diff --git a/config/config.rviz b/config/config.rviz
index 08bd9f18b55f5cd1dd305bd8b205c5fea2647ade..8558213b74d378e31af3f3a467f757cda33fe03a 100644
--- a/config/config.rviz
+++ b/config/config.rviz
@@ -7,8 +7,9 @@ Panels:
- /Global Options1
- /Status1
- /Image1
+ - /PointCloud21
Splitter Ratio: 0.5
- Tree Height: 94
+ Tree Height: 196
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@@ -76,6 +77,40 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /camera/rgb
Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz_default_plugins/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: ""
+ Decay Time: 0
+ 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: ""
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Flat Squares
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /pcd
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -145,12 +180,12 @@ Visualization Manager:
Window Geometry:
Displays:
collapsed: false
- Height: 846
+ Height: 1145
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
- QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000000e7000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000128000000dd0000002800fffffffb0000000a0049006d006100670065010000020b000000e40000002800ffffff000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000003dffc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000014d000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000018e0000013e0000002800fffffffb0000000a0049006d00610067006501000002d2000001480000002800ffffff000000010000010f000003dffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003df000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d0000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000004cc000003df00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -159,6 +194,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
- Width: 1200
+ Width: 1853
X: 67
- Y: 60
+ Y: 27
diff --git a/generated_materials/camera_path_depth.json b/generated_materials/camera_path_depth.json
index 832f05db0906b8d70889a90c16ab899a7da967ae..278acc26413e93dcd74528d9f6f0e64689d14902 100644
--- a/generated_materials/camera_path_depth.json
+++ b/generated_materials/camera_path_depth.json
@@ -8,22 +8,22 @@
"aspect": 1.33333333333,
"camera_to_world": [
[
- -0.7794105921481128,
- 0.2580277804141302,
- -0.5709122466560741,
- -0.15150902339942507
+ -0.5864376195618306,
+ 0.29104753718687776,
+ -0.7558983062953022,
+ -0.2832813335422174
],
[
- -0.6246540202209707,
- -0.2498903335022854,
- 0.7398392908219299,
- 0.170480890757302
+ -0.8096524572344355,
+ -0.18351676230420205,
+ 0.5574804897461648,
+ -0.16196170949416663
],
[
- 0.04823363835652139,
- 0.9332612098210632,
- 0.3559452631714859,
- -0.10236216822295188
+ 0.023533313767811814,
+ 0.9389424524702438,
+ 0.3432684868907569,
+ -0.09978051483234415
],
[
0.0,
diff --git a/generated_materials/camera_path_rgb.json b/generated_materials/camera_path_rgb.json
index 832f05db0906b8d70889a90c16ab899a7da967ae..278acc26413e93dcd74528d9f6f0e64689d14902 100644
--- a/generated_materials/camera_path_rgb.json
+++ b/generated_materials/camera_path_rgb.json
@@ -8,22 +8,22 @@
"aspect": 1.33333333333,
"camera_to_world": [
[
- -0.7794105921481128,
- 0.2580277804141302,
- -0.5709122466560741,
- -0.15150902339942507
+ -0.5864376195618306,
+ 0.29104753718687776,
+ -0.7558983062953022,
+ -0.2832813335422174
],
[
- -0.6246540202209707,
- -0.2498903335022854,
- 0.7398392908219299,
- 0.170480890757302
+ -0.8096524572344355,
+ -0.18351676230420205,
+ 0.5574804897461648,
+ -0.16196170949416663
],
[
- 0.04823363835652139,
- 0.9332612098210632,
- 0.3559452631714859,
- -0.10236216822295188
+ 0.023533313767811814,
+ 0.9389424524702438,
+ 0.3432684868907569,
+ -0.09978051483234415
],
[
0.0,
diff --git a/nerf_sim/nerf_render.py b/nerf_sim/nerf_render.py
index 44406d43f3a8d4a160b4a49f09e9447d957d301c..c445d224cfc3de3c41a0544f89778899fa064a79 100644
--- a/nerf_sim/nerf_render.py
+++ b/nerf_sim/nerf_render.py
@@ -4,7 +4,6 @@ import mediapy as media
import numpy as np
import torch
-# Typing
from pathlib import Path
from typing import Any, Dict, List, Literal, Optional, Union
@@ -79,14 +78,7 @@ def _render_trajectory_video(
render_image = np.concatenate(render_image, axis=1)
if output_format == "images":
return render_image
- """
- if image_format == "png":
- media.write_image(output_image_dir / f"{camera_idx:05d}.png", render_image, fmt="png")
- if image_format == "jpeg":
- media.write_image(
- output_image_dir / f"{camera_idx:05d}.jpg", render_image, fmt="jpeg", quality=jpeg_quality
- )"""
-
+
class RenderCameraPath():
image_format: Literal["jpeg", "png"] = "jpeg"
jpeg_quality: int = 100
@@ -112,7 +104,7 @@ class RenderCameraPath():
with open(camera_path_filename, "r", encoding="utf-8") as f:
camera_path = json.load(f)
seconds = camera_path["seconds"]
- crop_data = None # we're not cropping the image
+ crop_data = None
camera_path = get_path_from_json(camera_path)
self.rendered_output_names = render_output_names
diff --git a/nerf_sim/pcd_publisher_node.py b/nerf_sim/pcd_publisher_node.py
index d40063bb3b45901b74603c8ba6c317412957f370..4b102b58fa6d3407b438271d48067a2585443dcf 100644
--- a/nerf_sim/pcd_publisher_node.py
+++ b/nerf_sim/pcd_publisher_node.py
@@ -19,7 +19,7 @@ class PCDPublisher(Node):
self.pcd_publisher = self.create_publisher(sensor_msgs.PointCloud2, 'pcd', 10)
# subscribe to pose coming in from topic
- self.subscription = self.create_subscription(Pose, 'pose', self.listener_callback, 1)
+ self.subscription = self.create_subscription(Pose, 'pose', self.listener_callback, 10)
self.subscription
self.render = RenderLiDAR()
diff --git a/nerf_sim/render_lidar.py b/nerf_sim/render_lidar.py
index 4b83785adc0296caf225e13cf2ecb2af24cc62ee..5484ba26abaab4a3804995ffd5ca2464121f1cb7 100644
--- a/nerf_sim/render_lidar.py
+++ b/nerf_sim/render_lidar.py
@@ -17,34 +17,6 @@ from nerfstudio.model_components.ray_samplers import PDFSampler, UniformSampler
from nerfstudio.utils.tensor_dataclass import TensorDataclass
from nerfstudio.cameras.rays import RayBundle, RaySamples, Frustums
-def generat_direction():
- min, max = -30.67, 10.67 # view range degrees
- no_channels = 32
- delta_range = (max - min) / no_channels # delta degrees
-
- elevations = [math.radians(i) for i in np.arange(min, max, delta_range)]
- azimuths = [math.radians(i) for i in np.arange(0, 360, 1)]
-
- rays = []
- for elevation in elevations:
- for azimuth in azimuths:
- rays.append(torch.tensor([
- math.cos(elevation) * math.sin(azimuth),
- math.cos(elevation) * math.cos(azimuth),
- math.sin(elevation)
- ], device='cuda:0'))
-
- return torch.stack(rays)
-
-def generate_pointcloud(ray_bundle, outputs):
- rgbs = outputs['rgb']
- points = ray_bundle.origins + ray_bundle.directions * outputs['depth']
-
- pcd = o3d.geometry.PointCloud()
- pcd.points = o3d.utility.Vector3dVector(points.double().cpu().numpy())
- pcd.colors = o3d.utility.Vector3dVector(rgbs.detach().double().cpu().numpy())
-
- return pcd
class RenderLiDAR():
eval_num_rays_per_chunk: Optional[int] = None
@@ -55,12 +27,40 @@ class RenderLiDAR():
eval_num_rays_per_chunk=self.eval_num_rays_per_chunk,
test_mode="inference",
)
+
+ def generate_pointcloud(self,ray_bundle, outputs):
+ rgbs = outputs['rgb']
+ points = ray_bundle.origins + ray_bundle.directions * outputs['depth']
+
+ pcd = o3d.geometry.PointCloud()
+ pcd.points = o3d.utility.Vector3dVector(points.double().cpu().numpy())
+ pcd.colors = o3d.utility.Vector3dVector(rgbs.detach().double().cpu().numpy())
+
+ return pcd
+
+ def generate_direction(self):
+ min, max = -30.67, 10.67 # view range degrees
+ no_channels = 32
+ delta_range = (max - min) / no_channels # delta degrees
+
+ elevations = [math.radians(i) for i in np.arange(min, max, delta_range)]
+ azimuths = [math.radians(i) for i in np.arange(0, 360, 1)]
+
+ rays = []
+ for elevation in elevations:
+ for azimuth in azimuths:
+ rays.append(torch.tensor([
+ math.cos(elevation) * math.sin(azimuth),
+ math.cos(elevation) * math.cos(azimuth),
+ math.sin(elevation)
+ ], device='cuda:0'))
+
+ return torch.stack(rays)
+
def run(self, origin):
cuda0 = torch.device('cuda:0')
- directions = generat_direction()
-
- #TODO: change origin depending on pose coming in
+ directions = self.generate_direction()
origin = torch.tensor(origin, device=cuda0)
x,y = directions.shape
@@ -74,7 +74,7 @@ class RenderLiDAR():
ray_bundle = RayBundle(origins, directions, pixel_area, camera_indices=camera_indices, nears=None, fars=None)
outputs = self.pipeline.model(ray_bundle)
- pcd = generate_pointcloud(ray_bundle, outputs)
+ pcd = self.generate_pointcloud(ray_bundle, outputs)
torch.cuda.empty_cache()
tpcd = o3d.t.geometry.PointCloud.from_legacy(pcd)
diff --git a/nerf_sim/sim_depth_generator.py b/nerf_sim/sim_depth_generator.py
index 6595cb75dafe7191be864264fb52e58d57b44e9e..4d4ec26b40f5c1d9601daf5867e259469a7a6e5f 100644
--- a/nerf_sim/sim_depth_generator.py
+++ b/nerf_sim/sim_depth_generator.py
@@ -18,7 +18,7 @@ import mediapy as media
# run nerf to get image
# publish image to topic
-class MinimalPublisher(Node):
+class DepthGenerator(Node):
def __init__(self):
super().__init__('minimal_publisher')
# subscribe to pose coming in from topic
@@ -92,7 +92,7 @@ class MinimalPublisher(Node):
def main(args=None):
rclpy.init(args=args)
- minimal_publisher = MinimalPublisher()
+ minimal_publisher = DepthGenerator()
rclpy.spin(minimal_publisher)
diff --git a/nerf_sim/sim_rgb_generator.py b/nerf_sim/sim_rgb_generator.py
index 9078c687cbcfa16e36d5a052e3243e1fd6ddce05..a797d57f31e164bf6f20e6a5693c9550e532d31e 100644
--- a/nerf_sim/sim_rgb_generator.py
+++ b/nerf_sim/sim_rgb_generator.py
@@ -18,7 +18,7 @@ import mediapy as media
# run nerf to get image
# publish image to topic
-class MinimalPublisher(Node):
+class RGBGenerator(Node):
def __init__(self):
super().__init__('minimal_publisher')
# subscribe to pose coming in from topic
@@ -92,7 +92,7 @@ class MinimalPublisher(Node):
def main(args=None):
rclpy.init(args=args)
- minimal_publisher = MinimalPublisher()
+ minimal_publisher = RGBGenerator()
rclpy.spin(minimal_publisher)
diff --git a/nerf_sim/simple_image_generator.py b/nerf_sim/simple_image_generator.py
deleted file mode 100644
index f4046ef67ac9534ebfd43d94d2890ca4600011e3..0000000000000000000000000000000000000000
--- a/nerf_sim/simple_image_generator.py
+++ /dev/null
@@ -1,46 +0,0 @@
-import rclpy
-from rclpy.node import Node
-
-from cv_bridge import CvBridge
-from sensor_msgs.msg import Image
-import cv2
-import numpy as np
-
-# simple example of publishing an image of a single frame saved in a file
-class MinimalPublisher(Node):
- def __init__(self):
- super().__init__('minimal_publisher')
- self.publisher_ = self.create_publisher(Image, 'simple_camera', 10)
- timer_period = 0.5 # seconds
- self.timer = self.create_timer(timer_period, self.timer_callback)
- self.i = 0
-
- self.cv_image1 = cv2.imread('/workspace/ros2_iron/src/nerf_sim/test_materials/00000.jpg')
- self.bridge = CvBridge()
- self.get_logger().info('Test')
-
-
- def timer_callback(self):
- msg = Image()
- msg = self.bridge.cv2_to_imgmsg(np.array(self.cv_image1))
- self.publisher_.publish(msg)
- self.get_logger().info('Publishing: Image' % msg.data)
- self.i += 1
-
-
-def main(args=None):
- rclpy.init(args=args)
-
- minimal_publisher = MinimalPublisher()
-
- rclpy.spin(minimal_publisher)
-
- # Destroy the node explicitly
- # (optional - otherwise it will be done automatically
- # when the garbage collector destroys the node object)
- minimal_publisher.destroy_node()
- rclpy.shutdown()
-
-
-if __name__ == '__main__':
- main()
\ No newline at end of file
diff --git a/nerf_sim/simple_image_listener.py b/nerf_sim/simple_image_listener.py
deleted file mode 100644
index 3e95fff82e89030781dda40ee865fed20487923f..0000000000000000000000000000000000000000
--- a/nerf_sim/simple_image_listener.py
+++ /dev/null
@@ -1,44 +0,0 @@
-import rclpy
-from rclpy.node import Node
-
-from cv_bridge import CvBridge
-from sensor_msgs.msg import Image
-import cv2
-import numpy as np
-import mediapy as media
-
-# simple example of subscribing to an image on a topic
-# can also be used for rviz visualization for real use
-class MinimalSubscriber(Node):
- def __init__(self):
- super().__init__('minimal_subscriber')
- self.subscription = self.create_subscription(Image, 'topic', self.listener_callback, 10)
- self.subscription
- self.bridge = CvBridge()
-
-
- def listener_callback(self, data):
- image = self.bridge.imgmsg_to_cv2(data)
- print(image.shape)
- media.write_image(f"new-test.jpg", image, fmt="jpeg")
-
- #cv2.imwrite('test.jpg', image)
- self.get_logger().info('Subscribing: Image')
-
-
-def main(args=None):
- rclpy.init(args=args)
-
- minimal_publisher = MinimalSubscriber()
-
- rclpy.spin(minimal_publisher)
-
- # Destroy the node explicitly
- # (optional - otherwise it will be done automatically
- # when the garbage collector destroys the node object)
- minimal_publisher.destroy_node()
- rclpy.shutdown()
-
-
-if __name__ == '__main__':
- main()
\ No newline at end of file
diff --git a/setup.py b/setup.py
index 22999b4ae3915c9b22716b96a72508fef2ff3280..39277afe7e3111ea7c83678a9976d169445f0e50 100644
--- a/setup.py
+++ b/setup.py
@@ -26,8 +26,6 @@ setup(
entry_points={
'console_scripts': [
'pose_generator = nerf_sim.pose_generator:main',
- 'image_generator = nerf_sim.simple_image_generator:main',
- 'image_listener = nerf_sim.simple_image_listener:main',
'sim_rgb_generator = nerf_sim.sim_rgb_generator:main',
'sim_depth_generator = nerf_sim.sim_depth_generator:main',
'pcd_generator = nerf_sim.pcd_publisher_node:main',
diff --git a/test_materials/00000.jpg b/test_materials/00000.jpg
deleted file mode 100644
index 111f12e855dd7f64e887be2cd9dfba706f72eac6..0000000000000000000000000000000000000000
Binary files a/test_materials/00000.jpg and /dev/null differ
diff --git a/test_materials/left_fisheye.json b/test_materials/left_fisheye.json
deleted file mode 100644
index ca2ab224e7f160aa7a7771225b83a5a48ec3b98c..0000000000000000000000000000000000000000
--- a/test_materials/left_fisheye.json
+++ /dev/null
@@ -1,10242 +0,0 @@
-{
- "camera_type": "perspective",
- "render_height": 480,
- "render_width": 640,
- "camera_path": [
- {
- "camera_to_world": [
- [
- -0.8482171702910052,
- 0.21365736059402132,
- -0.484642419748611,
- -0.14218515787282268
- ],
- [
- -0.5266178479980205,
- -0.24245881215501855,
- 0.8147928766150683,
- 0.056657894959520234
- ],
- [
- 0.05658067384069954,
- 0.9463425503581747,
- 0.3181734789936162,
- -0.10527174464665959
- ],
- [
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ]
- ],
- "fov": 70,
- "aspect": 1.33333333333
- },
- {
- "camera_to_world": [
- [
- -0.848126770468076,
- 0.21368077339012975,
- -0.48478969900390256,
- -0.1422909329058562
- ],
- [
- -0.5267772181355405,
- -0.2426317996073302,
- 0.8146379981480728,
- 0.05664857370609288
- ],
- [
- 0.05644707799654798,
- 0.9462929002513581,
- 0.3183448278212824,
- -0.10520393055026504
- ],
- [
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ]
- ],
- "fov": 70,
- "aspect": 1.33333333333
- },
- {
- "camera_to_world": [
- [
- -0.8481527204173384,
- 0.2134710212306142,
- -0.48483996345912356,
- -0.1422832242616402
- ],
- [
- -0.526744473128551,
- -0.24240957807054894,
- 0.8147272717942237,
- 0.05664420638810035
- ],
- [
- 0.056390844110123156,
- 0.9463973336336537,
- 0.3180442279951541,
- -0.10529846477012171
- ],
- [
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ]
- ],
- "fov": 70,
- "aspect": 1.33333333333
- },
- {
- "camera_to_world": [
- [
- -0.8481681440963785,
- 0.21367452184675842,
- -0.4847222484079966,
- -0.14227304826648488
- ],
- [
- -0.5266927801344515,
- -0.24233714721078772,
- 0.814781592996794,
- 0.056674731193411314
- ],
- [
- 0.056631881072800976,
- 0.9463699106030792,
- 0.3180829897527358,
- -0.10521464442607191
- ],
- [
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ]
- ],
- "fov": 70,
- "aspect": 1.33333333333
- },
- {
- "camera_to_world": [
- [
- -0.8481481842243062,
- 0.21368652270222085,
- -0.4847465509831919,
- -0.14226105302294023
- ],
- [
- -0.526734331002912,
- -0.24257594722873577,
- 0.814680478961376,
- 0.05664171750720012
- ],
- [
- 0.05649834924007705,
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diff --git a/test_materials/point_cloud.ply b/test_materials/point_cloud.ply
deleted file mode 100644
index 876e53ae46ca5e85f9695b5b0a5b81fce5ac66d5..0000000000000000000000000000000000000000
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