diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..d645695673349e3947e8e5ae42332d0ac3164cd7
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,202 @@
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
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diff --git a/config/config.rviz b/config/config.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..08bd9f18b55f5cd1dd305bd8b205c5fea2647ade
--- /dev/null
+++ b/config/config.rviz
@@ -0,0 +1,164 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /Image1
+ Splitter Ratio: 0.5
+ Tree Height: 94
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz_common/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz_default_plugins/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: rviz_default_plugins/Image
+ Enabled: true
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: Image
+ Normalize Range: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /camera/depth
+ Value: true
+ - Class: rviz_default_plugins/Image
+ Enabled: true
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: Image
+ Normalize Range: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /camera/rgb
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
+ Single click: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 10
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.785398006439209
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 0.785398006439209
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 846
+ Hide Left Dock: false
+ Hide Right Dock: false
+ Image:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000000e7000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000128000000dd0000002800fffffffb0000000a0049006d006100670065010000020b000000e40000002800ffffff000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1200
+ X: 67
+ Y: 60
diff --git a/generated_materials/camera_path.json b/generated_materials/camera_path.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c48c13729853e5b83723ef1147f06c12ddee4d3
--- /dev/null
+++ b/generated_materials/camera_path.json
@@ -0,0 +1,42 @@
+{
+ "camera_type": "perspective",
+ "render_height": 480,
+ "render_width": 640,
+ "camera_path": [
+ {
+ "fov": 70,
+ "aspect": 1.33333333333,
+ "camera_to_world": [
+ [
+ -0.7712574369763269,
+ 0.1513242754712088,
+ -0.6182741540464238,
+ 0.37396875264637797
+ ],
+ [
+ -0.6360692717618674,
+ -0.21990707861025355,
+ 0.7396328537169178,
+ 0.009873900166690274
+ ],
+ [
+ -0.024038457293159843,
+ 0.9637125299746899,
+ 0.26585769152075983,
+ -0.07500160249766082
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "fps": 24,
+ "seconds": 4,
+ "smoothness_value": 0.5,
+ "is_cycle": "false",
+ "crop": null
+}
\ No newline at end of file
diff --git a/generated_materials/nerf_image.png b/generated_materials/nerf_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..f50e30ecbed3176c59367a8e4b1be2091df740b5
Binary files /dev/null and b/generated_materials/nerf_image.png differ
diff --git a/launch/__pycache__/basic_sim_example_launch.cpython-310.pyc b/launch/__pycache__/basic_sim_example_launch.cpython-310.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..c13c126399684f7c1289017b9ac5f90d9305862a
Binary files /dev/null and b/launch/__pycache__/basic_sim_example_launch.cpython-310.pyc differ
diff --git a/launch/basic_sim_example_launch.py b/launch/basic_sim_example_launch.py
new file mode 100644
index 0000000000000000000000000000000000000000..5e3b991f3e52518fa52b90dd566475b02d8cdd9c
--- /dev/null
+++ b/launch/basic_sim_example_launch.py
@@ -0,0 +1,41 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+ rviz_config_dir = os.path.join(get_package_share_directory(
+ 'nerf_sim'), 'config', 'config.rviz')
+ print(rviz_config_dir)
+ assert os.path.exists(rviz_config_dir)
+
+ return LaunchDescription([
+ Node(
+ package='nerf_sim',
+ executable='sim_depth_generator',
+ name='sim_depth_generator'
+ ),
+ Node(
+ package='nerf_sim',
+ executable='sim_rgb_generator',
+ name='sim_rgb_generator'
+ ),
+ Node(
+ package='nerf_sim',
+ executable='pose_generator',
+ name='pose_generator'
+ ),
+ Node(
+ package='nerf_sim',
+ executable='pcd_generator',
+ name='pcd_generator'
+ ),
+ Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz2',
+ arguments=['-d', rviz_config_dir]
+ )
+ ])
\ No newline at end of file
diff --git a/nerf_sim/__init__.py b/nerf_sim/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/nerf_sim/__pycache__/__init__.cpython-310.pyc b/nerf_sim/__pycache__/__init__.cpython-310.pyc
new file mode 100644
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diff --git a/nerf_sim/__pycache__/image_generator.cpython-310.pyc b/nerf_sim/__pycache__/image_generator.cpython-310.pyc
new file mode 100644
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diff --git a/nerf_sim/__pycache__/image_listener.cpython-310.pyc b/nerf_sim/__pycache__/image_listener.cpython-310.pyc
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diff --git a/nerf_sim/__pycache__/nerf_render.cpython-310.pyc b/nerf_sim/__pycache__/nerf_render.cpython-310.pyc
new file mode 100644
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diff --git a/nerf_sim/__pycache__/pcd_publisher_node.cpython-310.pyc b/nerf_sim/__pycache__/pcd_publisher_node.cpython-310.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..4cea66041ff744a63bec567f794f74aae6112038
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diff --git a/nerf_sim/__pycache__/pose_generator.cpython-310.pyc b/nerf_sim/__pycache__/pose_generator.cpython-310.pyc
new file mode 100644
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diff --git a/nerf_sim/__pycache__/sim_depth_generator.cpython-310.pyc b/nerf_sim/__pycache__/sim_depth_generator.cpython-310.pyc
new file mode 100644
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diff --git a/nerf_sim/__pycache__/sim_image_generator.cpython-310.pyc b/nerf_sim/__pycache__/sim_image_generator.cpython-310.pyc
new file mode 100644
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diff --git a/nerf_sim/__pycache__/sim_rgb_generator.cpython-310.pyc b/nerf_sim/__pycache__/sim_rgb_generator.cpython-310.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..ac3c028df3e5426c0c50f9664ec583fa1895d07a
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diff --git a/nerf_sim/__pycache__/simple_image_generator.cpython-310.pyc b/nerf_sim/__pycache__/simple_image_generator.cpython-310.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..1b5833e4225968ef4339fb50dda41c68a268e4dc
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diff --git a/nerf_sim/nerf_render.py b/nerf_sim/nerf_render.py
new file mode 100644
index 0000000000000000000000000000000000000000..5a4f746ffda7b0775e9a2199d11c94a3bedf722b
--- /dev/null
+++ b/nerf_sim/nerf_render.py
@@ -0,0 +1,134 @@
+import json
+import argparse
+import mediapy as media
+import numpy as np
+import torch
+
+# Typing
+from pathlib import Path
+from typing import Any, Dict, List, Literal, Optional, Union
+
+from rich.progress import (
+ track
+)
+
+from nerfstudio.cameras.camera_paths import (
+ get_path_from_json # TODO: remove for ros
+)
+
+from nerfstudio.cameras.cameras import Cameras
+from nerfstudio.pipelines.base_pipeline import Pipeline
+
+from nerfstudio.utils import colormaps
+from nerfstudio.utils.eval_utils import eval_setup
+
+def _render_trajectory_video(
+ pipeline: Pipeline,
+ cameras: Cameras,
+ output_filename: Path,
+ rendered_output_names: List[str],
+ crop_data = None,
+ rendered_resolution_scaling_factor: float = 1.0,
+ seconds: float = 5.0,
+ output_format: Literal["images", "video"] = "video",
+ image_format: Literal["jpeg", "png"] = "png",
+ jpeg_quality: int = 100,
+ colormap_options: colormaps.ColormapOptions = colormaps.ColormapOptions(),
+) -> None:
+ """Helper function to create a video of the spiral trajectory.
+
+ Args:
+ pipeline: Pipeline to evaluate with.
+ cameras: Cameras to render.
+ output_filename: Name of the output file.
+ rendered_output_names: List of outputs to visualise.
+ crop_data: Crop data to apply to the rendered images.
+ rendered_resolution_scaling_factor: Scaling factor to apply to the camera image resolution.
+ seconds: Length of output video.
+ output_format: How to save output data.
+ colormap_options: Options for colormap.
+ """
+ cameras.rescale_output_resolution(rendered_resolution_scaling_factor)
+ cameras = cameras.to(pipeline.device)
+ fps = len(cameras) / seconds
+
+ output_image_dir = output_filename.parent / output_filename.stem
+ if output_format == "images":
+ output_image_dir.mkdir(parents=True, exist_ok=True)
+ writer = None
+
+ for camera_idx in track(range(cameras.size), description=""):
+ aabb_box = None
+ camera_ray_bundle = cameras.generate_rays(camera_indices=camera_idx, aabb_box=aabb_box)
+
+ with torch.no_grad():
+ outputs = pipeline.model.get_outputs_for_camera_ray_bundle(camera_ray_bundle)
+
+ render_image = []
+ for rendered_output_name in rendered_output_names:
+ output_image = outputs[rendered_output_name]
+ output_image = (
+ colormaps.apply_colormap(
+ image=output_image,
+ colormap_options=colormap_options,
+ )
+ .cpu()
+ .numpy()
+ )
+ render_image.append(output_image)
+ 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
+ downscale_factor: float = 1.0
+ eval_num_rays_per_chunk: Optional[int] = None
+ colormap_options: colormaps.ColormapOptions = colormaps.ColormapOptions()
+ load_config: Path
+ output_path: Path = Path("renders/output.mp4")
+ output_format: Literal["images", "video"] = "images"
+ camera_path_filename: Path = Path("camera_path.json")
+ rendered_output_names: List[str] = []
+
+ def __init__(self):
+ self.load_config = Path('/vol/research/K9/test-colmap/65904bca-e8fd-11ed-a05b-0242ac120003/nerfacto/65904bca-e8fd-11ed-a05b-0242ac120003/config.yml')
+ self.camera_path_filename = Path('/workspace/ros2_iron/src/nerf_sim/generated_materials/camera_path.json')
+ _, self.pipeline, _, _ = eval_setup(
+ self.load_config,
+ eval_num_rays_per_chunk=self.eval_num_rays_per_chunk,
+ test_mode="inference",
+ )
+
+ def run(self, render_output_names: List[str] = []):
+ pipeline = self.pipeline
+ with open(self.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
+ camera_path = get_path_from_json(camera_path)
+ self.rendered_output_names = render_output_names
+
+ render_image = _render_trajectory_video(
+ pipeline,
+ camera_path,
+ output_filename=self.output_path,
+ rendered_output_names=self.rendered_output_names,
+ rendered_resolution_scaling_factor=1.0 / self.downscale_factor,
+ crop_data=crop_data,
+ seconds=seconds,
+ output_format=self.output_format,
+ image_format=self.image_format,
+ jpeg_quality=self.jpeg_quality,
+ colormap_options=self.colormap_options,
+ )
+ return render_image
+
diff --git a/nerf_sim/pcd_publisher_node.py b/nerf_sim/pcd_publisher_node.py
new file mode 100644
index 0000000000000000000000000000000000000000..711fceb739e94500db9b146d8519a762cf84e31a
--- /dev/null
+++ b/nerf_sim/pcd_publisher_node.py
@@ -0,0 +1,114 @@
+
+import sys
+import os
+
+import rclpy
+from rclpy.node import Node
+import sensor_msgs.msg as sensor_msgs
+import std_msgs.msg as std_msgs
+
+import numpy as np
+import open3d as o3d
+
+class PCDPublisher(Node):
+
+ def __init__(self):
+ super().__init__('pcd_publisher_node')
+
+ pcd_path = '/workspace/ros2_iron/src/nerf_sim/test_materials/point_cloud.ply'
+
+ # I use Open3D to read point clouds and meshes. It's a great library!
+ pcd = o3d.io.read_point_cloud(pcd_path)
+ # I then convert it into a numpy array.
+ self.points = np.asarray(pcd.points)
+ print(self.points.shape)
+
+ # I create a publisher that publishes sensor_msgs.PointCloud2 to the
+ # topic 'pcd'. The value '10' refers to the history_depth, which I
+ # believe is related to the ROS1 concept of queue size.
+ # Read more here:
+ # http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers
+ self.pcd_publisher = self.create_publisher(sensor_msgs.PointCloud2, 'pcd', 10)
+ timer_period = 1/30.0
+ self.timer = self.create_timer(timer_period, self.timer_callback)
+
+ # This rotation matrix is used for visualization purposes. It rotates
+ # the point cloud on each timer callback.
+ self.R = o3d.geometry.get_rotation_matrix_from_xyz([0, 0, np.pi/48])
+
+
+
+ def timer_callback(self):
+ # For visualization purposes, I rotate the point cloud with self.R
+ # to make it spin.
+ self.points = self.points
+ # Here I use the point_cloud() function to convert the numpy array
+ # into a sensor_msgs.PointCloud2 object. The second argument is the
+ # name of the frame the point cloud will be represented in. The default
+ # (fixed) frame in RViz is called 'map'
+ self.pcd = point_cloud(self.points, 'map')
+ # Then I publish the PointCloud2 object
+ self.pcd_publisher.publish(self.pcd)
+
+def point_cloud(points, parent_frame):
+ """ Creates a point cloud message.
+ Args:
+ points: Nx3 array of xyz positions.
+ parent_frame: frame in which the point cloud is defined
+ Returns:
+ sensor_msgs/PointCloud2 message
+
+ Code source:
+ https://gist.github.com/pgorczak/5c717baa44479fa064eb8d33ea4587e0
+
+ References:
+ http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointCloud2.html
+ http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointField.html
+ http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html
+
+ """
+ # In a PointCloud2 message, the point cloud is stored as an byte
+ # array. In order to unpack it, we also include some parameters
+ # which desribes the size of each individual point.
+ ros_dtype = sensor_msgs.PointField.FLOAT32
+ dtype = np.float32
+ itemsize = np.dtype(dtype).itemsize # A 32-bit float takes 4 bytes.
+
+ data = points.astype(dtype).tobytes()
+
+ # The fields specify what the bytes represents. The first 4 bytes
+ # represents the x-coordinate, the next 4 the y-coordinate, etc.
+ fields = [sensor_msgs.PointField(
+ name=n, offset=i*itemsize, datatype=ros_dtype, count=1)
+ for i, n in enumerate('xyz')]
+
+ # The PointCloud2 message also has a header which specifies which
+ # coordinate frame it is represented in.
+ header = std_msgs.Header(frame_id=parent_frame)
+
+ return sensor_msgs.PointCloud2(
+ header=header,
+ height=1,
+ width=points.shape[0],
+ is_dense=False,
+ is_bigendian=False,
+ fields=fields,
+ point_step=(itemsize * 3), # Every point consists of three float32s.
+ row_step=(itemsize * 3 * points.shape[0]),
+ data=data
+ )
+
+def main(args=None):
+ # Boilerplate code.
+ rclpy.init(args=args)
+ pcd_publisher = PCDPublisher()
+ rclpy.spin(pcd_publisher)
+
+ # Destroy the node explicitly
+ # (optional - otherwise it will be done automatically
+ # when the garbage collector destroys the node object)
+ pcd_publisher.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/nerf_sim/pose_generator.py b/nerf_sim/pose_generator.py
new file mode 100644
index 0000000000000000000000000000000000000000..5daeadc9636736e864b960204652246f2e54ee68
--- /dev/null
+++ b/nerf_sim/pose_generator.py
@@ -0,0 +1,59 @@
+import rclpy
+from rclpy.node import Node
+import json
+import numpy as np
+
+from geometry_msgs.msg import Pose
+from scipy.spatial.transform import Rotation as R
+
+# Pose Generation is for Testing Purposes Only - Takes pose from file, converts to msg format and publishes it to topic
+
+class MinimalPublisher(Node):
+
+ def __init__(self):
+ super().__init__('minimal_publisher')
+ self.publisher_ = self.create_publisher(Pose, 'pose', 1)
+ timer_period = 10 # seconds
+ self.timer = self.create_timer(timer_period, self.timer_callback)
+ self.i = 0
+
+ orig = open('/workspace/ros2_iron/src/nerf_sim/test_materials/left_fisheye.json', 'r')
+ orig_json = json.load(orig)
+
+ # testing using a single pose only
+ self.pose = np.matrix(orig_json['camera_path'][0]['camera_to_world'])
+
+ def timer_callback(self):
+ msg = Pose()
+ msg.position.x = self.pose[0,3] + 0.5
+ msg.position.y = self.pose[1,3]
+ msg.position.z = self.pose[2,3]
+
+ rot_mat = self.pose[0:3,0:3]
+ r = R.from_matrix(rot_mat)
+ quat = r.as_quat()
+
+ msg.orientation.x = quat[0]
+ msg.orientation.y = quat[1]
+ msg.orientation.z = quat[2]
+ msg.orientation.w = quat[3]
+ self.publisher_.publish(msg)
+ self.get_logger().info('Publishing: "%s"' % msg)
+
+
+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/sim_depth_generator.py b/nerf_sim/sim_depth_generator.py
new file mode 100644
index 0000000000000000000000000000000000000000..30e067e780556fc08cb19b56cc665f1f757cc345
--- /dev/null
+++ b/nerf_sim/sim_depth_generator.py
@@ -0,0 +1,106 @@
+import rclpy
+from rclpy.node import Node
+
+from cv_bridge import CvBridge
+from sensor_msgs.msg import Image
+from geometry_msgs.msg import Pose
+from scipy.spatial.transform import Rotation as R
+from nerf_sim.nerf_render import RenderCameraPath
+
+import cv2
+import json
+import numpy as np
+import mediapy as media
+
+
+# subscribe to pose coming in from topic
+# write out config file for nerf
+# run nerf to get image
+# publish image to topic
+
+class MinimalPublisher(Node):
+ def __init__(self):
+ super().__init__('minimal_publisher')
+ # subscribe to pose coming in from topic
+ self.subscription = self.create_subscription(Pose, 'pose', self.listener_callback, 10)
+ self.subscription
+
+ self.publisher_rgb = self.create_publisher(Image, 'camera/depth', 10)
+ timer_period = 10 # seconds
+ self.timer = self.create_timer(timer_period, self.timer_callback)
+ self.i = 0
+ self.bridge = CvBridge()
+ self.img_depth = None
+
+ self.render = RenderCameraPath()
+
+ def listener_callback(self, data):
+ matrix = np.matrix(np.zeros((4,4)))
+
+ # convert to 4x4 matrix
+ matrix[0,3] = data.position.x
+ matrix[1,3] = data.position.y
+ matrix[2,3] = data.position.z
+ matrix[3,3] = 1
+
+ r = R.from_quat([data.orientation.x, data.orientation.y, data.orientation.z, data.orientation.w])
+ rot_mat = r.as_matrix()
+ matrix[0:3,0:3] = rot_mat
+ matrix[3,3] = 1
+
+ # write out config file for nerf
+ nerf_info = {
+ "camera_type": "perspective",
+ "render_height": 480,
+ "render_width": 640,
+ "camera_path": [
+ {
+ "fov": 70,
+ "aspect": 1.33333333333
+ }
+ ],
+ "fps": 24,
+ "seconds": 4,
+ "smoothness_value": 0.5,
+ "is_cycle": "false",
+ "crop": None
+ }
+
+ nerf_info['camera_path'][0]['camera_to_world'] = matrix.tolist()
+ json_object = json.dumps(nerf_info, indent=4)
+
+ with open("/workspace/ros2_iron/src/nerf_sim/generated_materials/camera_path.json", "w") as outfile:
+ outfile.write(json_object)
+
+ self.img_depth = self.render.run(['depth'])
+ self.img_depth *= 255
+ self.img_depth = cv2.cvtColor(self.img_depth, cv2.COLOR_RGB2BGR)
+
+
+ def timer_callback(self):
+ if self.img_depth is None:
+ return
+
+ msg_rgb = Image()
+ a = np.array(self.img_depth, dtype='i1')
+ msg_rgb = self.bridge.cv2_to_imgmsg(a)
+ self.publisher_rgb.publish(msg_rgb)
+ self.img_depth = None
+
+
+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/sim_rgb_generator.py b/nerf_sim/sim_rgb_generator.py
new file mode 100644
index 0000000000000000000000000000000000000000..b90c2ed76561dd1134d89dc583b8249b91bcac3c
--- /dev/null
+++ b/nerf_sim/sim_rgb_generator.py
@@ -0,0 +1,106 @@
+import rclpy
+from rclpy.node import Node
+
+from cv_bridge import CvBridge
+from sensor_msgs.msg import Image
+from geometry_msgs.msg import Pose
+from scipy.spatial.transform import Rotation as R
+from nerf_sim.nerf_render import RenderCameraPath
+
+import cv2
+import json
+import numpy as np
+import mediapy as media
+
+
+# subscribe to pose coming in from topic
+# write out config file for nerf
+# run nerf to get image
+# publish image to topic
+
+class MinimalPublisher(Node):
+ def __init__(self):
+ super().__init__('minimal_publisher')
+ # subscribe to pose coming in from topic
+ self.subscription = self.create_subscription(Pose, 'pose', self.listener_callback, 10)
+ self.subscription
+
+ self.publisher_rgb = self.create_publisher(Image, 'camera/rgb', 10)
+ timer_period = 10 # seconds
+ self.timer = self.create_timer(timer_period, self.timer_callback)
+ self.i = 0
+ self.bridge = CvBridge()
+ self.img_rgb = None
+
+ self.render = RenderCameraPath()
+
+ def listener_callback(self, data):
+ matrix = np.matrix(np.zeros((4,4)))
+
+ # convert to 4x4 matrix
+ matrix[0,3] = data.position.x
+ matrix[1,3] = data.position.y
+ matrix[2,3] = data.position.z
+ matrix[3,3] = 1
+
+ r = R.from_quat([data.orientation.x, data.orientation.y, data.orientation.z, data.orientation.w])
+ rot_mat = r.as_matrix()
+ matrix[0:3,0:3] = rot_mat
+ matrix[3,3] = 1
+
+ # write out config file for nerf
+ nerf_info = {
+ "camera_type": "perspective",
+ "render_height": 480,
+ "render_width": 640,
+ "camera_path": [
+ {
+ "fov": 70,
+ "aspect": 1.33333333333
+ }
+ ],
+ "fps": 24,
+ "seconds": 4,
+ "smoothness_value": 0.5,
+ "is_cycle": "false",
+ "crop": None
+ }
+
+ nerf_info['camera_path'][0]['camera_to_world'] = matrix.tolist()
+ json_object = json.dumps(nerf_info, indent=4)
+
+ with open("/workspace/ros2_iron/src/nerf_sim/generated_materials/camera_path.json", "w") as outfile:
+ outfile.write(json_object)
+
+ self.img_rgb = self.render.run(['rgb'])
+ self.img_rgb *= 255
+ self.img_rgb = cv2.cvtColor(self.img_rgb, cv2.COLOR_RGB2BGR)
+
+
+ def timer_callback(self):
+ if self.img_rgb is None:
+ return
+
+ msg_rgb = Image()
+ a = np.array(self.img_rgb, dtype='i1')
+ msg_rgb = self.bridge.cv2_to_imgmsg(a)
+ self.publisher_rgb.publish(msg_rgb)
+ self.img_rgb = None
+
+
+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_generator.py b/nerf_sim/simple_image_generator.py
new file mode 100644
index 0000000000000000000000000000000000000000..f4046ef67ac9534ebfd43d94d2890ca4600011e3
--- /dev/null
+++ b/nerf_sim/simple_image_generator.py
@@ -0,0 +1,46 @@
+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
new file mode 100644
index 0000000000000000000000000000000000000000..3e95fff82e89030781dda40ee865fed20487923f
--- /dev/null
+++ b/nerf_sim/simple_image_listener.py
@@ -0,0 +1,44 @@
+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/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..86e7b6c13c0a1917215be7cf3273d56a1621602e
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>nerf_sim</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="root@todo.todo">root</maintainer>
+ <license>Apache-2.0</license>
+
+ <exec_depend>ros2launch</exec_depend>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/resource/nerf_sim b/resource/nerf_sim
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/setup.cfg b/setup.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..782cfe5f9364762553dcfa8c13d461e7dd9397b7
--- /dev/null
+++ b/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/nerf_sim
+[install]
+install_scripts=$base/lib/nerf_sim
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000000000000000000000000000000000000..22999b4ae3915c9b22716b96a72508fef2ff3280
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,36 @@
+from setuptools import find_packages, setup
+import os
+from glob import glob
+package_name = 'nerf_sim'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ # During installation, we need to copy the launch files
+ (os.path.join('share', package_name, "launch"), glob('launch/*.launch.py')),
+ # Same with the RViz configuration file.
+ (os.path.join('share', package_name, "config"), glob('config/*')),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='root',
+ maintainer_email='root@todo.todo',
+ description='TODO: Package description',
+ license='Apache-2.0',
+ tests_require=['pytest'],
+ 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/test_copyright.py b/test/test_copyright.py
new file mode 100644
index 0000000000000000000000000000000000000000..97a39196e84db97954341162a6d2e7f771d938c0
--- /dev/null
+++ b/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/test/test_flake8.py b/test/test_flake8.py
new file mode 100644
index 0000000000000000000000000000000000000000..27ee1078ff077cc3a0fec75b7d023101a68164d1
--- /dev/null
+++ b/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/test/test_pep257.py b/test/test_pep257.py
new file mode 100644
index 0000000000000000000000000000000000000000..b234a3840f4c5bd38f043638c8622b8f240e1185
--- /dev/null
+++ b/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'
diff --git a/test_materials/00000.jpg b/test_materials/00000.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..111f12e855dd7f64e887be2cd9dfba706f72eac6
Binary files /dev/null and b/test_materials/00000.jpg differ
diff --git a/test_materials/left_fisheye.json b/test_materials/left_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c5264b38043f4018a1defbecab1ec47aee9bfbe
--- /dev/null
+++ b/test_materials/left_fisheye.json
@@ -0,0 +1,43 @@
+{
+ "camera_type": "perspective",
+ "render_height": 480,
+ "render_width": 640,
+ "camera_path": [
+ {
+ "camera_to_world": [
+ [
+ -0.7712575118708358,
+ 0.15132428740157347,
+ -0.6182741780720471,
+ -0.126031247353622
+ ],
+ [
+ -0.6360692942400918,
+ -0.21990709008089557,
+ 0.7396329230555223,
+ 0.009873900166690274
+ ],
+ [
+ -0.024038461336182593,
+ 0.9637125350711779,
+ 0.26585770378602064,
+ -0.07500160249766082
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "fov": 70,
+ "aspect": 1.33333333333
+
+ }
+ ],
+ "fps": 24,
+ "seconds": 4,
+ "smoothness_value": 0.5,
+ "is_cycle": "false",
+ "crop": null
+}
diff --git a/test_materials/point_cloud.ply b/test_materials/point_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..876e53ae46ca5e85f9695b5b0a5b81fce5ac66d5
Binary files /dev/null and b/test_materials/point_cloud.ply differ