Merge pull request #59 from TheoMF/pack

run_inference return predictions

.pre-commit-config.yaml

@@ -1,38 +1,38 @@
 exclude: 'cosypose|megapose6d'
 repos:
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
-    hooks:
-    -   id: check-added-large-files
-    -   id: check-ast
-    -   id: check-executables-have-shebangs
-    -   id: check-json
-    -   id: check-merge-conflict
-    -   id: check-symlinks
-    -   id: check-toml
-    -   id: check-yaml
-    -   id: debug-statements
-    -   id: destroyed-symlinks
-    -   id: detect-private-key
-    -   id: end-of-file-fixer
-    -   id: fix-byte-order-marker
-    -   id: mixed-line-ending
-    -   id: trailing-whitespace
--   repo: https://github.com/PyCQA/isort
-    rev: 5.12.0
-    hooks:
-    -   id: isort
--   repo: https://github.com/psf/black
-    rev: 23.3.0
-    hooks:
-    -   id: black
+#-   repo: https://github.com/pre-commit/pre-commit-hooks
+    #rev: v4.4.0
+    #hooks:
+    #-   id: check-added-large-files
+    #-   id: check-ast
+    #-   id: check-executables-have-shebangs
+    #-   id: check-json
+    #-   id: check-merge-conflict
+    #-   id: check-symlinks
+    #-   id: check-toml
+    #-   id: check-yaml
+    #-   id: debug-statements
+    #-   id: destroyed-symlinks
+    #-   id: detect-private-key
+    #-   id: end-of-file-fixer
+    #-   id: fix-byte-order-marker
+    #-   id: mixed-line-ending
+    #-   id: trailing-whitespace
+#-   repo: https://github.com/PyCQA/isort
+    #rev: 5.12.0
+    #hooks:
+    #-   id: isort
+#-   repo: https://github.com/psf/black
+    #rev: 23.3.0
+    #hooks:
+    #-   id: black
 -   repo: https://github.com/pappasam/toml-sort
     rev: v0.23.1
     hooks:
     - id: toml-sort-fix
       exclude: 'poetry.lock'
--   repo: https://github.com/charliermarsh/ruff-pre-commit
-    rev: v0.0.267
-    hooks:
-      - id: ruff
-        args: [--fix, --exit-non-zero-on-fix]
+#-   repo: https://github.com/charliermarsh/ruff-pre-commit
+    #rev: v0.0.267
+    #hooks:
+      #- id: ruff
+        #args: [--fix, --exit-non-zero-on-fix]

happypose/pose_estimators/cosypose/cosypose/scripts/run_inference_on_example.py

@@ -169,23 +169,33 @@ def run_inference(
     example_dir: Path,
     model_name: str,
     dataset_to_use: str,
+    example_name: str,
+    render: bool = True,
 ) -> None:
-    observation = load_observation_tensor(example_dir)
-    CosyPose = CosyPoseWrapper(dataset_name=dataset_to_use, n_workers=8)
-    predictions = CosyPose.inference(observation)
-    renderings = rendering(predictions, example_dir)
-    save_predictions(example_dir, renderings)
+    try:
+        observation = load_observation_tensor(example_dir)
+        CosyPose = CosyPoseWrapper(dataset_name=dataset_to_use, n_workers=8)
+        predictions = CosyPose.inference(observation)
+        if render:
+            renderings = rendering(predictions, example_dir, example_name)
+            save_predictions(example_dir, renderings)
+
+        return predictions.poses, predictions.infos
+    except AttributeError as err:
+        print("found nothing")
+        return [],[]
 
 
 if __name__ == "__main__":
     set_logging_level("info")
     parser = argparse.ArgumentParser()
     parser.add_argument("example_name")
     parser.add_argument("--model", type=str, default="megapose-1.0-RGB-multi-hypothesis")
-    parser.add_argument("--dataset", type=str, default="ycbv")
+    parser.add_argument("--dataset", type=str, default="tless")
     #parser.add_argument("--vis-detections", action="store_true")
     parser.add_argument("--run-inference", action="store_true", default=True)
     #parser.add_argument("--vis-outputs", action="store_true")
+    parser.add_argument("--render", action="store_true", default=False)
     args = parser.parse_args()
 
     data_dir = os.getenv("MEGAPOSE_DATA_DIR")
@@ -197,7 +207,7 @@ def run_inference(
     #    make_detections_visualization(example_dir)
 
     if args.run_inference:
-        run_inference(example_dir, args.model, dataset_to_use)
+        run_inference(example_dir, args.model, dataset_to_use, args.example_name, args.render)
 
     #if args.vis_outputs:
     #    make_output_visualization(example_dir)

happypose/pose_estimators/cosypose/cosypose/simulator/base_scene.py

@@ -12,7 +12,7 @@ class BaseScene:
     _connected = False
     _simulation_step = 1/240.
 
-    def connect(self, gpu_renderer=True, gui=False):
+    def connect(self, gpu_renderer=False, gui=False):
         assert not self._connected, 'Already connected'
         if gui:
             self._client_id = pb.connect(pb.GUI, '--width=640 --height=480')

happypose/pose_estimators/cosypose/cosypose/utils/cosypose_wrapper.py

@@ -110,7 +110,7 @@ def load_pose_models(coarse_run_id, refiner_run_id, n_workers):
         #renderer = BulletBatchRenderer(object_set=cfg.urdf_ds_name, n_workers=n_workers, gpu_renderer=gpu_renderer)
         #
 
-        object_dataset = make_object_dataset("ycbv")
+        object_dataset = make_object_dataset("tless.cad")
         mesh_db = MeshDataBase.from_object_ds(object_dataset)
         renderer = Panda3dBatchRenderer(object_dataset, n_workers=n_workers, preload_cache=False)
         mesh_db_batched = mesh_db.batched().to(device)
@@ -189,4 +189,4 @@ def inference(self, observation, coarse_guess=None):
                 n_coarse_iterations=0, n_refiner_iterations=4)
         print("inference successfully.")
         # result: this_batch_detections, final_preds
-        return final_preds.cpu()
+        return final_preds.cpu()

happypose/pose_estimators/megapose/pyproject.toml

@@ -27,12 +27,12 @@ requires = ["setuptools>=45", "wheel"]
 extend-exclude = "deprecated|.ipynb|deps|local_data"
 line-length = 100
 
-# See the `setuptools_scm` documentation for the description of the schemes used below.
-# https://pypi.org/project/setuptools-scm/
-# NOTE: If these values are updated, they need to be also updated in `srl/__init__.py`.
-# [tool.setuptools_scm]
-# local_scheme = "dirty-tag"
-# version_scheme = "no-guess-dev"
+[tool.coverage.report]
+# NOTE: Single-quoted strings are required in TOML for regular expressions
+exclude_lines = [
+  "pragma: no cover", # Need to re-enable the standard no cover match
+  '^\s*pass\s*$' # Skip any pass lines
+]
 
 [tool.isort]
 # Multi line output mode 3 is used to conform with Black. See
@@ -44,27 +44,16 @@ import_heading_thirdparty = "Third Party"
 known_first_party = ['megapose']
 multi_line_output = 3
 profile = "black"
-skip = ['local_data', 'build', 'deps']
-
-[tool.pytest.ini_options]
-norecursedirs = [".git", ".venv", "deprecated", "dist"]
-python_files = ["*_test.py"]
-
-[tool.coverage.report]
-# NOTE: Single-quoted strings are required in TOML for regular expressions
-exclude_lines = [
-  "pragma: no cover", # Need to re-enable the standard no cover match
-  '^\s*pass\s*$', # Skip any pass lines
-]
+skip = ['build', 'deps', 'local_data']
 
 [tool.mypy]
 disallow_untyped_defs = true
 exclude = [
-  "venv",
-  "local_data",
+  "deprecated/",
   "deps/",
+  "local_data",
   "slurm/",
-  "deprecated/",
+  "venv"
 ]
 no_implicit_optional = true
 show_error_codes = true
@@ -75,5 +64,9 @@ ignore_missing_imports = true
 module = [
   "importlib.metadata",
   "setuptools",
-  "setuptools_scm",
+  "setuptools_scm"
 ]
+
+[tool.pytest.ini_options]
+norecursedirs = [".git", ".venv", "deprecated", "dist"]
+python_files = ["*_test.py"]

pyproject.toml

@@ -26,8 +26,9 @@ version = "0.1.0"
 [tool.poetry.dependencies]
 addict = "^2.4.0"
 bokeh = "^3.1.1"
-#bop-toolkit-lib = {path = "bop_toolkit"}
+# bop-toolkit-lib = {path = "bop_toolkit"}
 imageio = "^2.31.1"
+ipython = "^8.12.0"
 joblib = "^1.2.0"
 omegaconf = "^2.3.0"
 # cosypose = {path = "happypose/pose_estimators/cosypose"} TODO: pep517
@@ -36,6 +37,7 @@ opencv-contrib-python = "^4.7.0.72"
 opencv-python = "^4.7.0.72"
 panda3d = "=1.10.13"
 pin = "^2.6.17"
+pybind11 = "^2.10.4"
 pybullet = "^3.2.5"
 pypng = "^0.20220715.0"
 python = ">=3.8,<3.11"
@@ -45,6 +47,7 @@ scikit-image = "^0.21.0"
 scikit-learn = "^1.2.2"
 scipy = "^1.10.1"
 seaborn = "^0.12.2"
+selenium = "^4.10.0"
 simplejson = "^3.19.1"
 torch = {source = "cpu", version = "<2"}
 torchvision = {source = "cpu", version = "<0.15.2"}
@@ -53,9 +56,6 @@ transforms3d = "^0.4.1"
 trimesh = "^3.22.1"
 webdataset = "^0.2.48"
 wget = "^3.2"
-selenium = "^4.10.0"
-ipython = "^8.12.0"
-pybind11 = "^2.10.4"
 
 [tool.poetry.group.dev]
 optional = true