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Use core segmentation behavior in lab_sim #88

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merged 1 commit into from
Jan 15, 2025
Merged

Use core segmentation behavior in lab_sim #88

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2 changes: 0 additions & 2 deletions src/example_behaviors/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@ example_interfaces)
foreach(package IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${package} REQUIRED)
endforeach()
find_package(moveit_pro_ml REQUIRED)

add_library(
example_behaviors
Expand All @@ -41,7 +40,6 @@ target_include_directories(
PRIVATE ${PCL_INCLUDE_DIRS})
ament_target_dependencies(example_behaviors
${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(example_behaviors onnx_sam2)

# Install Libraries
install(
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1 change: 1 addition & 0 deletions src/lab_sim/CMakeLists.txt
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Expand Up @@ -33,6 +33,7 @@ install(
config
description
launch
models
objectives
waypoints
DESTINATION
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0 src/example_behaviors/models/decoder.onnx → src/lab_sim/models/decoder.onnx
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0 ...iors/models/sam2_hiera_large_encoder.onnx → ..._sim/models/sam2_hiera_large_encoder.onnx
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45 changes: 0 additions & 45 deletions src/lab_sim/objectives/run_sam2_onnx.xml
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88 changes: 88 additions & 0 deletions src/lab_sim/objectives/segment_point_cloud_from_clicked_point.xml
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@@ -0,0 +1,88 @@
<?xml version="1.0" encoding="utf-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="Segment Point Cloud from Clicked Point"
>
<!--//////////-->
<BehaviorTree
ID="Segment Point Cloud from Clicked Point"
_description="Captures a point cloud and requests the user to click an object in the image to be segmented. The point cloud is then filtered to only include the selected object."
_favorite="true"
>
<Control ID="Sequence">
<Action ID="ClearSnapshot" />
<Action
ID="GetImage"
topic_name="/wrist_camera/color"
timeout_sec="5.000000"
message_out="{image}"
/>
<Action
ID="GetPointsFromUser"
point_prompts="Select the object to be segmented;"
point_names="Point1;"
view_name="/wrist_camera/color"
pixel_coords="{pixel_coords}"
/>
<Action
ID="GetMasks2DFromPointQuery"
image="{image}"
pixel_coords="{pixel_coords}"
masks2d="{masks2d}"
decoder_model_path="models/decoder.onnx"
encoder_model_path="models/sam2_hiera_large_encoder.onnx"
model_package="lab_sim"
/>
<Action
ID="GetPointCloud"
topic_name="/wrist_camera/points"
timeout_sec="5.000000"
message_out="{point_cloud}"
/>
<Action
ID="GetCameraInfo"
topic_name="/wrist_camera/camera_info"
message_out="{camera_info}"
timeout_sec="5.000000"
/>
<Action
ID="GetMasks3DFromMasks2D"
camera_info="{camera_info}"
masks2d="{masks2d}"
point_cloud="{point_cloud}"
masks3d="{masks3d}"
/>
<Decorator
ID="ForEach"
vector_in="{masks3d}"
out="{mask3d}"
index="{index}"
>
<Action
ID="GetPointCloudFromMask3D"
point_cloud="{point_cloud}"
mask3d="{mask3d}"
point_cloud_fragment="{point_cloud_fragment}"
/>
</Decorator>
<Action
ID="SendPointCloudToUI"
point_cloud="{point_cloud_fragment}"
pcd_topic="/pcd_pointcloud_captures"
/>
<Action
ID="PublishPointCloud"
point_cloud="{point_cloud_fragment}"
point_cloud_topic="/my_point_cloud"
/>
<Action ID="SwitchUIPrimaryView" primary_view_name="Visualization" />
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Segment Point Cloud from Clicked Point">
<MetadataFields>
<Metadata runnable="true" />
</MetadataFields>
</SubTree>
</TreeNodesModel>
</root>
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