demo.py

from dovsg.controller import Controller
from dovsg.utils.utils import vis_depth
import argparse

def main(args):

    controller = Controller(
        step=0, 
        tags=args.tags, 
        interval=3, 
        resolution=0.01,
        occ_avoid_radius=0.2,
        save_memory=args.save_memory,
        debug=args.debug
    )

    if args.scanning_room:
        # data collection and pose estimation, if you have data, please don't use it
        # to avoid delte exist data
        controller.data_collection()

    if args.preprocess:
        controller.pose_estimation()

        # show droid-slam pose pointcloud
        controller.show_droidslam_pointcloud(use_inlier_mask=False, is_visualize=True)

        # transform droid-slam pose to floor base coord
        controller.transform_pose_with_floor(display_result=False)

        # use transformed pose train ace for relocalize
        controller.train_ace()

        # vis_depth(controller.recorder_dir)
   
        controller.show_pointcloud(is_visualize=True)

    # when first times, init scenario
    controller.get_view_dataset()
    controller.get_semantic_memory()
    controller.get_instances()
    controller.get_instance_scene_graph()
    controller.get_lightglue_features()


    # controller.show_pointcloud()
    controller.show_instances(
        controller.instance_objects, 
        clip_vis=True, 
        scene_graph=controller.instance_scene_graph, 
        show_background=True
    )
    
    if not args.scanning_room:
        tasks = controller.get_task_plan(description=args.task_description, change_level=args.task_scene_change_level)
        print(tasks)
        controller.run_tasks(tasks=tasks)


if __name__ == "__main__":
    parser = argparse.ArgumentParser(
        description='demo of dovsg.',
        formatter_class=argparse.ArgumentDefaultsHelpFormatter
    )

    parser.add_argument('--tags', type=str, default="room1", help='tags for scene.')
    parser.add_argument('--save_memory', type=bool, default=True, help='save each step memory.')

    parser.add_argument('--scanning_room', action='store_true', help='For hand camera to recorder scene.')
    parser.add_argument('--preprocess', action='store_true', help='preprocess scene.')
    parser.add_argument('--debug', action='store_true', help='For debug mode.')

    parser.add_argument('--task_scene_change_level', type=str, default="Minor Adjustment", 
                        choices=["Minor Adjustment", "Positional Shift", "Appearance"], help='scene change level.')
    parser.add_argument('--task_description', type=str, default="", help='your task description.')


    args = parser.parse_args()

    # args.task_scene_change_level = "Minor Adjustment"  # Minor Adjustment, Positional Shift, Appearance
    # args.task_description = "Please move the red pepper to the plate, then move the green pepper to plate."
    main(args)