Updates the model based on Olive Camera lenses and setup. (#60)

* Updates the model based on Olive Camera lenses and setup. * Set a QoS that makes it work with little lag and little amount of lost frames. * Updates the perspective. --------- Signed-off-by: Agustin Alba Chicar <[email protected]>
ekumenlabs · Sep 27, 2024 · 4ee5382 · 4ee5382
1 parent 180c53f
commit 4ee5382
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diff --git a/detection_ws/src/fruit_detection/fruit_detection/fruit_detection_node.py b/detection_ws/src/fruit_detection/fruit_detection/fruit_detection_node.py
@@ -70,14 +70,19 @@ class FruitDetectionNode(Node):
     """
 
     TARGET_ENCODING = "bgr8"
-    TOPIC_QOS_QUEUE_LENGTH = 10
-    QOS_PROFILE = QoSProfile(
-        reliability=ReliabilityPolicy.BEST_EFFORT,
+    TOPIC_QOS_QUEUE_LENGTH = 2
+    OLIVE_CAMERA_QOS_PROFILE = QoSProfile(
+        reliability=ReliabilityPolicy.RELIABLE,
+        history=HistoryPolicy.KEEP_LAST,
+        depth=TOPIC_QOS_QUEUE_LENGTH,
+    )
+    PROC_QOS_PROFILE = QoSProfile(
+        reliability=ReliabilityPolicy.RELIABLE,
         history=HistoryPolicy.KEEP_LAST,
         depth=TOPIC_QOS_QUEUE_LENGTH,
     )
     RECT_COLOR = (0, 0, 255)
-    LOGGING_THROTTLE = 1
+    LOGGING_THROTTLE = 1.0
     MINIMUM_BBOX_SIZE_X = 0
     MINIMUM_BBOX_SIZE_Y = 0
     MAXIMUM_BBOX_SIZE_X = 640
@@ -91,7 +96,7 @@ def __init__(self) -> None:
         self.declare_parameter("model_path", "model.pth")
         self.declare_parameter("webcam_topic", "/image_raw")
         self.declare_parameter(
-            "olive_camera_topic", "/olive/camera/id02/image/compressed"
+            "olive_camera_topic", "/olive/camera/id01/image/compressed"
         )
         self.declare_parameter("bbox_min_x", 60)
         self.declare_parameter("bbox_min_y", 60)
@@ -119,20 +124,20 @@ def __init__(self) -> None:
             self.webcam_image_callback,
             FruitDetectionNode.TOPIC_QOS_QUEUE_LENGTH,
         )
-        self.webcam_image_subscription = self.create_subscription(
+        self.olive_camera_image_subscription = self.create_subscription(
             CompressedImage,
             self.__olive_camera_topic,
             self.olive_image_callback,
-            FruitDetectionNode.QOS_PROFILE,
+            FruitDetectionNode.OLIVE_CAMERA_QOS_PROFILE,
         )
 
         self.image_publisher = self.create_publisher(
-            Image, "/proc_image", FruitDetectionNode.TOPIC_QOS_QUEUE_LENGTH
+            Image, "/proc_image", FruitDetectionNode.PROC_QOS_PROFILE
         )
         self.detections_publisher = self.create_publisher(
             Detection2DArray,
             "/detections",
-            FruitDetectionNode.TOPIC_QOS_QUEUE_LENGTH,
+            FruitDetectionNode.PROC_QOS_PROFILE,
         )
         self.cv_bridge = CvBridge()
         self.device_str = "cuda" if torch.cuda.is_available() else "cpu"

diff --git a/isaac_ws/simulation_ws/assets/olive_camera/README.md b/isaac_ws/simulation_ws/assets/olive_camera/README.md
@@ -2,6 +2,10 @@
 
 ## Sensor and lens configuration information
 
-- Olive Camera datasheet: https://www.olive-robotics.com/pdf/Product_Datasheet_OLV-CAM01-TP.pdf
+- Olive Camera documentation: https://docs.olive-robotics.com/hardware/camera/camera_01_tp.html
 - Sensor OV2710 datasheet: https://static6.arrow.com/aropdfconversion/20a4701909ea0c3602c8573c489a64272f1c28d6/ov2710pbv1.1web.pdf
-- 2.1 L210 lens datasheet: https://www.activesilicon.com/wp-content/uploads/DATASHEET-M12-lens-2.1mm-for-board-cam.pdf
+- Olive Camera compatible lenses: https://docs.olive-robotics.com/hardware/camera/camera_01_tp.html#supported-camera-lenses
+
+For this project, we have worked with the "2.8-12mm 1:1.4 IR" and "Far-view" lenses.
+
+By default, the "2.8-12mm 1:1.4 IR" lens is set.
diff --git a/isaac_ws/simulation_ws/conf/config.yml b/isaac_ws/simulation_ws/conf/config.yml
@@ -34,10 +34,9 @@ OBJECTS_POSE_CONFIG:
   min_rot: [-180.0, -90.0, -180.0]  # Minimum rotation (Euler angles) for objects.
   max_rot: [180.0, 90.0, 180.0]  # Maximum rotation (Euler angles) for objects.
 
-OBJECTS_SCALE: [0.1, 0.1, 0.1]  # Uniform scaling factor for all objects.
+OBJECTS_SCALE: [0.15, 0.15, 0.15]  # Uniform scaling factor for all objects.
 
 LIGHT_CONFIG:
-  light_type: distant  # Type of light, "distant" for sunlight-like behavior.
   min_color: [0.5, 0.5, 0.5]  # Minimum RGB color for light (gray).
   max_color: [0.9, 0.9, 0.9]  # Maximum RGB color for light (almost white).
   min_distant_intensity: 500.0   # Minimum intensity for distant light.
@@ -62,11 +61,11 @@ SDG_CAMERA:
   width: 640  # Camera resolution width in pixels.
   height: 480  # Camera resolution height in pixels.
   name: sdg_camera  # Name for the camera object.
-  pos: [0.0, 0.0, 5.0]  # Camera XYZ position in world coordinates.
+  pos: [0.0, 0.0, 4.45]  # Camera XYZ position in world coordinates.
   rot: [0.0, -90.0, 0.0]  # Camera rotation (Euler angles).
-  focal_length: 2.1  # Focal length of the camera lens.
-  focus_distance: 5.5  # Distance at which the camera is focused.
-  f_stop: 200  # Aperture size, affecting depth of field.
+  focal_length: 2.8  # Focal length of the camera lens.
+  focus_distance: 5.0  # Distance at which the camera is focused.
+  f_stop: 140  # Aperture size, affecting depth of field.
   horizontal_aperture: 5.856  # Horizontal size of the camera's sensor.
   vertical_aperture: 3.276  # Vertical size of the camera's sensor.
   clipping_range: [0.01, 10000000]   # Near and far clipping planes for rendering.

diff --git a/isaac_ws/simulation_ws/scene/scene.usda b/isaac_ws/simulation_ws/scene/scene.usda
@@ -145,7 +145,7 @@ def Xform "World"
     {
         quatf xformOp:orient = (1, 0, 0, 0)
         float3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:scale:unitsResolve = (0.01, 0.01, 0.01)
+        double3 xformOp:scale:unitsResolve = (0.02, 0.02, 0.02)
         double3 xformOp:translate = (-0.1, -0.05, 0)
         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:scale:unitsResolve"]
     }
@@ -156,7 +156,7 @@ def Xform "World"
     {
         quatf xformOp:orient = (1, 0, 0, 0)
         float3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:scale:unitsResolve = (0.009999999776482582, 0.009999999776482582, 0.009999999776482582)
+        double3 xformOp:scale:unitsResolve = (0.02, 0.02, 0.02)
         double3 xformOp:translate = (0, 0.1, 0)
         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:scale:unitsResolve"]
     }
@@ -167,7 +167,7 @@ def Xform "World"
     {
         quatf xformOp:orient = (1, 0, 0, 0)
         float3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:scale:unitsResolve = (0.009999999776482582, 0.009999999776482582, 0.009999999776482582)
+        double3 xformOp:scale:unitsResolve = (0.02, 0.02, 0.02)
         double3 xformOp:translate = (0.1, -0.05, 0)
         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:scale:unitsResolve"]
     }
@@ -176,19 +176,19 @@ def Xform "World"
     {
         quatd xformOp:orient = (1, 0, 0, 0)
         double3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0, 0, 0.5)
+        double3 xformOp:translate = (0, 0, 0.445)
         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
 
         def Camera "olive_camera"
         {
             float2 clippingRange = (0.01, 10000000)
-            float focalLength = 2.1
-            float focusDistance = 5.5
-            float fStop = 200
+            float focalLength = 2.8
+            float focusDistance = 5.0
+            float fStop = 140
             float fthetaCx = 320
             float fthetaCy = 240
             float fthetaHeight = 480
-            float fthetaMaxFov = 135
+            float fthetaMaxFov = 90
             float fthetaPolyB = 0
             float fthetaPolyD = 0
             float fthetaWidth = 640

diff --git a/visualization_ws/config/image_view.perspective b/visualization_ws/config/image_view.perspective
@@ -4,14 +4,14 @@
     "mainwindow": {
       "keys": {
         "geometry": {
-          "repr(QByteArray.hex)": "QtCore.QByteArray(b'01d9d0cb0003000000000000000000000000077f0000043700000000000000250000077f000004370000000100000000078000000000000000250000077f00000437')",
+          "repr(QByteArray.hex)": "QtCore.QByteArray(b'01d9d0cb0003000000000000000000200000077f0000043700000000000000450000077f000004370000000000000000078000000000000000450000077f00000437')",
           "type": "repr(QByteArray.hex)",
-          "pretty-print": "           7   %   7        %   7"
+          "pretty-print": "           7   E   7        E   7"
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           "type": "repr(QByteArray.hex)",
-          "pretty-print": "                                                                              R                                              l   l               Zrqt_image_view__ImageView__2__ImageViewWidget          lrqt_reconfigure__Param__1___plugincontainer_top_widget                            6MinimizedDockWidgetsToolbar        "
+          "pretty-print": "                                                                              ? P                                            Y   l               Zrqt_image_view__ImageView__2__ImageViewWidget          lrqt_reconfigure__Param__1___plugincontainer_top_widget                            6MinimizedDockWidgetsToolbar        "
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       },
       "groups": {
@@ -69,7 +69,7 @@
                   "type": "repr"
                 },
                 "mouse_pub_topic": {
-                  "repr": "'/image_raw_mouse_left'",
+                  "repr": "'/olive/camera/id01/image/compressed_mouse_left'",
                   "type": "repr"
                 },
                 "num_gridlines": {
@@ -93,7 +93,7 @@
                   "type": "repr"
                 },
                 "topic": {
-                  "repr": "'/image_raw'",
+                  "repr": "'/olive/camera/id01/image/compressed'",
                   "type": "repr"
                 },
                 "zoom1": {
@@ -208,7 +208,7 @@
                   "type": "repr"
                 },
                 "selected_nodes": {
-                  "repr": "[]",
+                  "repr": "['/detection_node']",
                   "type": "repr"
                 },
                 "splitter": {
@@ -248,7 +248,7 @@
             "plugin": {
               "keys": {
                 "tree_widget_header_state": {
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+                  "repr(QByteArray.hex)": "QtCore.QByteArray(b'000000ff000000000000000100000000000000050100000000000000000000000620000000010000000500000064000003a1000000060101000100000000000000000600000064ffffffff0000008100000003000000060000013300000001000000030000010600000001000000030000006200000001000000030000002b0000000100000003000000db0000000100000003000000000000000100000003000003e80000000064')",
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