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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 ID="Automask Camera Iterate Masks" _description="Runs automask on bin camera image and visualizes each mask individually using breakpoints. Useful for tuning mask parameters." _favorite="false">
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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 ID="GetMasks2DAutomask" grid_size="11" image="{image}" mask_count="{mask_count}" masks2d="{masks2d}" score_threshold="0.800000" decoder_model_path="models/sam2.1_decoder.onnx" encoder_model_path="models/sam2.1_hiera_l_image_encoder.onnx" prompt_encoder_model_path="models/sam2.1_prompt_encoder.onnx" nms_threshold="0.3" model_package="factory_sim" min_component_area="2000"/>
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<Decorator ID="ForEach" index="{index}" out="{mask}" vector_in="{masks2d}">
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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 ID="AddToVector" _collapsed="false" element="{mask}" input_vector="{one_mask}" output_vector="{one_mask}"/>
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<Action ID="PublishMask2D" masks="{one_mask}" masks_visualization_topic="/masks_visualization" image="{image}" opacity="0.500000" bounding_box_labels="{mask_label}"/>
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<Action ID="BreakpointSubscriber" breakpoint_topic="/moveit_pro_breakpoint"/>
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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 description="Takes pictures from two different perspectives and runs automask on each using a loop"/>
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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 ID="Automask from Camera" _description="Runs automask on image from camera" _favorite="false">
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<Control ID="Sequence" name="TopLevelSequence">
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<Action ID="GetImage" message_out="{image}" publisher_timeout_sec="5.000000" timeout_sec="5.000000" topic_name="/bin_camera_left/color"/>
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<Action ID="GetMasks2DAutomask" grid_size="11" image="{image}" mask_count="{mask_count}" masks2d="{masks2d}" min_component_area="2000" nms_threshold="0.200000" score_threshold="0.8" decoder_model_path="models/sam2.1_decoder.onnx" encoder_model_path="models/sam2.1_hiera_l_image_encoder.onnx" prompt_encoder_model_path="models/sam2.1_prompt_encoder.onnx" model_package="factory_sim"/>
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<Action ID="PublishMask2D" masks="{masks2d}" masks_visualization_topic="/masks_visualization" image="{image}" opacity="0.500000" bounding_box_detection_class="mask"/>
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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 description="Takes pictures from two different perspectives and runs automask on each using a loop"/>
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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 ID="Automask from File" _description="Runs automask on image of coffee cup from file." _favorite="false">
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<Control ID="Sequence" name="TopLevelSequence">
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<Action ID="LoadImageFromFile" frame_id="camera" image="{image}" file_path="~/user_ws/src/factory_sim/objectives/coffee_cup1.png"/>
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<Action ID="GetMasks2DAutomask" grid_size="11" image="{image}" mask_count="{mask_count}" masks2d="{masks2d}" score_threshold="0.500000" decoder_model_path="models/sam2.1_decoder.onnx" encoder_model_path="models/sam2.1_hiera_l_image_encoder.onnx" prompt_encoder_model_path="models/sam2.1_prompt_encoder.onnx" model_package="factory_sim" nms_threshold="0.3" min_component_area="200"/>
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<Action ID="PublishMask2D" masks="{masks2d}" masks_visualization_topic="/masks_visualization" image="{image}" opacity="0.500000" bounding_box_detection_class="mask"/>
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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 description="Takes pictures from two different perspectives and runs automask on each using a loop"/>
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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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