Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Perception Autonomy Cleanup #450

Draft
wants to merge 24 commits into
base: develop
Choose a base branch
from
Draft

Perception Autonomy Cleanup #450

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
24 commits
Select commit Hold shift + click to select a range
1f2d7c2
Added basic Perception Autonomy Process with ZED
TomaszTB Oct 21, 2024
65a06ed
WIP - added ImageSensor + YOLO
TomaszTB Oct 23, 2024
4ff66b7
Added RealsenseImageSensor
TomaszTB Oct 23, 2024
c6cafc0
Reset ROS2DemandGraphNode to develop
TomaszTB Oct 24, 2024
c3c666c
Created ImageSensorPublishThread
TomaszTB Oct 24, 2024
a91a4d9
Minor ImageSensor cleanup
TomaszTB Oct 25, 2024
55bc6ec
Use PausableLoopingThread, add YOLO
TomaszTB Oct 28, 2024
65f82e6
Cleanup
TomaszTB Oct 29, 2024
1ba81d5
Correct YOLO input to BGR
TomaszTB Oct 29, 2024
f411509
Add scene graph update thread, fix YOLO null pointer issue
TomaszTB Oct 29, 2024
45efffa
WIP - Adding planar regions
TomaszTB Oct 31, 2024
b917ceb
WIP - adding ZEDSVOPlayback
TomaszTB Oct 31, 2024
0774d08
Fixes
TomaszTB Nov 5, 2024
3a7a90d
Improve planar regions extraction
TomaszTB Nov 5, 2024
7314341
Working planar regions
TomaszTB Nov 6, 2024
edfeab0
Added ArUco detection thread
TomaszTB Nov 6, 2024
2b92018
Added ArUco to SceneGraph update
TomaszTB Nov 6, 2024
74cde73
Added Height Map
TomaszTB Nov 6, 2024
8c97664
Added ICP
TomaszTB Nov 6, 2024
1ddbdfb
Added Behavior Tree Update Thread
TomaszTB Nov 6, 2024
2906b0f
Cleanup
TomaszTB Nov 7, 2024
1a30aba
Remove old perception autonomy process
TomaszTB Nov 7, 2024
ebf4b10
Allow specifying ZED input type
TomaszTB Nov 7, 2024
061aaba
Polishing
TomaszTB Nov 7, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions ihmc-communication/src/main/java/us/ihmc/communication/PerceptionAPI.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -107,7 +107,8 @@ public final class PerceptionAPI
public static final ROS2Topic<BigVideoPacket> L515_DEBUG_EXTRACTION = BEST_EFFORT.withModule(L515_NAME)
.withType(BigVideoPacket.class)
.withSuffix("debug_extraction");
public static final ROS2Topic<Empty> REQUEST_REALSENSE_POINT_CLOUD = PERCEPTION_MODULE.withSuffix("request_realsense_point_cloud").withType(Empty.class);
public static final ROS2Topic<Empty> REQUEST_REALSENSE = PERCEPTION_MODULE.withSuffix("request_realsense").withType(Empty.class);
public static final ROS2Topic<Empty> REQUEST_REALSENSE_PUBLICATION = PERCEPTION_MODULE.withSuffix("request_realsense_publication").withType(Empty.class);
public static final SideDependentList<ROS2Topic<BigVideoPacket>> BLACKFLY_VIDEO = new SideDependentList<>(BEST_EFFORT.withModule(BLACKFLY_NAME + "left")
.withType(BigVideoPacket.class)
.withSuffix("video"),
Expand Down Expand Up @@ -138,9 +139,8 @@ public final class PerceptionAPI
public static final ROS2Topic<Int64> ZED_SVO_SET_POSITION = PERCEPTION_MODULE.withSuffix("zed_svo_set_position").withType(Int64.class);
public static final ROS2Topic<Empty> ZED_SVO_PAUSE = PERCEPTION_MODULE.withSuffix("zed_svo_pause").withType(Empty.class);
public static final ROS2Topic<Empty> ZED_SVO_PLAY = PERCEPTION_MODULE.withSuffix("zed_svo_play").withType(Empty.class);
public static final ROS2Topic<Empty> REQUEST_ZED_COLOR = PERCEPTION_MODULE.withSuffix("request_zed_color").withType(Empty.class);
public static final ROS2Topic<Empty> REQUEST_ZED_DEPTH = PERCEPTION_MODULE.withSuffix("request_zed_depth").withType(Empty.class);
public static final ROS2Topic<Empty> REQUEST_ZED_POINT_CLOUD = PERCEPTION_MODULE.withSuffix("request_zed_point_cloud").withType(Empty.class);
public static final ROS2Topic<Empty> REQUEST_ZED = PERCEPTION_MODULE.withSuffix("request_zed").withType(Empty.class);
public static final ROS2Topic<Empty> REQUEST_ZED_PUBLICATION = PERCEPTION_MODULE.withSuffix("request_zed_publication").withType(Empty.class);
public static final ROS2Topic<Empty> REQUEST_CENTERPOSE = PERCEPTION_MODULE.withSuffix("request_centerpose").withType(Empty.class);
public static final ROS2Topic<DetectedObjectPacket> CENTERPOSE_DETECTED_OBJECT = IHMC_ROOT.withModule("centerpose").withType(DetectedObjectPacket.class);
public static final ROS2Topic<Empty> REQUEST_YOLO_ZED = PERCEPTION_MODULE.withSuffix("request_yolo_zed").withType(Empty.class);
Expand Down
8 changes: 4 additions & 4 deletions ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/perception/RDXZEDSVORecordingDemo.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -138,7 +138,7 @@ public void renderImGuiWidgets()
}
}
};
zed2ColoredPointCloudVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_POINT_CLOUD);
zed2ColoredPointCloudVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_PUBLICATION);
zed2ColoredPointCloudVisualizer.setActive(true);
perceptionVisualizerPanel.addVisualizer(zed2ColoredPointCloudVisualizer);
}
Expand All @@ -148,7 +148,7 @@ public void renderImGuiWidgets()
RDXROS2ImageMessageVisualizer zedLeftColorImageVisualizer = new RDXROS2ImageMessageVisualizer("ZED 2 Color Left",
PubSubImplementation.FAST_RTPS,
PerceptionAPI.ZED2_COLOR_IMAGES.get(RobotSide.LEFT));
zedLeftColorImageVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_COLOR);
zedLeftColorImageVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_PUBLICATION);
perceptionVisualizerPanel.addVisualizer(zedLeftColorImageVisualizer);
}

Expand All @@ -157,7 +157,7 @@ public void renderImGuiWidgets()
RDXROS2ImageMessageVisualizer zedRightColorImageVisualizer = new RDXROS2ImageMessageVisualizer("ZED 2 Color Right",
PubSubImplementation.FAST_RTPS,
PerceptionAPI.ZED2_COLOR_IMAGES.get(RobotSide.RIGHT));
zedRightColorImageVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_COLOR);
zedRightColorImageVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_PUBLICATION);
perceptionVisualizerPanel.addVisualizer(zedRightColorImageVisualizer);
}

Expand All @@ -166,7 +166,7 @@ public void renderImGuiWidgets()
RDXROS2ImageMessageVisualizer zed2DepthImageVisualizer = new RDXROS2ImageMessageVisualizer("ZED 2 Depth Image",
PubSubImplementation.FAST_RTPS,
PerceptionAPI.ZED2_DEPTH);
zed2DepthImageVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_DEPTH);
zed2DepthImageVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_PUBLICATION);
perceptionVisualizerPanel.addVisualizer(zed2DepthImageVisualizer);
}
}
Expand Down
8 changes: 4 additions & 4 deletions ...-level-behaviors/src/libgdx/java/us/ihmc/rdx/perception/sceneGraph/RDXSceneGraphDemo.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -341,7 +341,7 @@ private void createVisualizers()
PerceptionAPI.ZED2_DEPTH,
PerceptionAPI.ZED2_COLOR_IMAGES.get(
RobotSide.LEFT));
zed2ColoredPointCloudVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_POINT_CLOUD);
zed2ColoredPointCloudVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_PUBLICATION);
zed2ColoredPointCloudVisualizer.setActive(true);
perceptionVisualizerPanel.addVisualizer(zed2ColoredPointCloudVisualizer);
}
Expand All @@ -351,7 +351,7 @@ private void createVisualizers()
RDXROS2ImageMessageVisualizer zedLeftColorImageVisualizer = new RDXROS2ImageMessageVisualizer("ZED 2 Color Left",
PubSubImplementation.FAST_RTPS,
PerceptionAPI.ZED2_COLOR_IMAGES.get(RobotSide.LEFT));
zedLeftColorImageVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_COLOR);
zedLeftColorImageVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_PUBLICATION);
perceptionVisualizerPanel.addVisualizer(zedLeftColorImageVisualizer);
}

Expand All @@ -360,7 +360,7 @@ private void createVisualizers()
RDXROS2ImageMessageVisualizer zedRightColorImageVisualizer = new RDXROS2ImageMessageVisualizer("ZED 2 Color Right",
PubSubImplementation.FAST_RTPS,
PerceptionAPI.ZED2_COLOR_IMAGES.get(RobotSide.RIGHT));
zedRightColorImageVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_COLOR);
zedRightColorImageVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_PUBLICATION);
perceptionVisualizerPanel.addVisualizer(zedRightColorImageVisualizer);
}

Expand All @@ -369,7 +369,7 @@ private void createVisualizers()
RDXROS2ImageMessageVisualizer zed2DepthImageVisualizer = new RDXROS2ImageMessageVisualizer("ZED 2 Depth Image",
PubSubImplementation.FAST_RTPS,
PerceptionAPI.ZED2_DEPTH);
zed2DepthImageVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_DEPTH);
zed2DepthImageVisualizer.createRequestHeartbeat(ros2Node, PerceptionAPI.REQUEST_ZED_PUBLICATION);
perceptionVisualizerPanel.addVisualizer(zed2DepthImageVisualizer);
}

Expand Down
Loading
Loading