Add symmetries publisher and publish empty messages on no detections #1

Kotochleb · 2024-07-16T20:39:01Z

No description provided.

MedericFourmy

Seems fine. I wonder how we could add the possibility of asking for discretized continuous symmetries using RigidObject.make_symmetry_poses. Or to simplify things, we may assume that the end user can do it itself.

MedericFourmy · 2024-07-18T10:48:02Z

happypose_ros/happypose_ros/inference_pipeline.py

@@ -65,6 +66,17 @@ def update_params(self, params: dict) -> None:
            else None
        )

+    def get_dataset(self) -> RigidObjectDataset:
+        """Returns rigid object dataset used by detector.


Returns rigid object dataset used by happypose pose estimator

MedericFourmy · 2024-07-18T10:48:36Z

happypose_ros/happypose_ros/inference_pipeline.py

+    def get_dataset(self) -> RigidObjectDataset:
+        """Returns rigid object dataset used by detector.
+
+        :return: Dataset used by detector.


Rigid object dataset used by pose estimator

MedericFourmy · 2024-07-18T10:49:25Z

happypose_ros/happypose_ros/utils.py

+    :rtype: happypose_msgs.msg.ContinuousSymmetry
+    """
+    return ContinuousSymmetry(
+        # Explicit conversion to float is required in this case


I added more explanation in the comment. Should be clearer now

MedericFourmy · 2024-07-18T10:50:42Z

happypose_ros/happypose_ros/utils.py

+def discrete_symmetry_to_msg(
+    symmetry: happypose_symmetries.DiscreteSymmetry,
+) -> Transform:
+    """Converts HappyPose DiscreteSymmetry object into Transform ROS message corresponding to


end of the sentence? Would just end at "...into Transform ROS message."

You are right. I fixed it

MedericFourmy · 2024-07-18T10:52:03Z

happypose_ros/happypose_ros/utils.py

+) -> Transform:
+    """Converts HappyPose DiscreteSymmetry object into Transform ROS message corresponding to
+
+    :param symmetry: HappyPose object storing definition of continuous symmetry.


Of "discrete symmetry"

Kotochleb · 2024-07-23T13:14:36Z

I started adding a helper function in happypose_msgs package that will allow users to discretize the continuous symmetries. Current API assumes ObjectSymmetries message is passed and function returns tensor with transformation matrices. This function is partially reimplementation of built-in HappyPose function since messages package shoudl be installable without installation of whole HappyPose and its dependencies

happypose_msgs/msg/ObjectSymmetriesArray.msg

happypose_msgs/msg/ObjectSymmetries.msg

happypose_ros/.gitignore

MaximilienNaveau · 2024-07-24T08:14:14Z

happypose_ros/test/single_view_base.py

@@ -98,17 +121,17 @@ def test_03_trigger_pipeline(self, proc_output: ActiveIoHandler) -> None:
            ready = proc_output.waitFor("HappyPose initialized", timeout=0.5)
        assert ready, "Failed to trigger the pipeline!"

-    def test_04_receive_messages(self) -> None:
+    def test_06_receive_messages(self) -> None:


Why numbering?

It enforces order of the unit tests as they are executed alphabetically. This is due to the sequential nature of the way the ROS node works and in this case, actions have to be executed in a certain order to avoid repeating of computations, which are costly in this case

Co-authored-by: Naveau <[email protected]>

…into feature/publishing-symmetries

Kotochleb · 2024-07-24T14:51:53Z

The ability to discretize continuous symmetries is finally implemented. It turned out the original implementation from HappyPose had numerous bugs and was incredibly inefficient. This implementation should work better and is tested. Though, I would like someone to take a look at it and see if I didn't make mistakes in the implementation, even at the stage of unit testing. @MedericFourmy could you take a look at is as it was done per your request?

MedericFourmy

implementation looks ok, offset definition should be verified with a 3D viz tool

MedericFourmy · 2024-07-29T15:28:28Z

happypose_msgs/happypose_msgs_py/symmetries.py

+    out = np.zeros((n_con + n_disc + n_mix, 4, 4))
+
+    # Precompute steps of rotations
+    rot_base = 2.0 * np.pi / n_symmetries_continuous


Suggestion:
discretized_angles = np.linspace(0, 2*np.pi, n_symmetries_continuous)

np.linspace will include 2 pi in the resulting list, creating redundant value.
Code below compares results:

n_symmetries_continuous = 6 rot_base = 2.0 * np.pi / n_symmetries_continuous lin_space = np.linspace(0.0, 2.0 * np.pi, n_symmetries_continuous) manual = np.array([rot_base * j for j in range(n_symmetries_continuous)]) print(f"Linspace: {np.rad2deg(lin_space)}") print(f"Manual: {np.rad2deg(manual)}")

With an output

Linspace: [ 0. 72. 144. 216. 288. 360.] Manual: [ 0. 60. 120. 180. 240. 300.]

This can be equal if line

lin_space = np.linspace(0.0, 2.0 * np.pi, n_symmetries_continuous)

was replaced with

lin_space = np.linspace(0.0, 2.0 * np.pi, n_symmetries_continuous+1)[:-1]

But to be fair, this makes it even less readable.

I would honestly leave it as it is

You can do this:

np.linspace(0,10, 10, endpoint=False) >> array([0., 1., 2., 3., 4., 5., 6., 7., 8., 9.])

Ok. I ended up with the linspace version as requested

MedericFourmy · 2024-07-29T15:28:40Z

happypose_msgs/happypose_msgs_py/symmetries.py

+        end = (i + 1) * n_symmetries_continuous
+        out[begin:end, :3, :3] = np.array(
+            [
+                transforms3d.axangles.axangle2mat(axis, rot_base * j)


then
discretized_angles[j]

Same as above

MaximilienNaveau · 2024-08-06T14:41:36Z

happypose_examples/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5.0)
+cmake_minimum_required(VERSION 3.10)


Is this the version of CMake that is the default on Ubuntu LTS 22.04?

ref jrl-umi3218/jrl-cmakemodules#620

MaximilienNaveau · 2024-08-06T14:42:38Z

happypose_msgs/CMakeLists.txt

@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 3.10)


CMake version on Ubuntu 22.04?
This code targets this version at the minimum so it should ask for this CMake version at the minimum.

MaximilienNaveau · 2024-08-06T14:44:20Z

happypose_msgs/CMakeLists.txt

+cmake_minimum_required(VERSION 3.10)
+project(happypose_msgs)
+
+find_package(ament_cmake REQUIRED)


For future reference, concerning pure ament package like this please consider ament_cmake_auto.

Due to an additional package happypose_msgs_py being created on a build time, I decided to resort to default ament

…xample

Kotochleb added 6 commits July 16, 2024 20:37

Untested symmetries publisher

e8d705b

Add unittest basis

d956f07

Update setup.py

f840ba6

Fix thread cleanup

58a8288

Fix typos | Change QOS in tests

f6832ba

Fix typos in setup.py

46933c0

Kotochleb marked this pull request as ready for review July 18, 2024 09:53

MedericFourmy reviewed Jul 18, 2024

View reviewed changes

Kotochleb added 2 commits July 23, 2024 13:06

Fix typos pointed during review

d79df1c

Add draft for continuous to discrete symmetries converter

0ba5392

Add package dependencies

e9e8e03

Kotochleb requested a review from MedericFourmy July 23, 2024 13:22

Kotochleb added 5 commits July 23, 2024 13:23

Fix formatting of package.xml

278047a

Add option to return ROS messages

b4fc4e6

Rename function

31b280f

Fix comment

1c35c18

Add base for unittests

69709fb

MaximilienNaveau approved these changes Jul 24, 2024

View reviewed changes

Kotochleb and others added 11 commits July 24, 2024 10:23

Smarter way to aviod __pycache__

604184c

Co-authored-by: Naveau <[email protected]>

Update happypose_msgs/msg/ObjectSymmetriesArray.msg

5162234

Co-authored-by: Naveau <[email protected]>

Update happypose_msgs/msg/ObjectSymmetries.msg

c15e794

Co-authored-by: Naveau <[email protected]>

Update happypose_ros/.gitignore

89c0140

Co-authored-by: Naveau <[email protected]>

Update happypose_ros/.gitignore

b4eb1e0

Co-authored-by: Naveau <[email protected]>

Merge branch 'main' of https://github.com/agimus-project/happypose_ros …

aa004fe

…into feature/publishing-symmetries

Cover all test cases | Fix bugs

ee3f145

Merge branch 'main' of https://github.com/agimus-project/happypose_ros …

adb790f

…into feature/publishing-symmetries

Update package.xml

df8a165

Extend time for unit tests

81be232

Update .gitignore

c6eefb5

Kotochleb added 2 commits July 24, 2024 14:13

FIx gitignore comment

052c273

Reduce workload on actions | Fix test order

bd5de32

Kotochleb added 4 commits July 25, 2024 08:47

Hopefully reduce number of memory allocations

11621b5

Update comment

bf62c59

Fix pacakge version from 0.0.2 to 0.2.0

0be9c5e

FIx comment typo

c1964f5

MedericFourmy reviewed Jul 29, 2024

View reviewed changes

Fix rotations around symmetry axis

2341260

MaximilienNaveau approved these changes Aug 6, 2024

View reviewed changes

Kotochleb added 2 commits August 8, 2024 15:13

Use np.linspace to generate rotation steps | Add notebook with an e…

055cfd6

…xample

Update documentation

b3e4895

Kotochleb merged commit 3008139 into main Sep 23, 2024
2 checks passed

Kotochleb deleted the feature/publishing-symmetries branch September 23, 2024 12:46

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Add symmetries publisher and publish empty messages on no detections #1

Add symmetries publisher and publish empty messages on no detections #1

Kotochleb commented Jul 16, 2024

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		@@ -1,4 +1,4 @@
		cmake_minimum_required(VERSION 3.5.0)
		cmake_minimum_required(VERSION 3.10)

Add symmetries publisher and publish empty messages on no detections #1

Add symmetries publisher and publish empty messages on no detections #1

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Kotochleb commented Jul 16, 2024

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Kotochleb commented Jul 23, 2024

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Kotochleb commented Jul 24, 2024

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