initial version

.gitignore

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+/weights
+*.pyc
+*._
+*.png
+__pycache__

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(dope)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  std_msgs
+  tf2
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES dope
+#  CATKIN_DEPENDS rospy std_msgs tf2
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/dope/dope.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/dope_vis_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_dope_vis.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

config/config_pose.yaml

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+topic_camera: "/dope/webcam_rgb_raw"
+topic_publishing: "dope"
+frame_id: "/dope"
+
+# Comment any of these lines to prevent detection / pose estimation of that object
+weights: {
+    # "cracker":"cracker_60.pth", 
+    # "gelatin":"gelatin_60.pth",
+    # "meat":"meat_20.pth", 
+    # "mustard":"mustard_60.pth", 
+    "soup":"soup_60.pth", 
+    #"sugar":"sugar_60.pth"
+}
+
+# Cuboid dimension in cm x,y,z
+dimensions: {
+    "cracker": [16.403600692749023,21.343700408935547,7.179999828338623],
+    "gelatin": [8.918299674987793, 7.311500072479248, 2.9983000755310059],
+    "meat": [10.164673805236816,8.3542995452880859,5.7600898742675781],
+    "mustard": [9.6024150848388672,19.130100250244141,5.824894905090332],
+    "soup": [6.7659378051757813,10.185500144958496,6.771425724029541],
+    "sugar": [9.267730712890625,17.625339508056641,4.5134143829345703],
+}
+
+draw_colors: {
+    "cracker": [13, 255, 128],  # green
+    "gelatin": [255, 255, 255],  # while
+    "meat": [0, 104, 255],  # blue
+    "mustard": [217,12, 232],  # magenta
+    "soup": [255, 101, 0],  # orange
+    "sugar": [232, 222, 12],  # yellow
+}
+
+# Camera intrinsics (Logitech C920)
+camera_settings: {
+    "name": "logitech_c920",
+    "width": 640,
+    "height": 480,
+    "fx": 641.5,
+    "fy": 641.5,
+    "cx": 320.0,
+    "cy": 240.0
+}
+
+# Config params for DOPE
+thresh_angle: 0.5
+thresh_map: 0.01
+sigma: 3
+thresh_points: 0.1

docker/Dockerfile.kinetic

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+FROM nvidia/cudagl:9.0-devel-ubuntu16.04
+
+# Copyright (c) 2018, NVIDIA CORPORATION. All rights reserved.
+# Full license terms provided in LICENSE.md file.
+
+# Build with:
+# nvidia-docker build -t nvidia-dope:kinetic-v1 -f Dockerfile.kinetic ..
+
+ENV HOME /root
+
+WORKDIR ${HOME}
+
+RUN apt-get update && apt-get -y  --no-install-recommends install software-properties-common
+
+# cuDNN version must match the one used by TensorRT.
+# TRT 4.0 is compiled with cuDNN 7.1.
+
+RUN apt-get update && apt-get -y --no-install-recommends install \
+        ant \
+        bzip2 \
+        ca-certificates \
+        ccache \
+        cmake \
+        curl \
+        genromfs \
+        git \
+        gosu \
+        iproute \
+        iputils-ping \
+        less \
+        lcov \
+        libcudnn7=7.1.4.18-1+cuda9.0 \
+        libcudnn7-dev=7.1.4.18-1+cuda9.0 \
+        libeigen3-dev \
+        libopencv-dev \
+        make \
+        nano \
+        net-tools \
+        ninja-build \
+        openjdk-8-jdk \
+        patch \
+        pkg-config \
+        protobuf-compiler \
+        python-argparse \
+        python-dev \
+        python-empy \
+        python-numpy \
+        python-pip \
+        python-serial \
+        python-software-properties \
+        rsync \
+        s3cmd \
+        software-properties-common \
+        sudo \
+        unzip \
+        xsltproc \
+        wget \
+        zip \
+    && apt-get -y autoremove \
+    && apt-get clean autoclean \
+    # pip
+    && pip install setuptools wheel \
+    && pip install 'matplotlib==2.2.2' --force-reinstall \
+    # coveralls code coverage reporting
+    && pip install cpp-coveralls \
+    # jinja template generation
+    && pip install jinja2 \
+    # cleanup
+    && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# ROS Kinetic
+WORKDIR ${HOME}
+RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 \
+    && sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list' \
+    && sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu/ xenial main" > /etc/apt/sources.list.d/ros-shadow.list' \
+    && apt-get update && apt-get -y --no-install-recommends install \
+        ros-kinetic-gazebo-ros-pkgs \
+        ros-kinetic-mavros          \
+        ros-kinetic-mavros-extras   \
+        ros-kinetic-ros-base        \
+        ros-kinetic-rviz            \
+        ros-kinetic-tf2             \
+        ros-kinetic-cv-bridge       \
+    && apt-get -y autoremove        \
+    && apt-get clean autoclean      \
+    && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# Initialize ROS
+RUN geographiclib-get-geoids egm96-5 \
+    && rosdep init                   \
+    && rosdep update
+
+RUN echo 'source /opt/ros/kinetic/setup.bash' >> ${HOME}/.bashrc
+
+# Install OpenCV with CUDA support.
+# REVIEW alexeyk: JetPack 3.2 comes with OpenCV 3.3.1 _without_ CUDA support.
+WORKDIR ${HOME}
+RUN git clone http://github.com/opencv/opencv.git && cd opencv \
+    && git checkout 3.3.1                   \
+    && mkdir build && cd build              \
+    && cmake -D CMAKE_BUILD_TYPE=RELEASE    \
+        -D CMAKE_INSTALL_PREFIX=/usr/local  \
+        -D WITH_CUDA=OFF                     \
+        -D WITH_OPENCL=OFF                  \
+        -D ENABLE_FAST_MATH=1               \
+        -D CUDA_FAST_MATH=1                 \
+        -D WITH_CUBLAS=1                    \
+        -D BUILD_DOCS=OFF                   \
+        -D BUILD_PERF_TESTS=OFF             \
+        -D BUILD_TESTS=OFF                  \
+        ..                                  \
+    && make -j `nproc`                      \
+    && make install                         \
+    && cd ${HOME} && rm -rf ./opencv/
+
+# Setup catkin workspace
+ENV CATKIN_WS ${HOME}/catkin_ws
+COPY docker/init_workspace.sh ${HOME}
+RUN ${HOME}/init_workspace.sh
+
+ENV CCACHE_CPP2=1
+ENV CCACHE_MAXSIZE=1G
+ENV DISPLAY :0
+ENV TERM=xterm
+# Some QT-Apps don't not show controls without this
+ENV QT_X11_NO_MITSHM 1
+
+COPY requirements.txt ${HOME}
+RUN pip install --no-cache-dir -r requirements.txt