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‎.gitignore‎

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/weights
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*.pyc
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*._
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*.png
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__pycache__

‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(dope)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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rospy
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std_msgs
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tf2
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES dope
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# CATKIN_DEPENDS rospy std_msgs tf2
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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# include
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/dope/dope.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/dope_vis_node.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_dope_vis.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎config/config_pose.yaml‎

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topic_camera: "/dope/webcam_rgb_raw"
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topic_publishing: "dope"
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frame_id: "/dope"
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# Comment any of these lines to prevent detection / pose estimation of that object
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weights: {
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# "cracker":"cracker_60.pth",
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# "gelatin":"gelatin_60.pth",
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# "meat":"meat_20.pth",
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# "mustard":"mustard_60.pth",
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"soup":"soup_60.pth",
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#"sugar":"sugar_60.pth"
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}
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# Cuboid dimension in cm x,y,z
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dimensions: {
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"cracker": [16.403600692749023,21.343700408935547,7.179999828338623],
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"gelatin": [8.918299674987793, 7.311500072479248, 2.9983000755310059],
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"meat": [10.164673805236816,8.3542995452880859,5.7600898742675781],
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"mustard": [9.6024150848388672,19.130100250244141,5.824894905090332],
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"soup": [6.7659378051757813,10.185500144958496,6.771425724029541],
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"sugar": [9.267730712890625,17.625339508056641,4.5134143829345703],
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}
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draw_colors: {
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"cracker": [13, 255, 128], # green
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"gelatin": [255, 255, 255], # while
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"meat": [0, 104, 255], # blue
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"mustard": [217,12, 232], # magenta
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"soup": [255, 101, 0], # orange
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"sugar": [232, 222, 12], # yellow
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}
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# Camera intrinsics (Logitech C920)
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camera_settings: {
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"name": "logitech_c920",
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"width": 640,
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"height": 480,
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"fx": 641.5,
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"fy": 641.5,
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"cx": 320.0,
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"cy": 240.0
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}
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# Config params for DOPE
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thresh_angle: 0.5
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thresh_map: 0.01
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sigma: 3
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thresh_points: 0.1

‎docker/Dockerfile.kinetic‎

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FROM nvidia/cudagl:9.0-devel-ubuntu16.04
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# Copyright (c) 2018, NVIDIA CORPORATION. All rights reserved.
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# Full license terms provided in LICENSE.md file.
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# Build with:
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# nvidia-docker build -t nvidia-dope:kinetic-v1 -f Dockerfile.kinetic ..
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ENV HOME /root
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WORKDIR ${HOME}
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RUN apt-get update && apt-get -y --no-install-recommends install software-properties-common
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# cuDNN version must match the one used by TensorRT.
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# TRT 4.0 is compiled with cuDNN 7.1.
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RUN apt-get update && apt-get -y --no-install-recommends install \
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ant \
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bzip2 \
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ca-certificates \
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ccache \
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cmake \
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curl \
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genromfs \
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git \
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gosu \
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iproute \
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iputils-ping \
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less \
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lcov \
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libcudnn7=7.1.4.18-1+cuda9.0 \
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libcudnn7-dev=7.1.4.18-1+cuda9.0 \
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libeigen3-dev \
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libopencv-dev \
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make \
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nano \
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net-tools \
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ninja-build \
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openjdk-8-jdk \
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patch \
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pkg-config \
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protobuf-compiler \
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python-argparse \
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python-dev \
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python-empy \
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python-numpy \
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python-pip \
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python-serial \
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python-software-properties \
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rsync \
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s3cmd \
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software-properties-common \
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sudo \
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unzip \
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xsltproc \
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wget \
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zip \
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&& apt-get -y autoremove \
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&& apt-get clean autoclean \
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# pip
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&& pip install setuptools wheel \
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&& pip install 'matplotlib==2.2.2' --force-reinstall \
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# coveralls code coverage reporting
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&& pip install cpp-coveralls \
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# jinja template generation
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&& pip install jinja2 \
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# cleanup
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&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
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# ROS Kinetic
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WORKDIR ${HOME}
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RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 \
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&& sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list' \
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&& sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu/ xenial main" > /etc/apt/sources.list.d/ros-shadow.list' \
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&& apt-get update && apt-get -y --no-install-recommends install \
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ros-kinetic-gazebo-ros-pkgs \
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ros-kinetic-mavros \
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ros-kinetic-mavros-extras \
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ros-kinetic-ros-base \
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ros-kinetic-rviz \
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ros-kinetic-tf2 \
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ros-kinetic-cv-bridge \
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&& apt-get -y autoremove \
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&& apt-get clean autoclean \
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&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
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# Initialize ROS
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RUN geographiclib-get-geoids egm96-5 \
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&& rosdep init \
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&& rosdep update
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RUN echo 'source /opt/ros/kinetic/setup.bash' >> ${HOME}/.bashrc
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# Install OpenCV with CUDA support.
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# REVIEW alexeyk: JetPack 3.2 comes with OpenCV 3.3.1 _without_ CUDA support.
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WORKDIR ${HOME}
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RUN git clone http://github.com/opencv/opencv.git && cd opencv \
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&& git checkout 3.3.1 \
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&& mkdir build && cd build \
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&& cmake -D CMAKE_BUILD_TYPE=RELEASE \
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-D CMAKE_INSTALL_PREFIX=/usr/local \
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-D WITH_CUDA=OFF \
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-D WITH_OPENCL=OFF \
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-D ENABLE_FAST_MATH=1 \
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-D CUDA_FAST_MATH=1 \
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-D WITH_CUBLAS=1 \
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-D BUILD_DOCS=OFF \
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-D BUILD_PERF_TESTS=OFF \
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-D BUILD_TESTS=OFF \
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.. \
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&& make -j `nproc` \
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&& make install \
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&& cd ${HOME} && rm -rf ./opencv/
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# Setup catkin workspace
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ENV CATKIN_WS ${HOME}/catkin_ws
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COPY docker/init_workspace.sh ${HOME}
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RUN ${HOME}/init_workspace.sh
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ENV CCACHE_CPP2=1
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ENV CCACHE_MAXSIZE=1G
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ENV DISPLAY :0
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ENV TERM=xterm
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# Some QT-Apps don't not show controls without this
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ENV QT_X11_NO_MITSHM 1
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COPY requirements.txt ${HOME}
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RUN pip install --no-cache-dir -r requirements.txt

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