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Merge pull request #4 from ethz-asl/pr-make-networks-work
Make learning work
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| { | ||
| // Use IntelliSense to learn about possible attributes. | ||
| // Hover to view descriptions of existing attributes. | ||
| // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 | ||
| "version": "0.2.0", | ||
| "configurations": [ | ||
| { | ||
| "name": "Debug test_depth_anything_v2", | ||
| "type": "cppdbg", | ||
| "request": "launch", | ||
| "program": "${workspaceFolder}/build/devel/lib/usb_cam/test_depth_anything_v2", | ||
| "cwd": "${workspaceFolder}", | ||
| "environment": [], | ||
| "externalConsole": false, | ||
| "MIMode": "gdb", // Use gdb for debugging | ||
| "setupCommands": [ | ||
| { | ||
| "description": "Enable pretty-printing for gdb", | ||
| "text": "-enable-pretty-printing", | ||
| "ignoreFailures": true | ||
| } | ||
| ], | ||
| "miDebuggerPath": "/usr/bin/gdb" | ||
| } | ||
| ] | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| #!/bin/bash | ||
| source /opt/ros/noetic/setup.bash | ||
|
|
||
| # Set paths for the model and plan files | ||
| MODEL_PATH="test/resources/depth_anything_v2_vits_16.onnx" | ||
|
|
||
| # Check if the ONNX model file exists | ||
| if [ ! -f "$MODEL_PATH" ]; then | ||
| # If the model file doesn't exist, check if the environment variable is set | ||
| if [ -z "$DEPTH_ANYTHING_V2_VITS_16_LINK" ]; then | ||
| echo "The model file does not exist, and the environment variable DEPTH_ANYTHING_V2_VITS_16_LINK is not set." | ||
| exit 1 | ||
| else | ||
| # If the environment variable is set, download the model | ||
| echo "ONNX model file not found. Attempting to download..." | ||
|
|
||
| # Create the directory if it doesn't exist | ||
| mkdir -p "$(dirname "$MODEL_PATH")" | ||
|
|
||
| # Download the file | ||
| if wget -O "$MODEL_PATH" "$DEPTH_ANYTHING_V2_VITS_16_LINK"; then | ||
| echo "Download successful." | ||
| else | ||
| echo "Download failed." | ||
| exit 1 | ||
| fi | ||
| fi | ||
| else | ||
| echo "ONNX model file already exists." | ||
| fi | ||
|
|
||
| # Build the project and run tests | ||
| rm -rf build | ||
| mkdir -p build | ||
| cd build | ||
|
|
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| if cmake .. -DBUILD_TESTING=ON; then | ||
| echo "CMake successful." | ||
| if make test_depth_anything_v2; then | ||
| echo "Make successful." | ||
| else | ||
| echo "Make failed." | ||
| exit 1 | ||
| fi | ||
| else | ||
| echo "CMake failed." | ||
| exit 1 | ||
| fi | ||
|
|
||
| # Run the test executable | ||
| if ./devel/lib/usb_cam/test_depth_anything_v2; then | ||
| echo "Tests successful." | ||
| else | ||
| echo "Tests failed." | ||
| exit 1 | ||
| fi |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,60 @@ | ||
| #ifndef DEPTH_ANYTHING_HPP_ | ||
| #define DEPTH_ANYTHING_HPP_ | ||
|
|
||
| #include "interface.hpp" | ||
| #include "ros/ros.h" | ||
| #include <cv_bridge/cv_bridge.h> | ||
| #include <opencv2/opencv.hpp> | ||
| #include <sensor_msgs/Image.h> | ||
|
|
||
| class DepthAnythingV2 : public LearningInterface { | ||
| public: | ||
| DepthAnythingV2(ros::NodeHandle* nh, std::string model_path) { | ||
| _INPUT_SIZE = cv::Size(_HEIGHT, _WIDTH); | ||
| _model_path = model_path; | ||
|
|
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| if (nh != nullptr) { | ||
| _depth_publication = nh->advertise<sensor_msgs::Image>("depth_anything_v2", 1); | ||
| } | ||
| } | ||
|
|
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| void set_input(sensor_msgs::Image& msg) override { | ||
| cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8); | ||
| cv::Mat image = cv_ptr->image; | ||
|
|
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| // Change size to 518x518 (still uint8) | ||
| cv::Mat resized_image; | ||
| cv::resize(image, resized_image, _INPUT_SIZE); | ||
|
|
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| // Change to float32 between 0 and 1 | ||
| std::vector<cv::Mat> channels; | ||
| cv::split(resized_image, channels); | ||
| for (uint8_t i = 0; i < 3; ++i) { | ||
| channels[i].convertTo(channels[i], CV_32F, 1.0f / 255.0f); | ||
| } | ||
| cv::Mat float_image; | ||
| cv::merge(channels, float_image); | ||
| _input_data = float_image.reshape(1, 1).ptr<float>(0); | ||
| } | ||
|
|
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| void publish() override { | ||
| if (_depth_publication.getTopic() != "") { | ||
| cv::Mat depth_prediction = cv::Mat(_HEIGHT, _WIDTH, CV_32FC1, _output_data); | ||
|
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| cv_bridge::CvImage depth_image; | ||
| depth_image.header.stamp = ros::Time::now(); | ||
| depth_image.header.frame_id = "depth_frame"; | ||
| depth_image.encoding = sensor_msgs::image_encodings::TYPE_32FC1; | ||
| depth_image.image = depth_prediction; | ||
| _depth_publication.publish(depth_image.toImageMsg()); | ||
| } | ||
| } | ||
|
|
||
| private: | ||
| const size_t _HEIGHT = 518; | ||
| const size_t _WIDTH = 518; | ||
| cv::Size _INPUT_SIZE; | ||
| ros::Publisher _depth_publication; | ||
| }; | ||
|
|
||
| #endif // DEPTH_ANYTHING_HPP_ |
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