Deep_Object_Pose/config/config_dope.yaml at cb1f5ff0a5c2f10bd55d87f7e48021e5cbd085c2 · NVlabs/Deep_Object_Pose · GitHub

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/dope_node:
  ros__parameters:
    topic_camera: /camera/color/image_raw
    topic_camera_info: /camera/color/camera_info # "/dope/webcam/camera_info"
    topic_publishing: dope
    input_is_rectified: true # Whether the input image is rectified (strongly suggested!)
    downscale_height: 400 # if the input image is larger than this, scale it down to this pixel height

    # Comment any of these lines to prevent detection / pose estimation of that object
    weights:
      # "apple": "package://dope/weights/apple_120.pth"
      # "santal_ace": "package://dope_ros2/weights/santal_67.pth"
      "lime": "package://dope_ros2/weights/lime_215.pth"
      "bowl": "package://dope_ros2/weights/bowl_114.pth"
      "fork": "package://dope_ros2/weights/fork_190.pth"
      "glass": "package://dope_ros2/weights/red_glass_120.pth"
      "cracker": "package://dope_ros2/weights/cracker_60.pth"

    # Cuboid dimension in cm x, y, z
    dimensions:
      "apple": [9.756118059158325, 8.538994193077087, 9.590171277523041]
      "santal_ace": [8.69415, 6.90914, 4.38487]
      "lime": [4.0052998811006546,3.9955999702215195,5.266399681568146]
      "bowl": [20.5,20.5,9.15]
      "fork": [2.82,2.86,20.64]
      "glass": [7.4,7.4,9.5]
      "cracker": [16.403600692749023,21.343700408935547,7.179999828338623]

    class_ids:
      "apple": 1
      "santal_ace": 4
      "lime": 5
      "bowl": 6
      "fork": 7
      "glass": 8
      "cracker": 9

    draw_colors:
      "apple": [255, 0, 0]          # red
      "santal_ace": [255, 127, 80]  # orange
      "lime": [153, 255, 51]        # lime green
      "bowl": [1, 172, 142]
      "fork": [120, 120, 120]	    # silver
      "glass": [255, 2, 1]	    # red
      "cracker": [255, 255, 0]	    # yellow

    # optional: provide a transform that is applied to the pose returned by DOPE
    # model_transforms:
    #    "test": [[0, 0, 1, 0], [0, -1, 0, 0], [1, 0, 0, 0], [0, 0, 0, 1]]

    # optional: if you provide a mesh of the object here, a mesh marker will be
    # published for visualization in RViz
    meshes:
      #"apple": "/home/workstation/dope_ros_ws/src/grasp_dope/scripts/models/Apple/Apple_4K/food_apple_01_4k_simplify.obj"
      #"santal_ace": "/home/sfederico/Documents/cad_models/santal_ace/santal_centered.obj"
      "lime" : "package://dope_ros2/meshes/Lime.obj"
      "bowl" : "package://dope_ros2/meshes/bowl.obj"
      "glass" : "package://dope_ros2/meshes/simple_glass.obj"
      "fork" : "package://dope_ros2/meshes/fork.obj"
      "cracker": "package://dope_ros2/meshes/cracker_box.obj"


    mesh_scales:
      "apple": 1.0
      "santal_ace": 0.001
      "lime" : 1.0
      "bowl": 0.001
      "fork": 1.0
      "glass": 1.0
      "cracker": 1.0

    overlay_belief_images: true # Whether to overlay the input image on the belief images published on /dope/belief_[obj_name]

    # Config params for DOPE
    thresh_angle: 0.5
    thresh_map: 0.0001
    sigma: 3
    thresh_points: 0.1