From 1c96f40651ccdc5875a0c9088b346f183de94042 Mon Sep 17 00:00:00 2001 From: Charlie Kemp Date: Sat, 29 May 2021 12:03:45 -0400 Subject: [PATCH] deep perception update for noetic stretch_deep perception now works with ROS Noetic, Ubuntu 20.04, and Python 3. The only change for this commit is to two rviz configuration files that were rendering very large points, which dramatically slowed down the system. I tested the following launch files: stretch_detect_faces.launch stretch_detect_objects.launch stretch_detect_body_landmarks.launch stretch_detect_nearest_mouth.launch --- .../rviz/body_landmark_detection.rviz | 32 ++++++++--------- .../rviz/nearest_mouth_detection.rviz | 36 +++++++++---------- 2 files changed, 30 insertions(+), 38 deletions(-) diff --git a/stretch_deep_perception/rviz/body_landmark_detection.rviz b/stretch_deep_perception/rviz/body_landmark_detection.rviz index 82cda5f..2b71fa0 100644 --- a/stretch_deep_perception/rviz/body_landmark_detection.rviz +++ b/stretch_deep_perception/rviz/body_landmark_detection.rviz @@ -5,7 +5,7 @@ Panels: Property Tree Widget: Expanded: ~ Splitter Ratio: 0.5 - Tree Height: 728 + Tree Height: 719 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -264,9 +264,7 @@ Visualization Manager: Enabled: false 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 @@ -279,7 +277,7 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: false - - Alpha: 0.05000000074505806 + - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -294,16 +292,14 @@ Visualization Manager: 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): 0.009999999776482582 - Style: Points + Style: Flat Squares Topic: /camera/depth/color/points Unreliable: false Use Fixed Frame: true @@ -337,33 +333,33 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 2.6330795288085938 + Distance: 3.4386653900146484 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false + Field of View: 0.7853981852531433 Focal Point: - X: -0.5651246905326843 - Y: 0.03958197310566902 - Z: 0.9671560525894165 + X: -0.060835592448711395 + Y: -0.35914942622184753 + Z: 0.7001328468322754 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.2347964197397232 + Pitch: 0.14979641139507294 Target Frame: - Value: Orbit (rviz) - Yaw: 2.8940157890319824 + Yaw: 2.519022226333618 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1025 + Height: 1016 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001c900000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002ed000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000056e0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001c90000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002ed000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005690000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -372,6 +368,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1853 - X: 67 + Width: 1848 + X: 72 Y: 27 diff --git a/stretch_deep_perception/rviz/nearest_mouth_detection.rviz b/stretch_deep_perception/rviz/nearest_mouth_detection.rviz index 2977fe4..adf224f 100644 --- a/stretch_deep_perception/rviz/nearest_mouth_detection.rviz +++ b/stretch_deep_perception/rviz/nearest_mouth_detection.rviz @@ -6,7 +6,7 @@ Panels: Expanded: - /MarkerArray1/Namespaces1 Splitter Ratio: 0.5 - Tree Height: 728 + Tree Height: 719 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -253,8 +253,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 1.2828482389450073 - Min Value: 1.061728596687317 + Max Value: 1.284745216369629 + Min Value: 0.9954421520233154 Value: true Axis: Z Channel Name: intensity @@ -265,9 +265,7 @@ Visualization Manager: Enabled: false 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 @@ -280,7 +278,7 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: false - - Alpha: 0.20000000298023224 + - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -295,16 +293,14 @@ Visualization Manager: 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): 0.009999999776482582 - Style: Points + Style: Flat Squares Topic: /camera/depth/color/points Unreliable: false Use Fixed Frame: true @@ -338,33 +334,33 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 2.90765380859375 + Distance: 3.9343113899230957 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false + Field of View: 0.7853981852531433 Focal Point: - X: 0.2077728509902954 - Y: -0.1184672936797142 - Z: 0.7149072885513306 + X: 0.08446677774190903 + Y: -0.18665319681167603 + Z: 0.6290713548660278 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - 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Width: 1853 - X: 67 + Width: 1848 + X: 72 Y: 27