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multi-view policy test passed

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0nhc 2024-10-13 03:52:33 -05:00
parent 110726fd13
commit 9b8dcac202
5 changed files with 112 additions and 49 deletions
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35
cfg/active_grasp.rviz
View File

@ -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
Y: 0.02209819294512272
Z: 0.4073639214038849
X: 0.36431100964546204
Y: -0.015723222866654396
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
Height: 960
Hide Left Dock: false
collapsed: true
Height: 787
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
X: 1309
Y: 90
Width: 1023
X: 1275
Y: 61

1
requirements.txt
View File

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

4
src/active_grasp/__init__.py
View File

@ -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)

6
src/active_grasp/active_perception_demo.py
View File

@ -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,

111
src/active_grasp/active_perception_policy.py
View File

@ -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):
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():
# self.done = True
# else:
# with Timer("state_update"):
# 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 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)
ap_input = {'target_pts': target_points,
'scene_pts': scene_points}
ap_output = self.ap_inference_engine.inference(ap_input)
delta_rot_6d = ap_output['estimated_delta_rot_6d']
# if gain < self.min_gain and len(self.views) > self.T:
# self.done = True
current_cam_pose = torch.from_numpy(x.as_matrix()).float().to("cuda:0")
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