From b43532373b5cbe95ccf96a21a7de502c6e351428 Mon Sep 17 00:00:00 2001
From: MedericFourmy <mederic.fourmy@gmail.com>
Date: Tue, 17 Oct 2023 11:22:45 -0400
Subject: [PATCH] Remove useless bop deps in megapose

---
 .gitignore                                    |  1 +
 .gitmodules                                   |  6 ----
 README.md                                     | 35 +++++++++++--------
 .../cosypose/deps/bop_toolkit_challenge       |  1 -
 .../cosypose/deps/bop_toolkit_cosypose        |  1 -
 5 files changed, 22 insertions(+), 22 deletions(-)
 delete mode 160000 happypose/pose_estimators/cosypose/deps/bop_toolkit_challenge
 delete mode 160000 happypose/pose_estimators/cosypose/deps/bop_toolkit_cosypose

diff --git a/.gitignore b/.gitignore
index 4a401c3c..f00bbbb7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -14,3 +14,4 @@ __pycache__
 *.cpython
 experiments/outputs
 /book
+happypose/pose_estimators/cosypose/build/
diff --git a/.gitmodules b/.gitmodules
index 699a737e..2cc4d599 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,9 +1,3 @@
-[submodule "happypose/pose_estimators/cosypose/deps/bop_toolkit_challenge"]
-	path = happypose/pose_estimators/cosypose/deps/bop_toolkit_challenge
-	url = https://github.com/ylabbe/bop_toolkit_challenge20.git
-[submodule "happypose/pose_estimators/cosypose/deps/bop_toolkit_cosypose"]
-	path = happypose/pose_estimators/cosypose/deps/bop_toolkit_cosypose
-	url = https://github.com/ylabbe/bop_toolkit_cosypose.git
 [submodule "happypose/pose_estimators/cosypose/deps/job-runner"]
 	path = happypose/pose_estimators/cosypose/deps/job-runner
 	url = https://github.com/ylabbe/job-runner.git
diff --git a/README.md b/README.md
index 088e8282..a652067a 100644
--- a/README.md
+++ b/README.md
@@ -26,15 +26,6 @@ cd ../../..
 pip install -e .
 ```
 
-Installation of bop_toolkit :
-
-```
-conda activate happypose
-cd happypose/pose_estimators/megapose/deps/bop_toolkit_challenge/
-# Remove all versions enforcing on requirements.txt
-pip install -r requirements.txt -e .
-```
-
 
 # Create data directory
 
@@ -45,11 +36,21 @@ export HAPPYPOSE_DATA_DIR=/somewhere/convenient
 
 # Configuration for the evaluation
 
-If you plan on evaluating CosyPose and Megapose, you need to modify the following lines in `bop_toolkit_lib/config.py`, replace
+Installation of bop_toolkit :
 
 ```
-######## Basic ########
+conda activate happypose
+cd happypose/deps/bop_toolkit_challenge/
+# Remove all versions enforcing on requirements.txt
+pip install -r requirements.txt -e .
+```
 
+If you plan on evaluating CosyPose and Megapose, you need to modify the paths to data directories used by the bop_toolkit.
+A simple solution is to create subfolders in `HAPPYPOSE_DATA_DIR`.
+This is done by modifying following lines in `deps/bop_toolkit_challenge/bop_toolkit_lib/config.py`, replace
+
+```
+######## Basic ########
 
 # Folder with the BOP datasets.
 if 'BOP_PATH' in os.environ:
@@ -69,10 +70,16 @@ with
 ```
 ######## Basic ########
 
+HAPPYPOSE_DATA_DIR = os.environ['HAPPYPOSE_DATA_DIR']
+
 # Folder with the BOP datasets.
-datasets_path = str(os.environ['BOP_DATASETS_PATH'])
-results_path = str(os.environ['BOP_RESULTS_PATH'])
-eval_path = str(os.environ['BOP_EVAL_PATH'])
+datasets_path = os.path.join(HAPPYPOSE_DATA_DIR, 'bop_datasets')
+
+# Folder with pose results to be evaluated.
+results_path = os.path.join(HAPPYPOSE_DATA_DIR, 'results')
+
+# Folder for the calculated pose errors and performance scores.
+eval_path = os.path.join(HAPPYPOSE_DATA_DIR, 'bop_eval_outputs')
 ```
 
 You will also need to install [TEASER++](https://github.com/MIT-SPARK/TEASER-plusplus) if you want to use the depth for MegaPose. To do so, please run the following commands to install it :
diff --git a/happypose/pose_estimators/cosypose/deps/bop_toolkit_challenge b/happypose/pose_estimators/cosypose/deps/bop_toolkit_challenge
deleted file mode 160000
index f114991b..00000000
--- a/happypose/pose_estimators/cosypose/deps/bop_toolkit_challenge
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit f114991b3eea186184127cddfe6a10e2d640e656
diff --git a/happypose/pose_estimators/cosypose/deps/bop_toolkit_cosypose b/happypose/pose_estimators/cosypose/deps/bop_toolkit_cosypose
deleted file mode 160000
index b1308103..00000000
--- a/happypose/pose_estimators/cosypose/deps/bop_toolkit_cosypose
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit b1308103c1e53733d8bbf9ceba2e68fa0b735042