Merge branch 'master' of github.com:dash-robotics/perception

Author: sohils

.gitignore

@@ -1,4 +1,5 @@
 cuboid_detection/bags/*
+openface2_ros/rosbags/*
 
 .vscode/
 

color_object_detection/msg/Rectangle.msg

@@ -144,10 +144,10 @@ include
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-add_executable(ground_plane_segmentation src/ground_plane_segmentation.cpp)
-add_executable(surface_normal_estimation src/surface_normal_estimation.cpp)
-add_executable(iterative_closest_point src/iterative_closest_point.cpp)
-add_executable(bbox_filter src/bbox_filter.cpp)
+# add_executable(ground_plane_segmentation src/ground_plane_segmentation.cpp)
+# add_executable(surface_normal_estimation src/surface_normal_estimation.cpp)
+# add_executable(iterative_closest_point src/iterative_closest_point.cpp)
+# add_executable(bbox_filter src/bbox_filter.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -160,7 +160,7 @@ add_executable(bbox_filter src/bbox_filter.cpp)
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(ground_plane_segmentation ${catkin_LIBRARIES})
-target_link_libraries(surface_normal_estimation ${catkin_LIBRARIES})
-target_link_libraries(iterative_closest_point ${catkin_LIBRARIES})
-target_link_libraries(bbox_filter ${catkin_LIBRARIES})
+# target_link_libraries(ground_plane_segmentation ${catkin_LIBRARIES})
+# target_link_libraries(surface_normal_estimation ${catkin_LIBRARIES})
+# target_link_libraries(iterative_closest_point ${catkin_LIBRARIES})
+# target_link_libraries(bbox_filter ${catkin_LIBRARIES})

color_object_detection/src/object_detection.py

@@ -1,11 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
 
-    <!-- Play rosbag file -->
-    <include file="$(find cuboid_detection)/launch/play_rosbag.launch">
-        <arg name="filename" value="2019-04-09-15-43-49.bag" />
-    </include>
-
     <!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->
     <node
         pkg="cuboid_detection"

cuboid_detection/CMakeLists.txt

@@ -1,6 +1,16 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
 
+    <!-- Play rosbag file -->
+    <!-- <include file="$(find cuboid_detection)/launch/play_rosbag.launch">
+        <arg name="filename" value="2019-04-09-15-43-49.bag" />
+    </include> -->
+
+    <!-- Launch the depth camera -->
+    <!-- <include file="$(find realsense2_camera)/launch/rs_camera.launch">
+        <arg name="enable_pointcloud" value="true"/>
+    </include> -->
+
     <!-- Launch Bounding Box Filter -->
     <!-- <include file="$(find cuboid_detection)/launch/bbox_filter.launch"/> -->
 
@@ -29,6 +39,7 @@
             length: 0.2
             width: 0.1
             height: 0.03
+            icp_fitness_score: 0.0004
         </rosparam>
     </node>
 
@@ -49,4 +60,12 @@
         </rosparam>
     </node>
 
+    <!-- Run RVIZ -->
+    <node
+        type="rviz"
+        name="rviz"
+        pkg="rviz"
+        args="-d $(find cuboid_detection)/perception.rviz">
+    </node>
+
 </launch>

cuboid_detection/launch/ground_plane_segmentation.launch

@@ -3,12 +3,9 @@ Panels:
     Help Height: 75
     Name: Displays
     Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /Axes1
+      Expanded: ~
       Splitter Ratio: 0.5
-    Tree Height: 197
+    Tree Height: 371
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -27,7 +24,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: PointCloud2
+    SyncSource: Raw Input PCL
 Visualization Manager:
   Class: ""
   Displays:
@@ -49,62 +46,20 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Points
-      Topic: /bbox_filter/points
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /draw_bbox/image
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: true
     - Class: rviz/Axes
       Enabled: true
       Length: 0.5
       Name: Axes
       Radius: 0.00999999978
-      Reference Frame: estimated_cuboid_frame
+      Reference Frame: <Fixed Frame>
       Value: true
     - Class: rviz/Image
       Enabled: true
-      Image Topic: /object_detection/image_segmented
+      Image Topic: /draw_bbox/image
       Max Value: 1
       Median window: 5
       Min Value: 0
-      Name: Image
+      Name: 3D Bounding Box Image
       Normalize Range: true
       Queue Size: 2
       Transport Hint: raw
@@ -128,7 +83,7 @@ Visualization Manager:
       Max Intensity: 4096
       Min Color: 0; 0; 0
       Min Intensity: 0
-      Name: PointCloud2
+      Name: Ground Truth
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
@@ -158,7 +113,7 @@ Visualization Manager:
       Max Intensity: 4096
       Min Color: 0; 0; 0
       Min Intensity: 0
-      Name: PointCloud2
+      Name: ICP Registered PCL
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
@@ -188,7 +143,7 @@ Visualization Manager:
       Max Intensity: 4096
       Min Color: 0; 0; 0
       Min Intensity: 0
-      Name: PointCloud2
+      Name: Bounding Box Points
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
@@ -218,7 +173,7 @@ Visualization Manager:
       Max Intensity: 4096
       Min Color: 0; 0; 0
       Min Intensity: 0
-      Name: PointCloud2
+      Name: Raw Input PCL
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
@@ -230,6 +185,36 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Clean Object PCL
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.00999999978
+      Style: Points
+      Topic: /ground_plane_segmentation/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -255,35 +240,35 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.06476605
+      Distance: 1.05901325
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.240168884
-        Y: -0.130981699
-        Z: 0.253967553
+        X: 0.359921277
+        Y: 0.0782490522
+        Z: 0.0916151702
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.0500000007
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 0.395203114
+      Pitch: 0.200203195
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.51426649
+      Yaw: 2.90926337
     Saved: ~
 Window Geometry:
+  3D Bounding Box Image:
+    collapsed: false
   Displays:
     collapsed: false
   Height: 1056
   Hide Left Dock: false
   Hide Right Dock: true
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000022200000396fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000151000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000017f000001080000001600fffffffb0000000a0049006d006100670065010000028d000001310000001600ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007410000003efc0100000002fb0000000800540069006d00650100000000000007410000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005190000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000022200000396fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001ff000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002a0033004400200042006f0075006e00640069006e006700200042006f007800200049006d006100670065010000022d000001910000001600fffffffb0000000a0049006d006100670065000000028d000001310000000000000000000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007410000003efc0100000002fb0000000800540069006d00650100000000000007410000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005190000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time: