeLists.txt‎

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config
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description
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launch
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models
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objectives
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waypoints
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DESTINATION

‎src/factory_sim/models/sam2.1_decoder.onnx‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:e11609a8d694f2186f5974cf0d86e1588dbbb126088c4a7849adbc546b284e3a
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size 33118447

‎src/factory_sim/models/sam2.1_hiera_l_image_encoder.onnx‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:cbdbe1e1ad3b616985d0f9c071a5948f8f8342d8e55e98857159405678b70cec
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size 851811319

‎src/factory_sim/models/sam2.1_prompt_encoder.onnx‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:eb2130a99f74bb2f6a430c0f1fe6af291b45ead4bf0beee715330c3def901206
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size 36005

‎src/factory_sim/objectives/automask_camera_iterate_masks.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Automask Camera Iterate Masks">
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<BehaviorTree
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ID="Automask Camera Iterate Masks"
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_description="Runs automask on bin camera image and visualizes each mask individually using breakpoints. Useful for tuning mask parameters."
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_favorite="false"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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<Action ID="GetImage" topic_name="/bin_camera_left/color" />
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<Action
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ID="GetMasks2DAutomask"
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grid_size="11"
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image="{image}"
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mask_count="{mask_count}"
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masks2d="{masks2d}"
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score_threshold="0.800000"
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decoder_model_path="models/sam2.1_decoder.onnx"
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encoder_model_path="models/sam2.1_hiera_l_image_encoder.onnx"
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prompt_encoder_model_path="models/sam2.1_prompt_encoder.onnx"
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nms_threshold="0.3"
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model_package="factory_sim"
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min_component_area="2000"
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/>
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<Decorator
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ID="ForEach"
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index="{index}"
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out="{mask}"
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vector_in="{masks2d}"
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>
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<Control ID="Sequence">
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<Action ID="Script" code="mask_label:=&quot;mask &quot;..index" />
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<SubTree ID="CreateVector" _collapsed="true" vector="{one_mask}" />
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<SubTree
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ID="AddToVector"
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_collapsed="false"
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element="{mask}"
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input_vector="{one_mask}"
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output_vector="{one_mask}"
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/>
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<Action
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ID="PublishMask2D"
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masks="{one_mask}"
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masks_visualization_topic="/masks_visualization"
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image="{image}"
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opacity="0.500000"
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bounding_box_labels="{mask_label}"
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/>
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<Action
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ID="BreakpointSubscriber"
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breakpoint_topic="/moveit_pro_breakpoint"
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/>
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</Control>
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</Decorator>
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="Automask Camera Iterate Masks">
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<MetadataFields>
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<Metadata
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description="Takes pictures from two different perspectives and runs automask on each using a loop"
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/>
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<Metadata runnable="true" />
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<Metadata subcategory="Perception - ML" />
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</MetadataFields>
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</SubTree>
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</TreeNodesModel>
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</root>

‎src/factory_sim/objectives/automask_from_camera.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Automask from Camera">
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<BehaviorTree
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ID="Automask from Camera"
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_description="Runs automask on image from camera"
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_favorite="false"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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<Action
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ID="GetImage"
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message_out="{image}"
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publisher_timeout_sec="5.000000"
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timeout_sec="5.000000"
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topic_name="/bin_camera_left/color"
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/>
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<Action
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ID="GetMasks2DAutomask"
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grid_size="11"
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image="{image}"
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mask_count="{mask_count}"
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masks2d="{masks2d}"
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min_component_area="2000"
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nms_threshold="0.200000"
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score_threshold="0.8"
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decoder_model_path="models/sam2.1_decoder.onnx"
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encoder_model_path="models/sam2.1_hiera_l_image_encoder.onnx"
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prompt_encoder_model_path="models/sam2.1_prompt_encoder.onnx"
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model_package="factory_sim"
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/>
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<Action
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ID="PublishMask2D"
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masks="{masks2d}"
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masks_visualization_topic="/masks_visualization"
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image="{image}"
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opacity="0.500000"
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bounding_box_detection_class="mask"
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/>
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="Automask from Camera">
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<MetadataFields>
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<Metadata
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description="Takes pictures from two different perspectives and runs automask on each using a loop"
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/>
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<Metadata runnable="true" />
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<Metadata subcategory="Perception - ML" />
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</MetadataFields>
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</SubTree>
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</TreeNodesModel>
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</root>

‎src/factory_sim/objectives/automask_from_file.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Automask from File">
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<BehaviorTree
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ID="Automask from File"
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_description="Runs automask on image of coffee cup from file."
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_favorite="false"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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<Action
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ID="LoadImageFromFile"
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frame_id="camera"
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image="{image}"
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file_path="~/user_ws/src/factory_sim/objectives/coffee_cup1.png"
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/>
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<Action
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ID="GetMasks2DAutomask"
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grid_size="11"
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image="{image}"
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mask_count="{mask_count}"
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masks2d="{masks2d}"
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score_threshold="0.500000"
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decoder_model_path="models/sam2.1_decoder.onnx"
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encoder_model_path="models/sam2.1_hiera_l_image_encoder.onnx"
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prompt_encoder_model_path="models/sam2.1_prompt_encoder.onnx"
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model_package="factory_sim"
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nms_threshold="0.3"
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min_component_area="200"
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/>
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<Action
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ID="PublishMask2D"
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masks="{masks2d}"
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masks_visualization_topic="/masks_visualization"
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image="{image}"
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opacity="0.500000"
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bounding_box_detection_class="mask"
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/>
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="Automask from File">
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<MetadataFields>
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<Metadata
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description="Takes pictures from two different perspectives and runs automask on each using a loop"
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/>
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<Metadata runnable="true" />
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<Metadata subcategory="Perception - ML" />
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</MetadataFields>
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</SubTree>
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</TreeNodesModel>
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</root>

‎src/factory_sim/objectives/coffee_cup1.png‎

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