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feat: add tool for open-set detection using grounding dino #215

Merged
merged 13 commits into from
Sep 24, 2024
Merged

feat: add tool for open-set detection using grounding dino #215

merged 13 commits into from
Sep 24, 2024

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rachwalk
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@rachwalk rachwalk commented Sep 9, 2024 •
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Purpose

Adds Grounding Dino Tooling for distance estimation. Grounding Dino is used to extract the regions of the camera POV classified as certain objects. These regions can then be extracted from the depth channel, and after calibration, used to estimate distance from camera to them.

Proposed Changes

  • Adds two tools: GetDetectionTool, GetDistanceToObjectsTool.
  • Defines API for the grounding_dino extension

Issues

#194

Testing

Tested using following script:

import rclpy
from rai_grounding_dino.tools import GetDetectionTool

from rai.node import RaiBaseNode

if __name__ == "__main__":
    rclpy.init()
    node=RaiBaseNode(node_name="unique_node")
    x = GetDetectionTool(node)._run(
        camera_topic="/camera/camera/color/image_raw",
        object_names=["chair"],
    )
    print(f"Detected: {x}")
    x = GetDistanceToObjectsTool(node)._run(
        camera_topic="/camera/camera/color/image_raw",
        depth_topic="/camera/camera/depth/image_raw_rect",
        object_names=["chair"],
    )
    print(f"Detected: {x}")

In second terminal run:

ros2 launch rai_grounding_dino gdino_launch.xml

Camera topics must be available and of the same resolution. The detection went through correctly.

@adamdbrw
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Could you include the test in the commit, and document the new tool as well for users and developers? Does it require additional dependencies?

@rachwalk rachwalk marked this pull request as draft September 10, 2024 09:31
@rachwalk rachwalk force-pushed the kr/distance-estimation branch 4 times, most recently from 5e7ccf8 to 37d715d Compare September 24, 2024 09:11
@rachwalk rachwalk marked this pull request as ready for review September 24, 2024 09:23
maciejmajek
maciejmajek reviewed Sep 24, 2024
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@maciejmajek maciejmajek left a comment

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Thanks. I can confirm that the feature works as expected. Please take a look at the comments.
Regarding the {... or 'Nothing'}, decide yourself whether handling it that way or using if measurements[] is better

src/rai_extensions/rai_grounding_dino/rai_grounding_dino/tools.py Outdated Show resolved Hide resolved
src/rai_extensions/rai_grounding_dino/rai_grounding_dino/tools.py Outdated Show resolved Hide resolved
src/rai_extensions/rai_grounding_dino/rai_grounding_dino/tools.py Outdated Show resolved Hide resolved
@maciejmajek maciejmajek merged commit ea213aa into development Sep 24, 2024
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@maciejmajek maciejmajek deleted the kr/distance-estimation branch September 24, 2024 11:18
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@maciejmajek maciejmajek maciejmajek approved these changes

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3 participants
@rachwalk @adamdbrw @maciejmajek