Update interfaces

Signed-off-by: Yadunund <[email protected]>

Author: Yadunund

Dockerfile.tester

@@ -41,7 +41,7 @@ ADD ibpc_tester /opt/ros/overlay/src/ibpc_tester
 RUN . /opt/ros/jazzy/setup.sh \
     && . /opt/ros/underlay/install/setup.sh \
     && cd /opt/ros/overlay \
-    && cd src/ && git clone https://github.com/Yadunund/bop_toolkit.git -b yadu/ament_python src/ && cd ../ \
+    && cd src/ && git clone https://github.com/Yadunund/bop_toolkit.git -b add_ipd_dataset src/ && cd ../ \
     # && rosdep install --from-paths src --ignore-src --rosdistro jazzy -yir \
     && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
     --event-handlers=console_direct+ \

README.md

@@ -21,7 +21,7 @@ TODO
 ```bash
 mkdir ~/ws_ibpc/src -p
 cd ~/ws_ibpc/src
-git clone https://github.com/Yadunund/bop_toolkit.git -b yadu/ament_python
+git clone https://github.com/Yadunund/bop_toolkit.git -b add_ipd_dataset
 git clone https://github.com/Yadunund/ibpc.git
 ```
 

ibpc_interfaces/CMakeLists.txt

@@ -18,6 +18,8 @@ find_package(sensor_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 set(msg_files
+  "msg/Camera.msg"
+  "msg/Photoneo.msg"
   "msg/PoseEstimate.msg"
 )
 

ibpc_interfaces/msg/Camera.msg

@@ -0,0 +1,6 @@
+geometry_msgs/PoseStamped pose
+sensor_msgs/CameraInfo info
+sensor_msgs/Image rgb
+sensor_msgs/Image depth
+sensor_msgs/Image aolp
+sensor_msgs/Image dolp

ibpc_interfaces/msg/Photoneo.msg

@@ -0,0 +1,4 @@
+geometry_msgs/PoseStamped pose
+sensor_msgs/CameraInfo info
+sensor_msgs/Image rgb
+sensor_msgs/Image depth

ibpc_interfaces/msg/PoseEstimate.msg

@@ -5,7 +5,7 @@ uint64 obj_id
 float64 score
 
 # A 3x3 rotation matrix whose elements are saved row-wise.
-# loat64[9]  R # 3x3 row-major matrix
+# float64[9]  R # 3x3 row-major matrix
 
 # A 3x1 translation vector (in mm).
 # float64 t[3]

ibpc_interfaces/srv/GetPoseEstimates.srv

@@ -3,13 +3,10 @@
 # List of object IDs to look for in the scene.
 uint64[] object_ids
 
+
 # Scene images.
-sensor_msgs/CameraInfo rgb_info
-sensor_msgs/Image rgb
-sensor_msgs/CameraInfo depth_info
-sensor_msgs/Image depth
-sensor_msgs/CameraInfo polarized_info
-sensor_msgs/Image polarized
+Camera[] cameras
+Photoneo photoneo
 
 ---
 

ibpc_tester/ibpc_tester/ibpc_tester.py

@@ -32,11 +32,6 @@ def main(argv=sys.argv):
     dataset_name = node.get_parameter("dataset_name").get_parameter_value().string_value
     node.get_logger().info("Loading from dataset {dataset_name}.")
 
-    # Configure members.
-    camera_params = get_camera_params(datasets_path, dataset_name)
-    node.get_logger().info(f"Loaded camera params: {camera_params}")
-    model_params = get_model_params(datasets_path, dataset_name)
-    node.get_logger().info(f"Loaded model params: {model_params}")
     # Load the test split.
     test_split = get_split_params(datasets_path, dataset_name, "test")
     node.get_logger().info(f"Parsed test split: {test_split}")
@@ -56,9 +51,7 @@ def main(argv=sys.argv):
         scene_gt = load_scene_gt(test_split["scene_gt_tpath"].format(scene_id=scene_id))
         for img_id, obj_gts in scene_gt.items():
             request = GetPoseEstimates.Request()
-            request.rgb.encoding = "rgb8"
-            request.depth.encoding = "mono8"
-            request.polarized.encoding = "mono8"
+            # todo(Yadunund): Fill in cameras and cv.
             # todo(Yadunund): Load corresponding rgb, depth and polarized image for this img_id.
             for obj_gt in obj_gts:
                 request.object_ids.append(int(obj_gt["obj_id"]))