Merge branch 'master' into travis_com

.travis.yml

@@ -39,7 +39,7 @@ before_script:
 script:
   - if [ "${CHECK_PYTHON3_COMPILE}" == "true" ]; then python3 -m compileall .; exit $?; fi
   # use https://github.com/ros-infrastructure/rosdep/pull/694 to respect version_lt for python pip, some package requries python3
-  - export BEFORE_SCRIPT="sudo pip install numpy==1.16.6; sudo pip install fcn chainercv chainer==6.7.0 cupy-cuda91; $BEFORE_SCRIPT"
+  - export BEFORE_SCRIPT="sudo pip install numpy==1.16.6; sudo pip install fcn chainercv chainer-mask-rcnn==0.3.0 chainer==6.7.0 cupy-cuda91; $BEFORE_SCRIPT"
   - if [[ "$ROS_DISTRO" == "kinetic" && "$ROS_DISTRO" == "melodic" ]]; then export BEFORE_SCRIPT="sudo apt-get install -y patchutils; curl -sL https://patch-diff.githubusercontent.com/raw/ros-infrastructure/rosdep/pull/753.diff | sudo patch -d /usr/lib/python2.7/dist-packages/ -p2; curl -sL https://patch-diff.githubusercontent.com/raw/ros-infrastructure/rosdep/pull/694.diff | filterdiff --exclude='a/test/*' | sudo patch -d /usr/lib/python2.7/dist-packages/ -p2; $BEFORE_SCRIPT"; fi
   - .travis/travis.sh
   - which virtualenv 2>/dev/null || pip3 install --user virtualenv

doc/imagesift/nodes/imagesift.rst

@@ -29,13 +29,23 @@ Publishing Topic
 
    This appears with both inputs ``image`` and ``camera_info``.
 
+Parameters
+----------
+
+- ``~image_transport`` (``String``, default: ``raw``)
+
+  Set `compressed` or `theora` to subscribe compressed images
 
 Run
 ---
 You can run executable like below::
 
     $ rosrun imagesift imagesift
 
+To subscribe compressed image, run executable like below::
+
+    $ rosrun imagesift imagesift _image_transport:=compressed
+
 
 Sample
 ------

doc/jsk_perception/nodes/mask_rcnn_instance_segmentation.rst

@@ -55,18 +55,27 @@ Parameters
 
   GPU id.
 
+* ``~model_name`` (String, ``mask_rcnn_resnet50``)
+
+  Model name.
+  ``mask_rcnn_resnet50``, ``mask_rcnn_fpn_resnet50`` and  ``mask_rcnn_fpn_resnet101`` are supported.
+
 * ``~score_thresh`` (Float, default: ``0.7``)
 
   Score threshold of detections.
 
-* ``~fg_class_names`` (List of String, required)
+* ``~fg_class_names`` (List of String, ``None``)
 
   Foreground class names that is used to identify number of class.
   It is also used for the ``name`` field of ``~output/labels``.
+  When ``pretrained_model: coco`` is set, default COCO ``pretrained_model`` and ``fg_class_names`` will be loaded.
+  When ``pretrained_model: voc`` is set, default VOC ``pretrained_model`` and ``fg_class_names`` will be loaded.
 
 * ``~pretrained_model`` (String, required)
 
   Pretrained model path.
+  When ``pretrained_model: coco`` is set, default COCO ``pretrained_model`` and ``fg_class_names`` will be loaded.
+  When ``pretrained_model: voc`` is set, default VOC ``pretrained_model`` and ``fg_class_names`` will be loaded.
 
 * ``~classifier_name`` (String, default: ``rospy.get_name()``)
 

imagesift/include/imagesift/imagesift.h

@@ -70,6 +70,7 @@ namespace imagesift
     bool _useMask;
     boost::mutex _mutex;
     boost::shared_ptr<image_transport::ImageTransport> _it;
+    image_transport::TransportHints _hints;
     image_transport::Subscriber _subImage;
     // for useMask
     message_filters::Subscriber<sensor_msgs::Image> _subImageWithMask;

imagesift/sample/imagesift_sample.launch

@@ -1,6 +1,7 @@
 <launch>
 
   <arg name="gui" default="true" />
+  <arg name="image_transport" default="raw" />
 
   <node name="static_virtual_camera"
         pkg="jsk_recognition_utils" type="static_virtual_camera.py" />
@@ -13,6 +14,7 @@
         args="load imagesift/ImageSift nodelet_manager">
     <remap from="image" to="static_virtual_camera/image_color" />
     <remap from="camera_info" to="static_virtual_camera/camera_info" />
+    <param name="image_transport" value="$(arg image_transport)" />
   </node>
 
   <group if="$(arg gui)">
@@ -23,6 +25,7 @@
     <node name="feature0d_to_image"
           pkg="posedetection_msgs" type="feature0d_to_image">
       <remap from="image" to="static_virtual_camera/image_color" />
+      <param name="image_transport" value="$(arg image_transport)" />
     </node>
     <node name="imagefeature0d_view"
           pkg="image_view" type="image_view">

imagesift/src/imagesift.cpp

@@ -53,7 +53,12 @@ namespace imagesift
     void SiftNode::onInit()
     {
         DiagnosticNodelet::onInit();
+        // First positional argument is the transport type
+        std::string transport;
+        pnh_->param("image_transport", transport, std::string("raw"));
+        ROS_INFO_STREAM("Using transport \"" << transport << "\" for " << pnh_->getNamespace());
         _it.reset(new image_transport::ImageTransport(*nh_));
+        _hints = image_transport::TransportHints(transport, ros::TransportHints(), *pnh_);
 
         pnh_->param("use_mask", _useMask, false);
 
@@ -69,7 +74,7 @@ namespace imagesift
     void SiftNode::subscribe()
     {
         if (!_useMask) {
-            _subImage = _it->subscribe("image", 1, &SiftNode::imageCb, this);
+            _subImage = _it->subscribe(nh_->resolveName("image"), 1, &SiftNode::imageCb, this, _hints);
         }
         else {
             _subImageWithMask.subscribe(*nh_, "image", 1);

jsk_pcl_ros/sample/tabletop_object_detector.launch

@@ -36,7 +36,6 @@
   <node name="multi_plane_estimate" pkg="nodelet" type="nodelet"
         args="load jsk_pcl/OrganizedMultiPlaneSegmentation $(arg manager)"
         output="screen"
-        if="$(arg launch_manager)"
         machine="$(arg machine)">
     <remap from="~input" to="input_relay/output" />
     <rosparam>

jsk_perception/node_scripts/alexnet_object_recognition.py

@@ -7,23 +7,23 @@
 import itertools, pkg_resources, sys
 from distutils.version import LooseVersion
 if LooseVersion(pkg_resources.get_distribution("chainer").version) >= LooseVersion('7.0.0') and \
-   sys.version_info.major == 2:
-   print('''Please install chainer <= 7.0.0:
+        sys.version_info.major == 2:
+    print('''Please install chainer < 7.0.0:
 
     sudo pip install chainer==6.7.0
 
 c.f https://github.com/jsk-ros-pkg/jsk_recognition/pull/2485
 ''', file=sys.stderr)
-   sys.exit(1)
+    sys.exit(1)
 if [p for p in list(itertools.chain(*[pkg_resources.find_distributions(_) for _ in sys.path])) if "cupy-" in p.project_name ] == []:
-   print('''Please install CuPy
+    print('''Please install CuPy
 
     sudo pip install cupy-cuda[your cuda version]
 i.e.
     sudo pip install cupy-cuda91
 
 ''', file=sys.stderr)
-   sys.exit(1)
+    # sys.exit(1)
 import chainer.serializers as S
 from jsk_recognition_msgs.msg import ClassificationResult
 from jsk_recognition_utils.chainermodels import AlexNet

jsk_perception/node_scripts/deep_sort/deep_sort_tracker.py

@@ -5,23 +5,23 @@
 import itertools, pkg_resources, sys
 from distutils.version import LooseVersion
 if LooseVersion(pkg_resources.get_distribution("chainer").version) >= LooseVersion('7.0.0') and \
-   sys.version_info.major == 2:
-   print('''Please install chainer <= 7.0.0:
+        sys.version_info.major == 2:
+    print('''Please install chainer < 7.0.0:
 
     sudo pip install chainer==6.7.0
 
 c.f https://github.com/jsk-ros-pkg/jsk_recognition/pull/2485
 ''', file=sys.stderr)
-   sys.exit(1)
+    sys.exit(1)
 if [p for p in list(itertools.chain(*[pkg_resources.find_distributions(_) for _ in sys.path])) if "cupy-" in p.project_name ] == []:
-   print('''Please install CuPy
+    print('''Please install CuPy
 
     sudo pip install cupy-cuda[your cuda version]
 i.e.
     sudo pip install cupy-cuda91
 
 ''', file=sys.stderr)
-   sys.exit(1)
+    # sys.exit(1)
 import chainer
 
 from jsk_recognition_utils.chainermodels.deep_sort_net\

jsk_perception/node_scripts/deep_sort_tracker_node.py

@@ -7,23 +7,23 @@
 import itertools, pkg_resources, sys
 from distutils.version import LooseVersion
 if LooseVersion(pkg_resources.get_distribution("chainer").version) >= LooseVersion('7.0.0') and \
-   sys.version_info.major == 2:
-   print('''Please install chainer <= 7.0.0:
+        sys.version_info.major == 2:
+    print('''Please install chainer < 7.0.0:
 
     sudo pip install chainer==6.7.0
 
 c.f https://github.com/jsk-ros-pkg/jsk_recognition/pull/2485
 ''', file=sys.stderr)
-   sys.exit(1)
+    sys.exit(1)
 if [p for p in list(itertools.chain(*[pkg_resources.find_distributions(_) for _ in sys.path])) if "cupy-" in p.project_name ] == []:
-   print('''Please install CuPy
+    print('''Please install CuPy
 
     sudo pip install cupy-cuda[your cuda version]
 i.e.
     sudo pip install cupy-cuda91
 
 ''', file=sys.stderr)
-   sys.exit(1)
+    # sys.exit(1)
 import chainer
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge

jsk_perception/node_scripts/face_pose_estimation.py

@@ -12,23 +12,23 @@
 import itertools, pkg_resources, sys
 from distutils.version import LooseVersion
 if LooseVersion(pkg_resources.get_distribution("chainer").version) >= LooseVersion('7.0.0') and \
-   sys.version_info.major == 2:
-   print('''Please install chainer <= 7.0.0:
+        sys.version_info.major == 2:
+    print('''Please install chainer < 7.0.0:
 
     sudo pip install chainer==6.7.0
 
 c.f https://github.com/jsk-ros-pkg/jsk_recognition/pull/2485
 ''', file=sys.stderr)
-   sys.exit(1)
+    sys.exit(1)
 if [p for p in list(itertools.chain(*[pkg_resources.find_distributions(_) for _ in sys.path])) if "cupy-" in p.project_name ] == []:
-   print('''Please install CuPy
+    print('''Please install CuPy
 
     sudo pip install cupy-cuda[your cuda version]
 i.e.
     sudo pip install cupy-cuda91
 
 ''', file=sys.stderr)
-   sys.exit(1)
+    # sys.exit(1)
 import chainer
 from chainer.dataset import download
 from chainer.serializers import load_npz

jsk_perception/node_scripts/fast_rcnn.py

@@ -5,26 +5,26 @@
 import os.path as osp
 import sys
 
-import itertools, pkg_resources, sys
+import itertools, pkg_resources
 from distutils.version import LooseVersion
 if LooseVersion(pkg_resources.get_distribution("chainer").version) >= LooseVersion('7.0.0') and \
-   sys.version_info.major == 2:
-   print('''Please install chainer <= 7.0.0:
+        sys.version_info.major == 2:
+    print('''Please install chainer < 7.0.0:
 
     sudo pip install chainer==6.7.0
 
 c.f https://github.com/jsk-ros-pkg/jsk_recognition/pull/2485
 ''', file=sys.stderr)
-   sys.exit(1)
-if [p for p in list(itertools.chain(*[pkg_resources.find_distributions(_) for _ in sys.path])) if "cupy-" in p.project_name ] == []:
-   print('''Please install CuPy
+    sys.exit(1)
+if [p for p in list(itertools.chain(*[pkg_resources.find_distributions(_) for _ in sys.path])) if "cupy-" in p.project_name] == []:
+    print('''Please install CuPy
 
     sudo pip install cupy-cuda[your cuda version]
 i.e.
     sudo pip install cupy-cuda91
 
 ''', file=sys.stderr)
-   sys.exit(1)
+    # sys.exit(1)
 import chainer
 from chainer import cuda
 import chainer.serializers as S

jsk_perception/node_scripts/fcn_depth_prediction.py

@@ -6,23 +6,23 @@
 
 import itertools, pkg_resources, sys
 if LooseVersion(pkg_resources.get_distribution("chainer").version) >= LooseVersion('7.0.0') and \
-   sys.version_info.major == 2:
-   print('''Please install chainer <= 7.0.0:
+        sys.version_info.major == 2:
+    print('''Please install chainer < 7.0.0:
 
     sudo pip install chainer==6.7.0
 
 c.f https://github.com/jsk-ros-pkg/jsk_recognition/pull/2485
 ''', file=sys.stderr)
-   sys.exit(1)
+    sys.exit(1)
 if [p for p in list(itertools.chain(*[pkg_resources.find_distributions(_) for _ in sys.path])) if "cupy-" in p.project_name ] == []:
-   print('''Please install CuPy
+    print('''Please install CuPy
 
     sudo pip install cupy-cuda[your cuda version]
 i.e.
     sudo pip install cupy-cuda91
 
 ''', file=sys.stderr)
-   sys.exit(1)
+    # sys.exit(1)
 import chainer
 from chainer import cuda
 import chainer.functions as F

jsk_perception/node_scripts/fcn_object_segmentation.py

@@ -6,23 +6,23 @@
 
 import itertools, pkg_resources, sys
 if LooseVersion(pkg_resources.get_distribution("chainer").version) >= LooseVersion('7.0.0') and \
-   sys.version_info.major == 2:
-   print('''Please install chainer <= 7.0.0:
+        sys.version_info.major == 2:
+    print('''Please install chainer < 7.0.0:
 
     sudo pip install chainer==6.7.0
 
 c.f https://github.com/jsk-ros-pkg/jsk_recognition/pull/2485
 ''', file=sys.stderr)
-   sys.exit(1)
+    sys.exit(1)
 if [p for p in list(itertools.chain(*[pkg_resources.find_distributions(_) for _ in sys.path])) if "cupy-" in p.project_name ] == []:
-   print('''Please install CuPy
+    print('''Please install CuPy
 
     sudo pip install cupy-cuda[your cuda version]
 i.e.
     sudo pip install cupy-cuda91
 
 ''', file=sys.stderr)
-   sys.exit(1)
+    # sys.exit(1)
 import chainer
 from chainer import cuda
 import chainer.serializers as S

jsk_perception/node_scripts/hmr/net.py

@@ -3,23 +3,23 @@
 import itertools, pkg_resources, sys
 from distutils.version import LooseVersion
 if LooseVersion(pkg_resources.get_distribution("chainer").version) >= LooseVersion('7.0.0') and \
-   sys.version_info.major == 2:
-   print('''Please install chainer <= 7.0.0:
+        sys.version_info.major == 2:
+    print('''Please install chainer < 7.0.0:
 
     sudo pip install chainer==6.7.0
 
 c.f https://github.com/jsk-ros-pkg/jsk_recognition/pull/2485
 ''', file=sys.stderr)
-   sys.exit(1)
+    sys.exit(1)
 if [p for p in list(itertools.chain(*[pkg_resources.find_distributions(_) for _ in sys.path])) if "cupy-" in p.project_name ] == []:
-   print('''Please install CuPy
+    print('''Please install CuPy
 
     sudo pip install cupy-cuda[your cuda version]
 i.e.
     sudo pip install cupy-cuda91
 
 ''', file=sys.stderr)
-   sys.exit(1)
+    # sys.exit(1)
 import chainer
 import chainer.functions as F
 import chainer.links as L

jsk_perception/node_scripts/hmr/resnet_v2_50.py

@@ -3,23 +3,23 @@
 import itertools, pkg_resources, sys
 from distutils.version import LooseVersion
 if LooseVersion(pkg_resources.get_distribution("chainer").version) >= LooseVersion('7.0.0') and \
-   sys.version_info.major == 2:
-   print('''Please install chainer <= 7.0.0:
+        sys.version_info.major == 2:
+    print('''Please install chainer < 7.0.0:
 
     sudo pip install chainer==6.7.0
 
 c.f https://github.com/jsk-ros-pkg/jsk_recognition/pull/2485
 ''', file=sys.stderr)
-   sys.exit(1)
+    sys.exit(1)
 if [p for p in list(itertools.chain(*[pkg_resources.find_distributions(_) for _ in sys.path])) if "cupy-" in p.project_name ] == []:
-   print('''Please install CuPy
+    print('''Please install CuPy
 
     sudo pip install cupy-cuda[your cuda version]
 i.e.
     sudo pip install cupy-cuda91
 
 ''', file=sys.stderr)
-   sys.exit(1)
+    # sys.exit(1)
 import chainer
 import chainer.functions as F
 from chainer import initializers