Awesome
More Documentation Ongoing for VLM Reasoning and Real World Experiments. The README Needs a Lot of Cleaning and Update
:new: [2024-10-17] Installation for Hardware Integration/3D Printing Updated.
:new: [2024-10-15] Installation for Robotics Software Updated.
:new: [2024-10-11] Made Public
FusionSense
[Page] | [Paper] | [Video]
This is the official implementation of FusionSense: Bridging Common Sense, Vision, and Touch for Robust Sparse-View Reconstruction
Irving Fang, Kairui Shi, Xujin He, Siqi Tan, Yifan Wang, Hanwen Zhao, Hung-Jui Huang, Wenzhen Yuan, Chen Feng, Jing Zhang
FusionSense is a novel 3D reconstruction framework that enables robots to fuse priors from foundation models with highly sparse observations from vision and tactile sensors. It enables visually and geometrically accurate scene and object reconstruction, even for conventionally challenging objects.
<img src="assets/snapshot.gif" alt="FusionSense Snapshot" width="200"/>Preparation
This repo has been tested on Ubuntu 20.04
and 22.04
. The real-world experiment is conducted on 22.04
as ROS2 Humble
requires it.
Step 0: Install Everything Robotics
We used a depth camera mounted on a robot arm powered by ROS2
to acquire pictures with accurate pose information. We also used a tactile sensor for <b>Active Touch Selection</b>.
If you have no need for this part, feel free to jump into Step 1 for the 3D Gaussian pipeline of <b>Robust Global Shape Representation</b> and <b>Local Geometric Optimization</b>.
- For installing robotics software, please see Robotics Software Installation.
- For hardware integration, please see 3D Printing Instructions.
Note: ROS2
doesn't play well with Conda in general. See official doc and this issue in the ROS2 repo. As a result, in this project, ROS2
uses the minimal system Python environment and have limited direct interaction with the Python perception modules.
Step 1: Install 3D Gaussian Dependencies
We will need two independent virtual environments due to some compatibility issue.
Step 1.1: DN-Splatter and Metric3D
Please see DN-Splatter and Metric3D Installation
Step 1.2: Grounded-SAM-2
Please see Grounded-SAM-2
Usage
0. Prepare Data
You can see here for an example dataset structure.
Note that a lot of the folders are generated during the pipeline. The data needed to start this projects are: images
, realsense_depth
, tactile
, gelsight_transform.json
and transforms.json
.
The ROS2 packages I shared can be used to acquire them. Or you can manually format your dataset this way.
In the following documentation, I will assume that the dataset is put under /home/irving/
.
1. Extract Mask
Switch your conda env first
conda activate G-SAM-2
Inside the submodule of our Grounded-SAM2
cd Grounded-SAM2-for-masking
Run the script to extract masks by setting your scene path and prompt text with an '.' at the end.
eg. --path /home/irving/FusionSense_data/transparent_bunny --text 'transparent bunny statue.'
python grounded_sam2_hf_model_imgs_MaskExtract.py --path {ABSOLUTE_PATH} --text {TEXT_PROMPT_FOR_TARGET_OBJ}
You will see mask_imgs in the newly created /masks
folder, and you can check /annotated
folder to see the results more directly.
2. Select Frames
set train.txt
with images id.
3. Run pipeline
You can change configs here: configs/config.py
conda activate fusionsense
python scripts/train.py --data_name {DATASET_NAME} --model_name {MODEL_NAME} --configs {CONFIG_PATH}
4. Render outputs
For render jpeg or mp4 outputs using nerfstudio, we recommend install ffmpeg in conda environment:
conda install -c conda-forge x264=='1!161.3030' ffmpeg=4.3.2
To render outputs of pretrained models:
python scripts/render_video.py camera-path --load_config your-model-config --camera_path_filename camera_path.json --rendered_output_names rgb depth normal
more details in nerfstudio ns-render
.
Dataset Format
datasets/
ds_name/
│
├── transforms.json # need for training
│
├── train.txt
│
├── images/
│ ├── rgb_1.png
│ └── rgb_2.png
│
├── realsense_depth/
│ ├── depth_1.png
│ └── depth_2.png
│
│── tactile/
│ ├── image
│ ├── mask
│ ├── normal
│ └── patch
│
├── model.stl # need for evaluation
│
├── normals_from_pretrain/ # generated
│ ├── rgb_1.png
│ └── rgb_2.png
│
├── foreground_pcd.ply
│
└── merged_pcd.ply
Outputs Format
outputs/
ds_name/
│
├── MESH/
│ └── mesh.ply
│
├── nerfstudio_models/
│ └── 30000.ckpt
│
├── cluster_centers.npy
│
├── config.yml
│
├── high_grad_pts.pcd
│
├── high_grad_pts_ascii.pcd
│
└── dataparser_transforms.json
eval/
ds_name/ *evaluation results files*