ROS 2 repository for 6D pose estimation of cuboid-like objects
docker build -t cuboid_detector:latest .- The following setting is tested for Intel® RealSense™ LiDAR Camera L515 with ROS 2 Humble in ubuntu 22.04 only.
- Build the projects:
# librealsense를 먼저 설치
# https://github.com/IntelRealSense/realsense-ros?tab=readme-ov-file#installation-on-ubuntu
cd YOUR_ROS_WORKSPACE/src # Cuboid_detector 폴더 위치시키기
ros2_ws (YOUR_ROS_WORKSPACE)
├── build
├── install
├── log
└── src
├── Cuboid_detector
├── cuboid_detector
│ ├── dataset
│ │ ├── camera_info
│ │ ├── data
│ │ │ └── color_000000.png
│ │ │ └── ...
│ │ │ └── color_000009.png
│ │ │ └── pose.json
│ │ └── mesh
│ │ └── danpla_box.obj
│ │ └── ...
│ ├── script
│ │ ├── cuboid_detector.py # Main detection script
│ │ ├── gt_annotator.py # Data annotation
│ │ └── ...
│ └── ...
├── README.md
└── requirements.txt
sudo apt install ros-humble-vision-msgs ros-humble-realsense2-camera-msgs
cd Cuboid-detector && pip3 install -r requirements.txt
cd ../.. && colcon build
source install/local_setup.bash(Offline test with saved PNG images)
Basic:
cd YOUR_ROS_WORKSPACE/src/Cuboid_detector/cuboid_detector/script
python3 cuboid_detector.py --evaluate --visualizeDocker:
# New container
xhost +
docker run -ti --net host -v /dev/shm:/dev/shm \
-e DISPLAY=$DISPLAY --privileged -v /tmp/.X11-unix:/tmp/.X11-unix \
cuboid_detector:latest \
bash
# In the container
cd src/cuboid_detector/script
cuboid_detector cuboid_detector --evaluate --visualizeThe evaluation results will show up like this:
- Green (thickness=2): Ground truth
- Red (thickness=4): Predicted bounding box
# Error in box frame
Mean x error: 1.8691175989213542 mm
Mean y error: -0.6178012588862275 mm
Mean z error: -5.399375062604473 mm
Mean translation error: 6.131211014944094 mm
Mean rotation error: 0.6364534439764666 degrees
(Real-time operation with L515 camera)
Basic:
# L515 카메라 실행 또는 ros2 bag play YOUR_ROS_BAG_FILE_PATH
ros2 run cuboid_detector cuboid_detectorDocker:
docker run -ti --net host -v /dev/shm:/dev/shm cuboid_detector:latestCheck the node status:
$ ros2 node info /cuboid_detector
/cuboid_detector
Subscribers:
/L515/color/camera_info: sensor_msgs/msg/CameraInfo
/L515/color/image_raw: sensor_msgs/msg/Image
/L515/depth/camera_info: sensor_msgs/msg/CameraInfo
/L515/depth/image_rect_raw: sensor_msgs/msg/Image
/L515/extrinsics/depth_to_color: realsense2_camera_msgs/msg/Extrinsics
Publishers:
/cuboid_detections: vision_msgs/msg/Detection3DArray
/parameter_events: rcl_interfaces/msg/ParameterEvent
/rosout: rcl_interfaces/msg/Log
Service Servers:
/cuboid_detector/describe_parameters: rcl_interfaces/srv/DescribeParameters
/cuboid_detector/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
/cuboid_detector/get_parameters: rcl_interfaces/srv/GetParameters
/cuboid_detector/list_parameters: rcl_interfaces/srv/ListParameters
/cuboid_detector/set_parameters: rcl_interfaces/srv/SetParameters
/cuboid_detector/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
Service Clients:
Action Servers:
Action Clients:
cd YOUR_ROS_WORKSPACE/src/Cuboid_detector/cuboid_detector/script
python3 convert_topic_to_file.py
ros2 bag play YOUR_ROS_BAG_FILE_PATH