Added rpt3d ros wrapper.

extras/jetson/README.md

@@ -135,7 +135,7 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
 - Run and test:
 
   ```bash
-  export CAMID="camera01" && export ROTATE="0" && docker compose -f extras/jetson/docker-compose.yml up
+  export CAMID="camera01" && export ROTATE="0" && docker compose -f extras/jetson/docker-compose-2d.yml up
 
   docker exec -it jetson-test_node-1 bash
   export ROS_DOMAIN_ID=18

extras/ros/README.md

@@ -15,7 +15,8 @@ Run pose estimator with ros topics as inputs and publish detected poses.
 - Run and test:
 
   ```bash
-  xhost + && export CAMID="camera01" && export ROTATE="0" && docker compose -f extras/ros/docker-compose.yml up
+  xhost + && export CAMID="camera01" && export ROTATE="0" && docker compose -f extras/ros/docker-compose-2d.yml up
+  xhost + && docker compose -f extras/ros/docker-compose-3d.yml up
 
   docker exec -it ros-test_node-1 bash
   export ROS_DOMAIN_ID=18

extras/ros/docker-compose-3d.yml

@@ -0,0 +1,38 @@
+version: "2.3"
+# runtime: nvidia needs version 2 else change standard runtime at host pc
+
+services:
+
+    test_node:
+        image: rapidposetriangulation_ros
+        network_mode: "host"
+        ipc: "host"
+        runtime: nvidia
+        privileged: true
+        volumes:
+            - ../../:/RapidPoseTriangulation/
+            - ../../skelda/:/skelda/
+            - /tmp/.X11-unix:/tmp/.X11-unix
+            - /dev/shm:/dev/shm
+        environment:
+            - DISPLAY
+            - QT_X11_NO_MITSHM=1
+            - "PYTHONUNBUFFERED=1"
+        command: /bin/bash -i -c 'sleep infinity'
+
+    triangulator:
+        image: rapidposetriangulation_ros
+        network_mode: "host"
+        ipc: "host"
+        runtime: nvidia
+        privileged: true
+        volumes:
+            - ../../:/RapidPoseTriangulation/
+            - ../../skelda/:/skelda/
+            - /tmp/.X11-unix:/tmp/.X11-unix
+            - /dev/shm:/dev/shm
+        environment:
+            - DISPLAY
+            - QT_X11_NO_MITSHM=1
+            - "PYTHONUNBUFFERED=1"
+        command: /bin/bash -i -c 'export ROS_DOMAIN_ID=18 && ros2 run rpt3d_wrapper_cpp rpt3d_wrapper'

extras/ros/dockerfile

@@ -45,14 +45,17 @@ RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
 # Copy modules
 COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
 COPY ./scripts/ /RapidPoseTriangulation/scripts/
+COPY ./rpt/ /RapidPoseTriangulation/rpt/
 COPY ./extras/ros/rpt_msgs/ /RapidPoseTriangulation/extras/ros/rpt_msgs/
 COPY ./extras/ros/pose2d_visualizer/ /RapidPoseTriangulation/extras/ros/pose2d_visualizer/
 COPY ./extras/ros/rpt2d_wrapper_cpp/ /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/
+COPY ./extras/ros/rpt3d_wrapper_cpp/ /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/
 
 # Link and build as ros package
 RUN ln -s /RapidPoseTriangulation/extras/ros/rpt_msgs/ /project/dev_ws/src/
 RUN ln -s /RapidPoseTriangulation/extras/ros/pose2d_visualizer/ /project/dev_ws/src/
 RUN ln -s /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/ /project/dev_ws/src/
+RUN ln -s /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/ /project/dev_ws/src/
 RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
 
 # Update ros packages -> autocompletion and check

extras/ros/rpt2d_wrapper_cpp/src/rpt2d_wrapper.cpp

@@ -154,10 +154,10 @@ void Rpt2DWrapperNode::callback_images(const sensor_msgs::msg::Image::SharedPtr
     jdata["timestamps"] = {
         {"trigger", time_stamp},
         {"image", ts_image_sec},
-        {"pose", ts_pose_sec},
+        {"pose2d", ts_pose_sec},
         {"z-trigger-image", z_trigger_image},
-        {"z-image-pose", z_image_pose},
+        {"z-image-pose2d", z_image_pose},
-        {"z-trigger-pose", z_trigger_pose}};
+        {"z-trigger-pose2d", z_trigger_pose}};
 
     // Publish message
     auto pose_msg = rpt_msgs::msg::Poses();

extras/ros/rpt3d_wrapper_cpp/CMakeLists.txt

@@ -0,0 +1,72 @@
+cmake_minimum_required(VERSION 3.5)
+project(rpt3d_wrapper_cpp)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rpt_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(OpenMP REQUIRED)
+
+# Add RapidPoseTriangulation implementation
+set(RAPID_POSE_TRIANGULATION_DIR "/RapidPoseTriangulation")
+add_library(rapid_pose_triangulation
+${RAPID_POSE_TRIANGULATION_DIR}/rpt/camera.cpp
+  ${RAPID_POSE_TRIANGULATION_DIR}/rpt/interface.cpp
+  ${RAPID_POSE_TRIANGULATION_DIR}/rpt/triangulator.cpp
+)
+target_include_directories(rapid_pose_triangulation PUBLIC
+  ${RAPID_POSE_TRIANGULATION_DIR}/extras/include
+  ${RAPID_POSE_TRIANGULATION_DIR}/rpt
+  ${OpenCV_INCLUDE_DIRS}
+)
+target_link_libraries(rapid_pose_triangulation PUBLIC
+  ${OpenCV_LIBS}
+  OpenMP::OpenMP_CXX
+)
+target_compile_options(rapid_pose_triangulation PUBLIC
+  -fPIC -O3 -march=native -Wall -Werror -fopenmp -fopenmp-simd
+)
+
+# Build the executable
+add_executable(rpt3d_wrapper src/rpt3d_wrapper.cpp)
+ament_target_dependencies(rpt3d_wrapper rclcpp std_msgs rpt_msgs)
+target_include_directories(rpt3d_wrapper PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+target_link_libraries(rpt3d_wrapper
+  ${OpenCV_LIBS}
+  rapid_pose_triangulation
+)
+
+install(TARGETS rpt3d_wrapper
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

extras/ros/rpt3d_wrapper_cpp/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rpt3d_wrapper_cpp</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rpt_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <depend>OpenCV</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp

@@ -0,0 +1,252 @@
+#include <atomic>
+#include <chrono>
+#include <iostream>
+#include <string>
+#include <vector>
+
+// ROS2
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/string.hpp>
+
+// JSON library
+#include "/RapidPoseTriangulation/extras/include/nlohmann/json.hpp"
+using json = nlohmann::json;
+
+#include "rpt_msgs/msg/poses.hpp"
+#include "/RapidPoseTriangulation/rpt/camera.hpp"
+#include "/RapidPoseTriangulation/rpt/interface.hpp"
+
+// =================================================================================================
+
+static const std::vector<std::string> cam_ids = {
+    "camera01",
+    "camera02",
+    "camera03",
+    "camera04",
+    "camera05",
+    "camera06",
+    "camera07",
+    "camera08",
+    "camera09",
+    "camera10",
+};
+
+static const std::string pose_in_topic = "/poses/{}";
+static const std::string cam_info_topic = "/{}/calibration";
+static const std::string pose_out_topic = "/poses/humans3d";
+
+static const float min_match_score = 0.95;
+static const size_t min_group_size = 1;
+
+static const std::array<std::array<float, 3>, 2> roomparams = {{
+    {4.0, 5.0, 2.2},
+    {1.0, 0.0, 1.1},
+}};
+
+// =================================================================================================
+// =================================================================================================
+
+class Rpt3DWrapperNode : public rclcpp::Node
+{
+public:
+    Rpt3DWrapperNode()
+        : Node("rpt3d_wrapper")
+    {
+        this->all_cams_set = false;
+        this->cameras.resize(cam_ids.size());
+        this->all_poses.resize(cam_ids.size());
+        this->all_timestamps.resize(cam_ids.size());
+        this->all_poses_set.resize(cam_ids.size(), false);
+
+        // Load 3D model
+        tri_model = std::make_unique<Triangulator>(
+            min_match_score, min_group_size);
+
+        // QoS
+        rclcpp::QoS qos_profile(1);
+        qos_profile.reliable();
+        qos_profile.keep_last(1);
+
+        // Setup subscribers
+        for (size_t i = 0; i < cam_ids.size(); i++)
+        {
+            std::string cam_id = cam_ids[i];
+            std::string topic_pose = pose_in_topic;
+            std::string topic_cam = cam_info_topic;
+            topic_pose.replace(topic_pose.find("{}"), 2, cam_id);
+            topic_cam.replace(topic_cam.find("{}"), 2, cam_id);
+
+            auto sub_pose = this->create_subscription<rpt_msgs::msg::Poses>(
+                topic_pose, qos_profile,
+                [this, i](const rpt_msgs::msg::Poses::SharedPtr msg)
+                {
+                    this->callback_poses(msg, i);
+                });
+            sub_pose_list_.push_back(sub_pose);
+
+            auto sub_cam = this->create_subscription<std_msgs::msg::String>(
+                topic_cam, qos_profile,
+                [this, i](const std_msgs::msg::String::SharedPtr msg)
+                {
+                    this->callback_cam_info(msg, i);
+                });
+            sub_cam_list_.push_back(sub_cam);
+        }
+
+        // Setup publisher
+        pose_pub_ = this->create_publisher<rpt_msgs::msg::Poses>(pose_out_topic, qos_profile);
+
+        RCLCPP_INFO(this->get_logger(), "Finished initialization of pose triangulator.");
+    }
+
+private:
+    std::vector<rclcpp::Subscription<rpt_msgs::msg::Poses>::SharedPtr> sub_pose_list_;
+    std::vector<rclcpp::Subscription<std_msgs::msg::String>::SharedPtr> sub_cam_list_;
+    rclcpp::Publisher<rpt_msgs::msg::Poses>::SharedPtr pose_pub_;
+
+    std::unique_ptr<Triangulator> tri_model;
+    std::vector<Camera> cameras;
+    std::atomic<bool> all_cams_set;
+
+    std::vector<std::vector<std::vector<std::array<float, 3>>>> all_poses;
+    std::vector<double> all_timestamps;
+    std::vector<bool> all_poses_set;
+
+    void callback_poses(const rpt_msgs::msg::Poses::SharedPtr msg, size_t cam_idx);
+    void callback_cam_info(const std_msgs::msg::String::SharedPtr msg, size_t cam_idx);
+};
+
+// =================================================================================================
+
+void Rpt3DWrapperNode::callback_cam_info(const std_msgs::msg::String::SharedPtr msg, size_t cam_idx)
+{
+    json cam = json::parse(msg->data);
+
+    Camera camera;
+    camera.name = cam["name"].get<std::string>();
+    camera.K = cam["K"].get<std::array<std::array<float, 3>, 3>>();
+    camera.DC = cam["DC"].get<std::vector<float>>();
+    camera.R = cam["R"].get<std::array<std::array<float, 3>, 3>>();
+    camera.T = cam["T"].get<std::array<std::array<float, 1>, 3>>();
+    camera.width = cam["width"].get<int>();
+    camera.height = cam["height"].get<int>();
+    camera.type = cam["type"].get<std::string>();
+    cameras[cam_idx] = camera;
+
+    // Check if all cameras are set
+    bool all_set = true;
+    for (size_t i = 0; i < cam_ids.size(); i++)
+    {
+        if (cameras[i].name.empty())
+        {
+            all_set = false;
+            break;
+        }
+    }
+    this->all_cams_set = all_set;
+}
+
+// =================================================================================================
+
+void Rpt3DWrapperNode::callback_poses(const rpt_msgs::msg::Poses::SharedPtr msg, size_t cam_idx)
+{
+    if (!this->all_cams_set)
+    {
+        RCLCPP_WARN(this->get_logger(), "Skipping frame, still waiting for cameras...");
+        return;
+    }
+    auto ts_image = std::chrono::high_resolution_clock::now();
+
+    std::vector<std::vector<std::array<float, 3>>> poses;
+    std::vector<std::string> &joint_names_2d = msg->joint_names;
+
+    // Unflatten poses
+    size_t idx = 0;
+    std::vector<int32_t> &bshape = msg->bodies_shape;
+    for (int32_t i = 0; i < bshape[0]; ++i)
+    {
+        std::vector<std::array<float, 3>> body;
+        for (int32_t j = 0; j < bshape[1]; ++j)
+        {
+            std::array<float, 3> joint;
+            for (int32_t k = 0; k < bshape[2]; ++k)
+            {
+                joint[k] = msg->bodies_flat[idx];
+                ++idx;
+            }
+            body.push_back(std::move(joint));
+        }
+        poses.push_back(std::move(body));
+    }
+
+    this->all_poses[cam_idx] = std::move(poses);
+    this->all_poses_set[cam_idx] = true;
+    this->all_timestamps[cam_idx] = msg->header.stamp.sec + msg->header.stamp.nanosec / 1.0e9;
+
+    // If not all poses are set, return and wait for the others
+    for (size_t i = 0; i < cam_ids.size(); i++)
+    {
+        if (!this->all_poses_set[i])
+        {
+            return;
+        }
+    }
+
+    // Call model
+    const auto valid_poses = tri_model->triangulate_poses(
+        all_poses, cameras, roomparams, joint_names_2d);
+
+    // Calculate timings
+    double min_ts = *std::min_element(all_timestamps.begin(), all_timestamps.end());
+    auto ts_pose = std::chrono::high_resolution_clock::now();
+    double ts_pose_sec = std::chrono::duration<double>(ts_pose.time_since_epoch()).count();
+    double z_trigger_pose3d = ts_pose_sec - min_ts;
+    json jdata;
+    jdata["timestamps"] = {
+        {"trigger", min_ts},
+        {"pose3d", ts_pose_sec},
+        {"z-trigger-pose3d", z_trigger_pose3d}};
+
+    // Publish message
+    auto pose_msg = rpt_msgs::msg::Poses();
+    pose_msg.header = msg->header;
+    pose_msg.header.stamp.sec = static_cast<int>(min_ts);
+    pose_msg.header.stamp.nanosec = (min_ts - pose_msg.header.stamp.sec) * 1.0e9;
+    std::vector<int32_t> pshape = {(int)valid_poses.size(), (int)joint_names_2d.size(), 4};
+    pose_msg.bodies_shape = bshape;
+    pose_msg.bodies_flat.reserve(pshape[0] * pshape[1] * pshape[2]);
+    for (int32_t i = 0; i < pshape[0]; i++)
+    {
+        for (int32_t j = 0; j < pshape[1]; j++)
+        {
+            for (int32_t k = 0; k < pshape[2]; k++)
+            {
+                pose_msg.bodies_flat.push_back(valid_poses[i][j][k]);
+            }
+        }
+    }
+    pose_msg.joint_names = joint_names_2d;
+    pose_msg.extra_data = jdata.dump();
+    pose_pub_->publish(pose_msg);
+
+    // Print info
+    double elapsed_time = std::chrono::duration<double>(
+                              std::chrono::high_resolution_clock::now() - ts_image)
+                              .count();
+    std::cout << "Detected persons: " << valid_poses.size()
+              << " - Prediction time: " << elapsed_time << "s" << std::endl;
+
+    this->all_poses_set = std::vector<bool>(cam_ids.size(), false);
+}
+
+// =================================================================================================
+// =================================================================================================
+
+int main(int argc, char **argv)
+{
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<Rpt3DWrapperNode>();
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}