Upgraded DOPE code to Python 3. Updated Docker to use ROS Noetic

kini5gowda · Sep 2, 2020 · 6b78c46 · 6b78c46
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,7 +8,6 @@ project(dope)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
-  camera_info_manager_py
   cv_bridge
   geometry_msgs
   message_filters

diff --git a/docker/Dockerfile.kinetic b/docker/Dockerfile.kinetic
diff --git a/docker/Dockerfile.noetic b/docker/Dockerfile.noetic
@@ -0,0 +1,61 @@
+FROM ros:noetic-robot
+
+# Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
+# Full license terms provided in LICENSE.md file.
+# To build:
+# docker build -t nvidia-dope:noetic-v1 -f Dockerfile.noetic ..
+
+ENV HOME /root
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install system and development components
+RUN apt-get update && apt-get -y --no-install-recommends install \
+    apt-utils \
+    software-properties-common \
+    build-essential \
+    cmake \
+    git \
+    python3-pip \
+    libxext6 \
+    libx11-6 \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    freeglut3-dev \
+    && apt-get -y autoremove \
+    && apt-get clean
+
+# Install required ROS components
+RUN apt-get update && apt-get -y --no-install-recommends install \
+  ros-noetic-cv-bridge \
+  ros-noetic-geometry-msgs \
+  ros-noetic-message-filters \
+  ros-noetic-resource-retriever \
+  ros-noetic-rospy \
+  ros-noetic-sensor-msgs \
+  ros-noetic-std-msgs \
+  ros-noetic-tf \
+  ros-noetic-vision-msgs \
+  ros-noetic-visualization-msgs \
+  ros-noetic-rviz \
+  && apt-get -y autoremove \
+  && apt-get clean
+
+# pip install required Python packages
+COPY requirements.txt ${HOME}
+RUN python3 -m pip install --no-cache-dir -r ${HOME}/requirements.txt
+
+# Setup catkin workspace
+ENV CATKIN_WS ${HOME}/catkin_ws
+COPY . ${CATKIN_WS}/src/dope
+COPY docker/init_workspace.sh ${HOME}
+RUN ${CATKIN_WS}/src/dope/docker/init_workspace.sh
+RUN echo "source ${CATKIN_WS}/devel/setup.bash" >> ${HOME}/.bashrc
+
+ENV DISPLAY :0
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV TERM=xterm
+# Some QT-Apps don't show controls without this
+ENV QT_X11_NO_MITSHM 1
diff --git a/docker/init_workspace.sh b/docker/init_workspace.sh
@@ -7,7 +7,7 @@
 # Stop in case of any error.
 set -e
 
-source /opt/ros/kinetic/setup.bash
+source /opt/ros/noetic/setup.bash
 
 # Create catkin workspace.
 mkdir -p ${CATKIN_WS}/src

diff --git a/docker/readme.md b/docker/readme.md
@@ -4,17 +4,11 @@ Running ROS inside of [Docker](https://www.docker.com/) is an excellent way to
 experiment with DOPE, as it allows the user to completely isolate all software and configuration
 changes from the host system.  This document describes how to create and run a
 Docker image that contains a complete ROS environment that supports DOPE,
-including all required components, such as ROS Kinetic, rviz, CUDA with cuDNN,
+including all required components, such as ROS Noetic, rviz, CUDA with cuDNN,
 and other packages.
 
 The current configuration assumes all components are installed on an x86 host
-platform running Ubuntu 16.04.  Further, use of the DOPE Docker container requires
-an NVIDIA GPU to be present, and it uses
-[NVIDIA Docker](https://github.com/NVIDIA/nvidia-docker/) for seamless CUDA usage.
-
-(This setup was tested with NVIDIA Docker v2. Although these steps should work
-with NVIDIA Docker v1, that version is no longer supported by NVIDIA; rather, users are encouraged to
-[upgrade](https://github.com/nvidia/nvidia-docker/wiki/Installation-(version-2.0)).)
+platform running Ubuntu 18.04 or later.  Further, use of the DOPE Docker container requires an NVIDIA GPU to be present, and the use of Docker version 19.03.0 or later.
 
 
 ### Steps
@@ -27,7 +21,7 @@ with NVIDIA Docker v1, that version is no longer supported by NVIDIA; rather, us
 2. **Build the docker image**
    ```
    $ cd dope/docker
-   $ docker build -t nvidia-dope:kinetic-v1 -f Dockerfile.kinetic ..
+   $ docker build -t nvidia-dope:noetic-v1 -f Dockerfile.noetic ..
    ```
    This will take several minutes and requires an internet connection.
 
@@ -39,7 +33,7 @@ with NVIDIA Docker v1, that version is no longer supported by NVIDIA; rather, us
    $ ./run_dope_docker.sh [name] [host dir] [container dir]
    ```
    Parameters:
-   - `name` is an optional field that specifies the name of this image. By default, it is `nvidia-dope-v1`.  By using different names, you can create multiple containers from the same image.
+   - `name` is an optional field that specifies the name of this image. By default, it is `nvidia-dope-v2`.  By using different names, you can create multiple containers from the same image.
    - `host dir` and `container dir` are a pair of optional fields that allow you to specify a mapping between a directory on your host machine and a location inside the container.  This is useful for sharing code and data between the two systems.  By default, it maps the directory containing dope to `/root/catkin_ws/src/dope` in the container.
 
       Only the first invocation of this script with a given name will create a container. Subsequent executions will attach to the running container allowing you -- in effect -- to have multiple terminal sessions into a single container.
@@ -48,8 +42,3 @@ with NVIDIA Docker v1, that version is no longer supported by NVIDIA; rather, us
    Return to step 7 of the [installation instructions](../readme.md) (downloading the weights).
 
    *Note:* Since the Docker container binds directly to the host's network, it will see `roscore` even if running outside the docker container.
-
-
-### Acknowledgment
-
-The DOPE Docker image is based on NVIDIA's [Redtail Docker image](https://github.com/NVIDIA-Jetson/redtail/wiki/testing-in-simulator#redtail-docker).
diff --git a/docker/run_dope_docker.sh b/docker/run_dope_docker.sh
@@ -1,11 +1,11 @@
 #!/bin/bash
 
-# Copyright (c) 2018, NVIDIA CORPORATION. All rights reserved.
+# Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
 # Full license terms provided in LICENSE.md file.
 
 CONTAINER_NAME=$1
 if [[ -z "${CONTAINER_NAME}" ]]; then
-    CONTAINER_NAME=nvidia-dope-v1
+    CONTAINER_NAME=nvidia-dope-v2
 fi
 
 # This specifies a mapping between a host directory and a directory in the
@@ -28,7 +28,7 @@ DOPE_ID=`docker ps -aqf "name=^/${CONTAINER_NAME}$"`
 if [ -z "${DOPE_ID}" ]; then
     echo "Creating new DOPE docker container."
     xhost +local:root
-    docker run --gpus all  -it --privileged --network=host -v ${HOST_DIR}:${CONTAINER_DIR}:rw -v /tmp/.X11-unix:/tmp/.X11-unix:rw --env="DISPLAY" --name=${CONTAINER_NAME} nvidia-dope:kinetic-v1 bash
+    docker run --gpus all  -it --privileged --network=host -v ${HOST_DIR}:${CONTAINER_DIR}:rw -v /tmp/.X11-unix:/tmp/.X11-unix:rw --env="DISPLAY" --name=${CONTAINER_NAME} nvidia-dope:noetic-v1 bash
 else
     echo "Found DOPE docker container: ${DOPE_ID}."
     # Check if the container is already running and start if necessary.

diff --git a/nodes/dope b/nodes/dope
@@ -121,7 +121,7 @@ class DopeNode(object):
         self.config_detect.thresh_points = rospy.get_param("~thresh_points", 0.1)
 
         # For each object to detect, load network model, create PNP solver, and start ROS publishers
-        for model, weights_url in rospy.get_param('~weights').iteritems():
+        for model, weights_url in rospy.get_param('~weights').items():
             self.models[model] = \
                 ModelData(
                     model,
@@ -318,7 +318,7 @@ class DopeNode(object):
         self.pub_markers.publish(markers)
 
         # Object markers
-        class_id_to_name = {class_id: name for name, class_id in self.class_ids.iteritems()}
+        class_id_to_name = {class_id: name for name, class_id in self.class_ids.items()}
         markers = MarkerArray()
         for i, det in enumerate(detection_array.detections):
             name = class_id_to_name[det.results[0].id]

diff --git a/readme.md b/readme.md
@@ -8,7 +8,10 @@ This is the official DOPE ROS package for detection and 6-DoF pose estimation of
 
 ![DOPE Objects](dope_objects.png)
 
-## Update 
+## Updates 
+
+02/09/2010 - Upgraded DOPE to use Python 3. Updated Dockerfile to use Python3-compatible ROS Noetic. The Python 2.7/ROS Kinetic is still available on the ['ros-kinetic' branch](https://github.com/NVlabs/Deep_Object_Pose/tree/ros-kinetic).
+
 16/03/2020 - Added a wiki (thanks to [@saratrajput](https://github.com/saratrajput)) 
 
 03/07/2019 - ROS interface update (thanks to Martin Günther)
@@ -17,15 +20,15 @@ This is the official DOPE ROS package for detection and 6-DoF pose estimation of
 
 ## Installing
 
-We have tested on Ubuntu 16.04 and 18.04 with ROS Kinetic and Lunar with an NVIDIA Titan X and RTX 2080ti with python 2.7.  The code may work on other systems.
+We have tested on Ubuntu 18.04 with ROS Noetic with an NVIDIA Titan X and RTX 2080ti with python 3.8.  The code may work on other systems.
 
 The following steps describe the native installation. Alternatively, use the provided [Docker image](docker/readme.md) and skip to Step #7.
 
 1. **Install ROS**
 
-    Follow these [instructions](http://wiki.ros.org/kinetic/Installation/Ubuntu).
+    Follow these [instructions](http://wiki.ros.org/noetic/Installation/Ubuntu).
     You can select any of the default configurations in step 1.4; even the
-    ROS-Base (Bare Bones) package (`ros-kinetic-ros-base`) is enough.
+    ROS-Base (Bare Bones) package (`ros-noetic-ros-base`) is enough.
 
 2. **Create a catkin workspace** (if you do not already have one). To create a catkin workspace, follow these [instructions](http://wiki.ros.org/catkin/Tutorials/create_a_workspace):
     ```
@@ -43,14 +46,14 @@ The following steps describe the native installation. Alternatively, use the pro
 4. **Install python dependencies**
     ```
     $ cd ~/catkin_ws/src/dope
-    $ pip install -r requirements.txt
+    $ python3 -m pip install -r requirements.txt
     ```
 
 5. **Install ROS dependencies**
     ```
     $ cd ~/catkin_ws
-    $ rosdep install --from-paths src -i --rosdistro kinetic
-    $ sudo apt-get install ros-kinetic-rosbash ros-kinetic-ros-comm
+    $ rosdep install --from-paths src -i --rosdistro noetic
+    $ sudo apt-get install ros-noetic-rosbash ros-noetic-ros-comm
     ```
 
 6. **Build**

diff --git a/requirements.txt b/requirements.txt
@@ -1,7 +1,8 @@
-pyrr==0.9.2
-torch==0.4.0
-numpy==1.14.2
-scipy==1.1.0
-opencv_python==3.4.1.15
-Pillow==5.3.0
-torchvision==0.2.1
+pyrr
+torch
+torchvision
+numpy
+scipy
+opencv_python
+Pillow
+