multi-view policy test passed

cfg/active_grasp.rviz

@@ -7,7 +7,7 @@ Panels:
         - /TF1/Frames1
         - /Markers1/Namespaces1
       Splitter Ratio: 0.6881287693977356
-    Tree Height: 710
+    Tree Height: 371
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -25,7 +25,7 @@ Panels:
   - Class: rviz/Time
     Name: Time
     SyncMode: 0
-    SyncSource: SceneCloud
+    SyncSource: ""
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -290,8 +290,7 @@ Visualization Manager:
       Marker Topic: visualization_marker_array
       Name: Markers
       Namespaces:
-        bbox: true
+        {}
-        roi: true
       Queue Size: 100
       Value: true
     - Alpha: 1
@@ -410,7 +409,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.3440001010894775
+      Distance: 2.024759531021118
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -418,17 +417,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7799999713897705
       Focal Point:
-        X: 0.40848347544670105
+        X: 0.36431100964546204
-        Y: 0.02209819294512272
+        Y: -0.015723222866654396
-        Z: 0.4073639214038849
+        Z: 0.38234013319015503
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.25999999046325684
+      Pitch: 0.4999997615814209
       Target Frame: <Fixed Frame>
-      Yaw: 1.0399999618530273
+      Yaw: 5.183177471160889
     Saved:
       - Class: rviz/Orbit
         Distance: 1.2000000476837158
@@ -452,17 +451,17 @@ Visualization Manager:
         Yaw: 1.0399999618530273
 Window Geometry:
   ColorImage:
-    collapsed: false
+    collapsed: true
   DepthImage:
     collapsed: false
   Displays:
-    collapsed: false
+    collapsed: true
-  Height: 960
+  Height: 787
-  Hide Left Dock: false
+  Hide Left Dock: true
   Hide Right Dock: true
   InfraImage:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
@@ -471,6 +470,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1157
+  Width: 1023
-  X: 1309
+  X: 1275
-  Y: 90
+  Y: 61

requirements.txt

@@ -8,3 +8,4 @@ scikit-image
 opencv-python
 numpy==1.22.0
 pyassimp
+open3d==0.18.0

src/active_grasp/__init__.py

@@ -1,11 +1,11 @@
 from .policy import register
 from .baselines import *
 from .nbv import NextBestView
-from.active_perception_policy import ActivePerceptionPolicy
+from.active_perception_policy import ActivePerceptionMultiViewPolicy
 
 register("initial-view", InitialView)
 register("top-view", TopView)
 register("top-trajectory", TopTrajectory)
 register("fixed-trajectory", FixedTrajectory)
 register("nbv", NextBestView)
-register("ap", ActivePerceptionPolicy)
+register("ap-multi-view", ActivePerceptionMultiViewPolicy)

src/active_grasp/active_perception_demo.py

@@ -71,12 +71,6 @@ if __name__ == "__main__":
     ''' Initialize Test Data '''
     test_scene = torch.rand(1, 1024, 3).to("cuda:0")
     test_target = torch.rand(1, 1024, 3).to("cuda:0")
-    test_delta_rot_6d = torch.rand(1, 6).to("cuda:0")
-    a = test_delta_rot_6d[:, :3]
-    b = test_delta_rot_6d[:, 3:]
-    a_norm = a / a.norm(dim=1, keepdim=True)
-    b_norm = b / b.norm(dim=1, keepdim=True)
-    normalized_test_delta_rot_6d = torch.cat((a_norm, b_norm), dim=1)
     test_data = {
         'target_pts': test_target,
         'scene_pts': test_scene,

src/active_grasp/active_perception_policy.py

@@ -4,42 +4,108 @@ import numpy as np
 import rospy
 from .policy import MultiViewPolicy
 from .timer import Timer
-
 from .active_perception_demo import APInferenceEngine
+from robot_helpers.spatial import Transform
+import torch
+import torch.nn.functional as F
 
 
-class ActivePerceptionPolicy(MultiViewPolicy):
+import matplotlib.pyplot as plt
+
+
+class RealTime3DVisualizer:
+    def __init__(self):
+        points = np.random.rand(1, 1, 3)
+        self.points = points[0]  # Extract the points (n, 3)
+        self.fig = plt.figure()
+        self.ax = self.fig.add_subplot(111, projection='3d')
+
+        # Initial plot setup
+        self.scatter = self.ax.scatter(self.points[:, 0], self.points[:, 1], self.points[:, 2], c='b', marker='o')
+
+        # Set labels for each axis
+        self.ax.set_xlabel('X')
+        self.ax.set_ylabel('Y')
+        self.ax.set_zlabel('Z')
+
+        # Set title
+        self.ax.set_title('Real-time 3D Points Visualization')
+
+        # Show the plot in interactive mode
+        plt.ion()
+        plt.show()
+
+
+    def update_points(self, new_points):
+        # Ensure the points have the expected shape (1, n, 3)
+        assert new_points.shape[0] == 1 and new_points.shape[2] == 3, "Input points must have shape (1, n, 3)"
+
+        # Update the stored points
+        self.points = new_points[0]  # Extract the points (n, 3)
+
+        # Remove the old scatter plot and draw new points
+        self.scatter.remove()
+        self.scatter = self.ax.scatter(self.points[:, 0], self.points[:, 1], self.points[:, 2], c='b', marker='o')
+
+        # Pause briefly to allow the plot to update
+        plt.pause(0.001)
+
+
+class ActivePerceptionMultiViewPolicy(MultiViewPolicy):
     def __init__(self):
         super().__init__()
         self.max_views = rospy.get_param("ap_grasp/max_views")
         self.ap_config_path = rospy.get_param("ap_grasp/ap_config_path")
         self.ap_inference_engine = APInferenceEngine(self.ap_config_path)
+        self.pcdvis = RealTime3DVisualizer()
+
 
     def activate(self, bbox, view_sphere):
         super().activate(bbox, view_sphere)
 
     def update(self, img, seg, target_id, x, q):
+        if len(self.views) > self.max_views or self.best_grasp_prediction_is_stable():
+            self.done = True
+        else:
+            with Timer("state_update"):
+                self.integrate(img, x, q)
+            with Timer("view_generation"):
                 target_points, scene_points = self.depth_image_to_ap_input(img, seg, target_id)
-        # if len(self.views) > self.max_views or self.best_grasp_prediction_is_stable():
+                ap_input = {'target_pts': target_points,
-        #     self.done = True
+                            'scene_pts': scene_points}
-        # else:
+                ap_output = self.ap_inference_engine.inference(ap_input)
-        #     with Timer("state_update"):
+                delta_rot_6d = ap_output['estimated_delta_rot_6d']
-        #         self.integrate(img, x, q)
-        #     with Timer("view_generation"):
-        #         views = self.generate_views(q)
-        #     with Timer("ig_computation"):
-        #         gains = [self.ig_fn(v, self.downsample) for v in views]
-        #     with Timer("cost_computation"):
-        #         costs = [self.cost_fn(v) for v in views]
-        #     utilities = gains / np.sum(gains) - costs / np.sum(costs)
-        #     self.vis.ig_views(self.base_frame, self.intrinsic, views, utilities)
-        #     i = np.argmax(utilities)
-        #     nbv, gain = views[i], gains[i]
 
-        #     if gain < self.min_gain and len(self.views) > self.T:
+                current_cam_pose = torch.from_numpy(x.as_matrix()).float().to("cuda:0")
-        #         self.done = True
+                est_delta_rot_mat = self.rotation_6d_to_matrix_tensor_batch(delta_rot_6d)[0]
+                look_at_center = torch.from_numpy(self.bbox.center).float().to("cuda:0")
+                nbv_tensor = self.get_transformed_mat(current_cam_pose, 
+                                                       est_delta_rot_mat, 
+                                                       look_at_center)
+                nbv_numpy = nbv_tensor.cpu().numpy()
+                nbv_transform = Transform.from_matrix(nbv_numpy)
+                self.x_d = nbv_transform
     
-        #     self.x_d = nbv
+
+    def rotation_6d_to_matrix_tensor_batch(self, d6: torch.Tensor) -> torch.Tensor:
+        a1, a2 = d6[..., :3], d6[..., 3:]
+        b1 = F.normalize(a1, dim=-1)
+        b2 = a2 - (b1 * a2).sum(-1, keepdim=True) * b1
+        b2 = F.normalize(b2, dim=-1)
+        b3 = torch.cross(b1, b2, dim=-1)
+        return torch.stack((b1, b2, b3), dim=-2)
+    
+
+    def get_transformed_mat(self, src_mat, delta_rot, target_center_w):
+        src_rot = src_mat[:3, :3] 
+        dst_rot = src_rot @ delta_rot.T
+        dst_mat = torch.eye(4).to(dst_rot.device)
+        dst_mat[:3, :3] = dst_rot
+        distance = torch.norm(target_center_w - src_mat[:3, 3])
+        z_axis_camera = dst_rot[:3, 2].reshape(-1)
+        new_camera_position_w = target_center_w - distance * z_axis_camera
+        dst_mat[:3, 3] = new_camera_position_w
+        return dst_mat
 
     def depth_image_to_ap_input(self, depth_img, seg_img, target_id):
         target_points = []
@@ -76,8 +142,11 @@ class ActivePerceptionPolicy(MultiViewPolicy):
         
         target_points = np.asarray(target_points)
         target_points = target_points.reshape(1, target_points.shape[0], 3)
+        self.pcdvis.update_points(target_points)
+        target_points = torch.from_numpy(target_points).float().to("cuda:0")
         scene_points = np.asarray(scene_points)
         scene_points = scene_points.reshape(1, scene_points.shape[0], 3)
+        scene_points = torch.from_numpy(scene_points).float().to("cuda:0")
         
         return target_points, scene_points