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Merged
mhubii merged 1 commit into from
Aug 4, 2026
Merged

argparse -> typer (#84) #142

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333 changes: 126 additions & 207 deletions cli/rr_cam_swarm.py
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280 changes: 110 additions & 170 deletions cli/rr_hydra.py
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Original file line number Diff line number Diff line change
@@ -1,9 +1,10 @@
import argparse
from pathlib import Path
from typing import Optional

import numpy as np
import rich
import torch
import typer

from roboreg.io import (
find_files,
Expand All @@ -23,146 +24,7 @@

from .util.validate import validate_urdf_source


def args_factory() -> argparse.Namespace:
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter
)
parser.add_argument(
"--camera-info-file",
type=str,
required=True,
help="Path to the camera parameters, <path_to>/camera_info.yaml.",
)
parser.add_argument("--path", type=str, required=True, help="Path to the data.")
parser.add_argument(
"--mask-pattern",
type=str,
default="image_*_mask.png",
help="Mask file pattern.",
)
parser.add_argument(
"--depth-pattern",
type=str,
default="depth_*.npy",
help="Depth file pattern. Note that depth values are expected in meters.",
)
parser.add_argument(
"--joint-states-pattern",
type=str,
default="joint_states_*.npy",
help="Joint state file pattern.",
)
parser.add_argument(
"--urdf-path",
type=str,
default="test/assets/lbr_med7_r800/description/lbr_med7_r800.urdf",
help="Path to URDF file. Meshes resolved relative to this file. "
"Mutually exclusive with --ros-package/--xacro-path.",
)
parser.add_argument(
"--ros-package",
type=str,
default=None,
help="ROS package containing robot description. "
"Requires --xacro-path. Mutually exclusive with --urdf-path.",
)
parser.add_argument(
"--xacro-path",
type=str,
default=None,
help="Path to xacro file relative to --ros-package. "
"Requires --ros-package. Mutually exclusive with --urdf-path.",
)
parser.add_argument(
"--root-link-name",
type=str,
default="",
help="Root link name. If unspecified, the first link with mesh will be used, which may cause errors.",
)
parser.add_argument(
"--end-link-name",
type=str,
default="",
help="End link name. If unspecified, the last link with mesh will be used, which may cause errors.",
)
parser.add_argument(
"--collision-meshes",
action="store_true",
help="If set, collision meshes will be used instead of visual meshes.",
)
parser.add_argument(
"--depth-conversion-factor",
type=float,
default=1.0,
help="Conversion factor for depth. Computes z = depth / conversion_factor e.g. to covert from millimeter to meter.",
)
parser.add_argument(
"--z-min",
type=float,
default=0.01,
help="Minimum depth value.",
)
parser.add_argument(
"--z-max",
type=float,
default=2.0,
help="Maximum depth value.",
)
parser.add_argument(
"--number-of-points",
type=int,
default=5000,
help="Number of points to sample from robot mesh.",
)
parser.add_argument(
"--max-distance",
type=float,
default=0.1,
help="Maximum distance between two points to be considered as a correspondence.",
)
parser.add_argument(
"--outer-max-iter",
type=int,
default=50,
help="Maximum number of outer iterations.",
)
parser.add_argument(
"--inner-max-iter",
type=int,
default=10,
help="Maximum number of inner iterations.",
)
parser.add_argument(
"--output-file",
type=str,
default="HT_hydra_robust.npy",
help="Output file name. Relative to the path.",
)
parser.add_argument(
"--no-boundary",
action="store_true",
help="Do not apply dilation / erosion to the mask.",
)
parser.add_argument(
"--dilation-kernel-size",
type=int,
default=3,
help="Dilation kernel size for mask boundary. Larger value will result in larger boundary.",
)
parser.add_argument(
"--erosion-kernel-size",
type=int,
default=10,
help="Erosion kernel size for mask boundary. Larger value will result in larger boundary. The closer the robot, the larger the recommended kernel size.",
)
parser.add_argument(
"--display-results",
action="store_true",
help="Display point cloud registration results.",
)
validate_urdf_source(parser, parser.parse_args())
return parser.parse_args()
app = typer.Typer(add_completion=False)


def visualize_hydra_result(
Expand All @@ -185,55 +47,133 @@ def visualize_hydra_result(
)


def main():
args = args_factory()
@app.command()
def main(
camera_info_file: Path = typer.Option(
..., help="Path to the camera parameters, <path_to>/camera_info.yaml."
),
path: Path = typer.Option(..., help="Path to the data."),
mask_pattern: str = typer.Option("image_*_mask.png", help="Mask file pattern."),
depth_pattern: str = typer.Option(
"depth_*.npy",
help="Depth file pattern. Note that depth values are expected in meters.",
),
joint_states_pattern: str = typer.Option(
"joint_states_*.npy", help="Joint state file pattern."
),
urdf_path: Optional[Path] = typer.Option(
"test/assets/lbr_med7_r800/description/lbr_med7_r800.urdf",
help="Path to URDF file. Meshes resolved relative to this file. "
"Mutually exclusive with --ros-package/--xacro-path.",
),
ros_package: Optional[str] = typer.Option(
None,
help="ROS package containing robot description. "
"Requires --xacro-path. Mutually exclusive with --urdf-path.",
),
xacro_path: Optional[str] = typer.Option(
None,
help="Path to xacro file relative to --ros-package. "
"Requires --ros-package. Mutually exclusive with --urdf-path.",
),
root_link_name: str = typer.Option(
"",
help="Root link name. If unspecified, the first link with mesh will be used, which may cause errors.",
),
end_link_name: str = typer.Option(
"",
help="End link name. If unspecified, the last link with mesh will be used, which may cause errors.",
),
collision_meshes: bool = typer.Option(
False, help="If set, collision meshes will be used instead of visual meshes."
),
depth_conversion_factor: float = typer.Option(
1.0,
help="Conversion factor for depth. Computes z = depth / conversion_factor e.g. to covert from millimeter to meter.",
),
z_min: float = typer.Option(0.01, help="Minimum depth value."),
z_max: float = typer.Option(2.0, help="Maximum depth value."),
number_of_points: int = typer.Option(
5000, help="Number of points to sample from robot mesh."
),
max_distance: float = typer.Option(
0.1,
help="Maximum distance between two points to be considered as a correspondence.",
),
max_outer_iterations: int = typer.Option(
50, help="Maximum number of outer iterations."
),
max_inner_iterations: int = typer.Option(
10, help="Maximum number of inner iterations."
),
output_file: str = typer.Option(
"HT_hydra_robust.npy", help="Output file name. Relative to the path."
),
no_boundary: bool = typer.Option(
False, help="Do not apply dilation / erosion to the mask."
),
dilation_kernel_size: int = typer.Option(
3,
help="Dilation kernel size for mask boundary. Larger value will result in larger boundary.",
),
erosion_kernel_size: int = typer.Option(
10,
help="Erosion kernel size for mask boundary. Larger value will result in larger boundary. The closer the robot, the larger the recommended kernel size.",
),
display_results: bool = typer.Option(
False, help="Display point cloud registration results."
),
) -> None:
r"""Hydra robust ICP: point-to-plane ICP registration on a Lie algebra."""
validate_urdf_source(urdf_path, ros_package, xacro_path)
device = "cuda" if torch.cuda.is_available() else "cpu"
path = Path(args.path)

# load data
observations = parse_hydra_observations(
joint_states_files=find_files(path, args.joint_states_pattern),
mask_files=find_files(path, args.mask_pattern),
depth_files=find_files(path, args.depth_pattern),
joint_states_files=find_files(path, joint_states_pattern),
mask_files=find_files(path, mask_pattern),
depth_files=find_files(path, depth_pattern),
)
_, _, intrinsics = parse_camera_info(args.camera_info_file)
_, _, intrinsics = parse_camera_info(camera_info_file)

# load robot specifications
if args.urdf_path is not None:
if urdf_path is not None:
robot_data = load_robot_data_from_urdf_file(
urdf_path=args.urdf_path,
root_link_name=args.root_link_name,
end_link_name=args.end_link_name,
collision=args.collision_meshes,
urdf_path=urdf_path,
root_link_name=root_link_name,
end_link_name=end_link_name,
collision=collision_meshes,
)
else:
robot_data = load_robot_data_from_ros_xacro(
ros_package=args.ros_package,
xacro_path=args.xacro_path,
root_link_name=args.root_link_name,
end_link_name=args.end_link_name,
collision=args.collision_meshes,
ros_package=ros_package,
xacro_path=xacro_path,
root_link_name=root_link_name,
end_link_name=end_link_name,
collision=collision_meshes,
)

# register
config = HydraRobustICPConfig(
HydraConfig(
reference_points_per_mesh=args.number_of_points,
reference_points_per_mesh=number_of_points,
depth_to_point_cloud=DepthToPointCloudConfig(
z_min=args.z_min,
z_max=args.z_max,
depth_conversion_factor=args.depth_conversion_factor,
use_mask_boundary=not args.no_boundary,
dilation_kernel_size=args.dilation_kernel_size,
erosion_kernel_size=args.erosion_kernel_size,
z_min=z_min,
z_max=z_max,
depth_conversion_factor=depth_conversion_factor,
use_mask_boundary=not no_boundary,
dilation_kernel_size=dilation_kernel_size,
erosion_kernel_size=erosion_kernel_size,
),
max_correspondence_distance=args.max_distance,
)
max_correspondence_distance=max_distance,
),
max_outer_iterations=max_outer_iterations,
max_inner_iterations=max_inner_iterations,
)
hydra_robust_icp = HydraRobustICP(
config=config,
device=device,
on_after_registration=visualize_hydra_result if args.display_results else None,
on_after_registration=visualize_hydra_result if display_results else None,
)
rich.print("Entering optimization...")
result = hydra_robust_icp(
Expand All @@ -250,8 +190,8 @@ def main():

# save extrinsics
rich.print(f"Writing results to: '{path}'.")
np.save(path / args.output_file, result.extrinsics.cpu().numpy())
np.save(path / output_file, result.extrinsics.cpu().numpy())


if __name__ == "__main__":
main()
app()
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