From 26bbf1f297ea31a3667df660cc827b30e263cee5 Mon Sep 17 00:00:00 2001 From: MedericFourmy Date: Thu, 4 Apr 2024 11:38:04 -0400 Subject: [PATCH 01/15] Avoid mandatory installation of teaserpp when only running rgb eval --- .../cosypose/evaluation/evaluation.py | 25 ++++--------------- 1 file changed, 5 insertions(+), 20 deletions(-) diff --git a/happypose/pose_estimators/cosypose/cosypose/evaluation/evaluation.py b/happypose/pose_estimators/cosypose/cosypose/evaluation/evaluation.py index e32ddb25..3d8f72af 100644 --- a/happypose/pose_estimators/cosypose/cosypose/evaluation/evaluation.py +++ b/happypose/pose_estimators/cosypose/cosypose/evaluation/evaluation.py @@ -42,12 +42,8 @@ ModelNetErrorMeter, ) from happypose.pose_estimators.megapose.evaluation.runner_utils import format_results -from happypose.pose_estimators.megapose.inference.icp_refiner import ICPRefiner # Pose estimator -from happypose.pose_estimators.megapose.inference.teaserpp_refiner import ( - TeaserppRefiner, -) from happypose.toolbox.datasets.datasets_cfg import make_object_dataset from happypose.toolbox.lib3d.rigid_mesh_database import MeshDataBase from happypose.toolbox.renderer.panda3d_batch_renderer import Panda3dBatchRenderer @@ -189,22 +185,7 @@ def run_eval( # See https://stackoverflow.com/a/53287330 assert cfg.coarse_run_id is not None assert cfg.refiner_run_id is not None - # TODO (emaitre): This fuction seems to take the wrong parameters. Trying to fix - # this. - """ - ( - coarse_model, - refiner_model, - mesh_db, - ) = happypose.toolbox.inference.utils.load_pose_models( - coarse_run_id=cfg.coarse_run_id, - refiner_run_id=cfg.refiner_run_id, - n_workers=cfg.n_rendering_workers, - obj_ds_name=obj_ds_name, - urdf_ds_name=urdf_ds_name, - force_panda3d_renderer=True, - ) - """ + object_ds = make_object_dataset(obj_ds_name) coarse_model, refiner_model, mesh_db = load_pose_models( @@ -217,8 +198,12 @@ def run_eval( if cfg.inference.run_depth_refiner: if cfg.inference.depth_refiner == "icp": + from happypose.pose_estimators.megapose.inference.icp_refiner import ICPRefiner ICPRefiner(mesh_db, renderer) elif cfg.inference.depth_refiner == "teaserpp": + from happypose.pose_estimators.megapose.inference.teaserpp_refiner import ( + TeaserppRefiner, + ) TeaserppRefiner(mesh_db, renderer) else: pass From cc214b9b8248853e38cbfa3e5c70453a9e782183 Mon Sep 17 00:00:00 2001 From: MedericFourmy Date: Fri, 5 Apr 2024 04:00:13 -0400 Subject: [PATCH 02/15] No need to add bop toolkit module to the path --- happypose/pose_estimators/cosypose/cosypose/datasets/bop.py | 3 +-- .../cosypose/cosypose/scripts/run_custom_scenario.py | 3 --- happypose/toolbox/datasets/bop_scene_dataset.py | 3 +-- 3 files changed, 2 insertions(+), 7 deletions(-) diff --git a/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py b/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py index f1b7e985..37cba9a4 100644 --- a/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py +++ b/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py @@ -8,11 +8,10 @@ import torch from PIL import Image -from happypose.pose_estimators.cosypose.cosypose.config import BOP_TOOLKIT_DIR, MEMORY +from happypose.pose_estimators.cosypose.cosypose.config import MEMORY from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger from happypose.toolbox.lib3d.transform import Transform -sys.path.append(str(BOP_TOOLKIT_DIR)) from bop_toolkit_lib import inout sys.path = sys.path[:-1] diff --git a/happypose/pose_estimators/cosypose/cosypose/scripts/run_custom_scenario.py b/happypose/pose_estimators/cosypose/cosypose/scripts/run_custom_scenario.py index f0923679..cd2191fb 100644 --- a/happypose/pose_estimators/cosypose/cosypose/scripts/run_custom_scenario.py +++ b/happypose/pose_estimators/cosypose/cosypose/scripts/run_custom_scenario.py @@ -1,7 +1,6 @@ import argparse import json import logging -import sys from pathlib import Path import numpy as np @@ -10,7 +9,6 @@ import happypose.pose_estimators.cosypose.cosypose.utils.tensor_collection as tc from happypose.pose_estimators.cosypose.cosypose.config import ( - BOP_TOOLKIT_DIR, LOCAL_DATA_DIR, ) from happypose.pose_estimators.cosypose.cosypose.datasets.bop_object_datasets import ( @@ -25,7 +23,6 @@ from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger from happypose.pose_estimators.cosypose.cosypose.visualization.multiview import nms3d -sys.path.append(str(BOP_TOOLKIT_DIR)) from bop_toolkit_lib import inout logger = get_logger(__name__) diff --git a/happypose/toolbox/datasets/bop_scene_dataset.py b/happypose/toolbox/datasets/bop_scene_dataset.py index 1236ff84..d642cd74 100644 --- a/happypose/toolbox/datasets/bop_scene_dataset.py +++ b/happypose/toolbox/datasets/bop_scene_dataset.py @@ -26,7 +26,7 @@ from tqdm import tqdm # MegaPose -from happypose.pose_estimators.megapose.config import BOP_TOOLKIT_DIR, MEMORY +from happypose.pose_estimators.megapose.config import MEMORY # Local Folder from happypose.toolbox.datasets.scene_dataset import ( @@ -39,7 +39,6 @@ from happypose.toolbox.lib3d.transform import Transform from happypose.toolbox.utils.logging import get_logger -sys.path.append(str(BOP_TOOLKIT_DIR)) # Third Party from bop_toolkit_lib import inout From 4736bd83f4be14541eb963c8adfdc12f32d157d4 Mon Sep 17 00:00:00 2001 From: MedericFourmy Date: Fri, 5 Apr 2024 04:01:40 -0400 Subject: [PATCH 03/15] Improve setting bop eval scripts paths --- .../cosypose/cosypose/config.py | 6 ++++-- .../cosypose/cosypose/scripts/run_bop_eval.py | 18 +++++++++--------- happypose/pose_estimators/megapose/config.py | 5 ++++- .../pose_estimators/megapose/evaluation/bop.py | 11 ++++------- 4 files changed, 21 insertions(+), 19 deletions(-) diff --git a/happypose/pose_estimators/cosypose/cosypose/config.py b/happypose/pose_estimators/cosypose/cosypose/config.py index e1f0a366..b48c8af9 100644 --- a/happypose/pose_estimators/cosypose/cosypose/config.py +++ b/happypose/pose_estimators/cosypose/cosypose/config.py @@ -8,6 +8,8 @@ from joblib import Memory import happypose +import bop_toolkit_lib + torch.multiprocessing.set_sharing_strategy("file_system") @@ -25,8 +27,8 @@ SYNT_DS_DIR = LOCAL_DATA_DIR / "synt_datasets" BOP_DS_DIR = LOCAL_DATA_DIR / "bop_datasets" -BOP_TOOLKIT_DIR = PROJECT_DIR / "deps" / "bop_toolkit_cosypose" -BOP_CHALLENGE_TOOLKIT_DIR = PROJECT_DIR / "deps" / "bop_toolkit_challenge" +BOP_TOOLKIT_DIR = Path(bop_toolkit_lib.__file__).parent.parent +BOP_TOOLKIT_SCRIPTS = BOP_TOOLKIT_DIR / 'scripts' EXP_DIR = LOCAL_DATA_DIR / "experiments" RESULTS_DIR = LOCAL_DATA_DIR / "results" diff --git a/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop_eval.py b/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop_eval.py index b8704400..ae42e164 100644 --- a/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop_eval.py +++ b/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop_eval.py @@ -1,7 +1,7 @@ -import argparse import os +import argparse import subprocess -import sys +from pathlib import Path import numpy as np import torch @@ -9,18 +9,18 @@ from happypose.pose_estimators.cosypose.cosypose.config import ( BOP_TOOLKIT_DIR, + BOP_TOOLKIT_SCRIPTS, LOCAL_DATA_DIR, MEMORY, - PROJECT_DIR, + # PROJECT_DIR, RESULTS_DIR, ) -SISO_SCRIPT_PATH = BOP_TOOLKIT_DIR / "scripts/eval_siso.py" -VIVO_SCRIPT_PATH = BOP_TOOLKIT_DIR / "scripts/eval_vivo.py" - -sys.path.append(BOP_TOOLKIT_DIR.as_posix()) from bop_toolkit_lib import inout # noqa +SISO_SCRIPT_PATH = BOP_TOOLKIT_SCRIPTS / "eval_siso.py" +VIVO_SCRIPT_PATH = BOP_TOOLKIT_SCRIPTS / "eval_vivo.py" + def main(): parser = argparse.ArgumentParser("Bop evaluation") @@ -77,8 +77,8 @@ def run_evaluation(filename, is_vivo): else: script_path = SISO_SCRIPT_PATH myenv = os.environ.copy() - myenv["PYTHONPATH"] = BOP_TOOLKIT_DIR.as_posix() - myenv["COSYPOSE_DIR"] = PROJECT_DIR.as_posix() + # myenv["PYTHONPATH"] = BOP_TOOLKIT_DIR.as_posix() + # myenv["COSYPOSE_DIR"] = PROJECT_DIR.as_posix() print(script_path) subprocess.call( [ diff --git a/happypose/pose_estimators/megapose/config.py b/happypose/pose_estimators/megapose/config.py index 64dc8ec4..e00e8488 100644 --- a/happypose/pose_estimators/megapose/config.py +++ b/happypose/pose_estimators/megapose/config.py @@ -24,6 +24,7 @@ # MegaPose import happypose +import bop_toolkit_lib PROJECT_ROOT = Path(happypose.__file__).parent.parent PROJECT_DIR = PROJECT_ROOT @@ -35,7 +36,9 @@ SHAPENET_DIR = LOCAL_DATA_DIR / "shapenetcorev2" WDS_DS_DIR = LOCAL_DATA_DIR / "webdatasets" -BOP_TOOLKIT_DIR = PROJECT_ROOT / "deps" / "bop_toolkit_challenge" +BOP_TOOLKIT_DIR = Path(bop_toolkit_lib.__file__).parent.parent +BOP_TOOLKIT_SCRIPTS = BOP_TOOLKIT_DIR / 'scripts' + BLENDER_PBR_DS_DIR = LOCAL_DATA_DIR / "blender_pbr_datasets" CC_TEXTURE_FOLDER = str(LOCAL_DATA_DIR / "cctextures") diff --git a/happypose/pose_estimators/megapose/evaluation/bop.py b/happypose/pose_estimators/megapose/evaluation/bop.py index 88044839..4977db12 100644 --- a/happypose/pose_estimators/megapose/evaluation/bop.py +++ b/happypose/pose_estimators/megapose/evaluation/bop.py @@ -32,6 +32,7 @@ # MegaPose from happypose.pose_estimators.megapose.config import ( BOP_TOOLKIT_DIR, + BOP_TOOLKIT_SCRIPTS, LOCAL_DATA_DIR, PROJECT_DIR, ) @@ -47,9 +48,9 @@ # Note we are actually using the bop_toolkit_lib that is directly conda installed # inside the docker image. This is just to access the scripts. -POSE_EVAL_SCRIPT_PATH = BOP_TOOLKIT_DIR / "scripts/eval_bop19_pose.py" -DETECTION_EVAL_SCRIPT_PATH = BOP_TOOLKIT_DIR / "scripts/eval_bop22_coco.py" -DUMMY_EVAL_SCRIPT_PATH = BOP_TOOLKIT_DIR / "scripts/eval_bop19_dummy.py" +POSE_EVAL_SCRIPT_PATH = BOP_TOOLKIT_SCRIPTS / "eval_bop19_pose.py" +DETECTION_EVAL_SCRIPT_PATH = BOP_TOOLKIT_SCRIPTS / "eval_bop22_coco.py" +DUMMY_EVAL_SCRIPT_PATH = BOP_TOOLKIT_SCRIPTS / "eval_bop19_dummy.py" # Third Party @@ -167,10 +168,6 @@ def get_best_coarse_predictions(coarse_preds: PandasTensorCollection): def _run_bop_evaluation(filename, eval_dir, eval_detection=False, dummy=False): myenv = os.environ.copy() - myenv["PYTHONPATH"] = BOP_TOOLKIT_DIR.as_posix() - ld_library_path = os.environ["LD_LIBRARY_PATH"] - conda_prefix = os.environ["CONDA_PREFIX"] - myenv["LD_LIBRARY_PATH"] = f"{conda_prefix}/lib:{ld_library_path}" myenv["BOP_DATASETS_PATH"] = str(LOCAL_DATA_DIR / "bop_datasets") myenv["BOP_RESULTS_PATH"] = str(eval_dir) myenv["BOP_EVAL_PATH"] = str(eval_dir) From 38d03b33b7fe33f02dcb90a01a44f7fce3101109 Mon Sep 17 00:00:00 2001 From: MedericFourmy Date: Fri, 5 Apr 2024 04:02:45 -0400 Subject: [PATCH 04/15] Remove evaluation early stop (debug leftover) --- .../cosypose/evaluation/prediction_runner.py | 63 +++++++++---------- 1 file changed, 30 insertions(+), 33 deletions(-) diff --git a/happypose/pose_estimators/cosypose/cosypose/evaluation/prediction_runner.py b/happypose/pose_estimators/cosypose/cosypose/evaluation/prediction_runner.py index 084f0483..5381826e 100644 --- a/happypose/pose_estimators/cosypose/cosypose/evaluation/prediction_runner.py +++ b/happypose/pose_estimators/cosypose/cosypose/evaluation/prediction_runner.py @@ -173,46 +173,43 @@ def get_predictions( """ predictions_list = defaultdict(list) for n, data in enumerate(tqdm(self.dataloader)): - if n < 3: - # data is a dict - rgb = data["rgb"] - depth = None - K = data["cameras"].K - gt_detections = data["gt_detections"].cuda() - - initial_data = None - if data["initial_data"]: - initial_data = data["initial_data"].cuda() - - obs_tensor = ObservationTensor.from_torch_batched(rgb, depth, K) - obs_tensor = obs_tensor.cuda() - - # GPU warmup for timing - if n == 0: - with torch.no_grad(): - self.run_inference_pipeline( - pose_estimator, - obs_tensor, - gt_detections, - initial_estimates=initial_data, - ) - - cuda_timer = CudaTimer() - cuda_timer.start() + # data is a dict + rgb = data["rgb"] + depth = None + K = data["cameras"].K + gt_detections = data["gt_detections"].cuda() + + initial_data = None + if data["initial_data"]: + initial_data = data["initial_data"].cuda() + + obs_tensor = ObservationTensor.from_torch_batched(rgb, depth, K) + obs_tensor = obs_tensor.cuda() + + # GPU warmup for timing + if n == 0: with torch.no_grad(): - all_preds = self.run_inference_pipeline( + self.run_inference_pipeline( pose_estimator, obs_tensor, gt_detections, initial_estimates=initial_data, ) - cuda_timer.end() - cuda_timer.elapsed() - for k, v in all_preds.items(): - predictions_list[k].append(v) - else: - break + cuda_timer = CudaTimer() + cuda_timer.start() + with torch.no_grad(): + all_preds = self.run_inference_pipeline( + pose_estimator, + obs_tensor, + gt_detections, + initial_estimates=initial_data, + ) + cuda_timer.end() + cuda_timer.elapsed() + + for k, v in all_preds.items(): + predictions_list[k].append(v) # Concatenate the lists of PandasTensorCollections predictions = {} From 5ef8f0fde939b3b5d4b1a0ceacb2d4002a00c653 Mon Sep 17 00:00:00 2001 From: MedericFourmy Date: Mon, 8 Apr 2024 10:18:49 -0400 Subject: [PATCH 05/15] assume bop toolkit scripts are in the PATH (agimus bop toolkit fork installation adaptation) --- .../cosypose/cosypose/config.py | 6 +- .../cosypose/scripts/run_bop20_eval.py | 27 +---- .../cosypose/cosypose/scripts/run_bop_eval.py | 98 ------------------- happypose/pose_estimators/megapose/config.py | 6 +- .../megapose/evaluation/bop.py | 43 +++----- 5 files changed, 22 insertions(+), 158 deletions(-) delete mode 100644 happypose/pose_estimators/cosypose/cosypose/scripts/run_bop_eval.py diff --git a/happypose/pose_estimators/cosypose/cosypose/config.py b/happypose/pose_estimators/cosypose/cosypose/config.py index b48c8af9..66f9318e 100644 --- a/happypose/pose_estimators/cosypose/cosypose/config.py +++ b/happypose/pose_estimators/cosypose/cosypose/config.py @@ -8,7 +8,6 @@ from joblib import Memory import happypose -import bop_toolkit_lib torch.multiprocessing.set_sharing_strategy("file_system") @@ -27,8 +26,9 @@ SYNT_DS_DIR = LOCAL_DATA_DIR / "synt_datasets" BOP_DS_DIR = LOCAL_DATA_DIR / "bop_datasets" -BOP_TOOLKIT_DIR = Path(bop_toolkit_lib.__file__).parent.parent -BOP_TOOLKIT_SCRIPTS = BOP_TOOLKIT_DIR / 'scripts' +# BOP scripts +BOP_POSE_EVAL_SCRIPT_NAME = "eval_bop19_pose.py" +BOP_DETECTION_EVAL_SCRIPT_NAME = "eval_bop22_coco.py" EXP_DIR = LOCAL_DATA_DIR / "experiments" RESULTS_DIR = LOCAL_DATA_DIR / "results" diff --git a/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop20_eval.py b/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop20_eval.py index 6f4591b1..aea748cd 100644 --- a/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop20_eval.py +++ b/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop20_eval.py @@ -1,24 +1,15 @@ import argparse -import os import shutil import subprocess -import sys from pathlib import Path import torch from tqdm import tqdm -from happypose.pose_estimators.cosypose.cosypose.config import PROJECT_DIR, RESULTS_DIR +from happypose.pose_estimators.cosypose.cosypose.config import PROJECT_DIR, RESULTS_DIR, BOP_POSE_EVAL_SCRIPT_NAME -TOOLKIT_DIR = Path(PROJECT_DIR / "deps" / "bop_toolkit_challenge") -EVAL_SCRIPT_PATH = TOOLKIT_DIR / "scripts/eval_bop19.py" -DUMMY_EVAL_SCRIPT_PATH = TOOLKIT_DIR / "scripts/eval_bop19_dummy.py" - -sys.path.append(TOOLKIT_DIR.as_posix()) from bop_toolkit_lib import inout # noqa -# from bop_toolkit_lib.config import results_path as BOP_RESULTS_PATH - def main(): parser = argparse.ArgumentParser("Bop evaluation") @@ -47,7 +38,7 @@ def run_evaluation(args): ) if not args.convert_only: - run_bop_evaluation(csv_path, dummy=args.dummy) + run_bop_evaluation(csv_path) return csv_path @@ -82,25 +73,15 @@ def convert_results(results_path, out_csv_path, method): return out_csv_path -def run_bop_evaluation(filename, dummy=False): - myenv = os.environ.copy() - myenv["PYTHONPATH"] = TOOLKIT_DIR.as_posix() - myenv["COSYPOSE_DIR"] = PROJECT_DIR.as_posix() - if dummy: - script_path = DUMMY_EVAL_SCRIPT_PATH - else: - script_path = EVAL_SCRIPT_PATH +def run_bop_evaluation(filename): subprocess.call( [ - "python", - script_path.as_posix(), + BOP_POSE_EVAL_SCRIPT_NAME, "--renderer_type", "python", "--result_filenames", filename, ], - env=myenv, - cwd=TOOLKIT_DIR.as_posix(), ) diff --git a/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop_eval.py b/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop_eval.py deleted file mode 100644 index ae42e164..00000000 --- a/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop_eval.py +++ /dev/null @@ -1,98 +0,0 @@ -import os -import argparse -import subprocess -from pathlib import Path - -import numpy as np -import torch -from tqdm import tqdm - -from happypose.pose_estimators.cosypose.cosypose.config import ( - BOP_TOOLKIT_DIR, - BOP_TOOLKIT_SCRIPTS, - LOCAL_DATA_DIR, - MEMORY, - # PROJECT_DIR, - RESULTS_DIR, -) - -from bop_toolkit_lib import inout # noqa - -SISO_SCRIPT_PATH = BOP_TOOLKIT_SCRIPTS / "eval_siso.py" -VIVO_SCRIPT_PATH = BOP_TOOLKIT_SCRIPTS / "eval_vivo.py" - - -def main(): - parser = argparse.ArgumentParser("Bop evaluation") - parser.add_argument("--result_id", default="", type=str) - parser.add_argument("--method", default="", type=str) - parser.add_argument("--vivo", action="store_true") - args = parser.parse_args() - n_rand = np.random.randint(1e6) - csv_path = ( - LOCAL_DATA_DIR - / "bop_predictions_csv" - / f"cosypose{n_rand}-eccv2020_tless-test-primesense.csv" - ) - csv_path.parent.mkdir(exist_ok=True) - results_path = RESULTS_DIR / args.result_id / "results.pth.tar" - convert_results(results_path, csv_path, method=args.method) - run_evaluation(csv_path, args.vivo) - - -@MEMORY.cache -def convert_results(results_path, out_csv_path, method): - predictions = torch.load(results_path)["predictions"][method] - print("Predictions from:", results_path) - print("Method:", method) - print("Number of predictions: ", len(predictions)) - - preds = [] - for n in tqdm(range(len(predictions))): - TCO_n = predictions.poses[n] - t = TCO_n[:3, -1] * 1e3 # m -> mm conversion - R = TCO_n[:3, :3] - row = predictions.infos.iloc[n] - obj_id = int(row.label.split("_")[-1]) - score = row.score - time = -1.0 - pred = { - "scene_id": row.scene_id, - "im_id": row.view_id, - "obj_id": obj_id, - "score": score, - "t": t, - "R": R, - "time": time, - } - preds.append(pred) - print("Wrote:", out_csv_path) - inout.save_bop_results(out_csv_path, preds) - return out_csv_path - - -def run_evaluation(filename, is_vivo): - if is_vivo: - script_path = VIVO_SCRIPT_PATH - else: - script_path = SISO_SCRIPT_PATH - myenv = os.environ.copy() - # myenv["PYTHONPATH"] = BOP_TOOLKIT_DIR.as_posix() - # myenv["COSYPOSE_DIR"] = PROJECT_DIR.as_posix() - print(script_path) - subprocess.call( - [ - "python", - script_path.as_posix(), - "--renderer_type", - "python", - "--result_filename", - filename, - ], - env=myenv, - cwd=BOP_TOOLKIT_DIR.as_posix(), - ) - - -if __name__ == "__main__": - main() diff --git a/happypose/pose_estimators/megapose/config.py b/happypose/pose_estimators/megapose/config.py index e00e8488..d7dde36b 100644 --- a/happypose/pose_estimators/megapose/config.py +++ b/happypose/pose_estimators/megapose/config.py @@ -24,7 +24,6 @@ # MegaPose import happypose -import bop_toolkit_lib PROJECT_ROOT = Path(happypose.__file__).parent.parent PROJECT_DIR = PROJECT_ROOT @@ -36,8 +35,9 @@ SHAPENET_DIR = LOCAL_DATA_DIR / "shapenetcorev2" WDS_DS_DIR = LOCAL_DATA_DIR / "webdatasets" -BOP_TOOLKIT_DIR = Path(bop_toolkit_lib.__file__).parent.parent -BOP_TOOLKIT_SCRIPTS = BOP_TOOLKIT_DIR / 'scripts' +# BOP eval scripts names +BOP_POSE_EVAL_SCRIPT_NAME = "eval_bop19_pose.py" +BOP_DETECTION_EVAL_SCRIPT_NAME = "eval_bop22_coco.py" BLENDER_PBR_DS_DIR = LOCAL_DATA_DIR / "blender_pbr_datasets" CC_TEXTURE_FOLDER = str(LOCAL_DATA_DIR / "cctextures") diff --git a/happypose/pose_estimators/megapose/evaluation/bop.py b/happypose/pose_estimators/megapose/evaluation/bop.py index 4977db12..018de01e 100644 --- a/happypose/pose_estimators/megapose/evaluation/bop.py +++ b/happypose/pose_estimators/megapose/evaluation/bop.py @@ -31,10 +31,10 @@ # MegaPose from happypose.pose_estimators.megapose.config import ( - BOP_TOOLKIT_DIR, - BOP_TOOLKIT_SCRIPTS, LOCAL_DATA_DIR, PROJECT_DIR, + BOP_POSE_EVAL_SCRIPT_NAME, + BOP_DETECTION_EVAL_SCRIPT_NAME, ) from happypose.pose_estimators.megapose.evaluation.eval_config import BOPEvalConfig from happypose.toolbox.datasets.scene_dataset import ObjectData @@ -46,13 +46,6 @@ device = torch.device("cuda" if torch.cuda.is_available() else "cpu") -# Note we are actually using the bop_toolkit_lib that is directly conda installed -# inside the docker image. This is just to access the scripts. -POSE_EVAL_SCRIPT_PATH = BOP_TOOLKIT_SCRIPTS / "eval_bop19_pose.py" -DETECTION_EVAL_SCRIPT_PATH = BOP_TOOLKIT_SCRIPTS / "eval_bop22_coco.py" -DUMMY_EVAL_SCRIPT_PATH = BOP_TOOLKIT_SCRIPTS / "eval_bop19_dummy.py" - - # Third Party from bop_toolkit_lib import inout # noqa @@ -172,33 +165,21 @@ def _run_bop_evaluation(filename, eval_dir, eval_detection=False, dummy=False): myenv["BOP_RESULTS_PATH"] = str(eval_dir) myenv["BOP_EVAL_PATH"] = str(eval_dir) renderer_type = "vispy" # other options: 'cpp', 'python' - if dummy: + if eval_detection: cmd = [ - "python", - str(DUMMY_EVAL_SCRIPT_PATH), - "--renderer_type", - renderer_type, + BOP_DETECTION_EVAL_SCRIPT_NAME, "--result_filenames", filename, ] else: - if eval_detection: - cmd = [ - "python", - str(DETECTION_EVAL_SCRIPT_PATH), - "--result_filenames", - filename, - ] - else: - cmd = [ - "python", - str(POSE_EVAL_SCRIPT_PATH), - "--result_filenames", - filename, - "--renderer_type", - renderer_type, - ] - subprocess.call(cmd, env=myenv, cwd=BOP_TOOLKIT_DIR.as_posix()) + cmd = [ + BOP_POSE_EVAL_SCRIPT_NAME, + "--result_filenames", + filename, + "--renderer_type", + renderer_type, + ] + subprocess.call(cmd, env=myenv) def run_evaluation(cfg: BOPEvalConfig) -> None: From 8f751669e66d4086228788ce928a7dff19935d81 Mon Sep 17 00:00:00 2001 From: MedericFourmy Date: Tue, 9 Apr 2024 04:14:18 -0400 Subject: [PATCH 06/15] bop_toolkit_lib is now a mandatory dependency --- README.md | 1 - poetry.lock | 1 - pyproject.toml | 3 +-- 3 files changed, 1 insertion(+), 4 deletions(-) diff --git a/README.md b/README.md index d0481e29..114c0b9a 100644 --- a/README.md +++ b/README.md @@ -46,7 +46,6 @@ pip install .[pypi,cpu] --extra-index-url https://download.pytorch.org/whl/cpu - `cpu`: required to get pytorch CPU from PyPI (don't use this for GPU or with conda) - `gpu`: required to get pytorch GPU from PyPI (don't use this for CPU or with conda) -- `evaluation`: installs bop_toolkit - `multiview`: installs cosypose c++ extension - `pypi`: install pinocchio & opencv from PyPI (don't use this with conda) diff --git a/poetry.lock b/poetry.lock index a1375c80..35011701 100644 --- a/poetry.lock +++ b/poetry.lock @@ -4058,7 +4058,6 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [extras] cpu = ["torch", "torch", "torchvision", "torchvision"] -evaluation = ["bop_toolkit_lib"] gpu = ["torch", "torch", "torchvision", "torchvision"] multiview = ["cosypose"] pypi = ["opencv-contrib-python", "opencv-python", "pin"] diff --git a/pyproject.toml b/pyproject.toml index dd632199..898ea2bd 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -24,7 +24,7 @@ version = "0.1.0" addict = "^2.4.0" beautifulsoup4 = "^4.12.2" bokeh = "^3.2.2" -bop_toolkit_lib = {git = "https://github.com/agimus-project/bop_toolkit", optional = true} +bop_toolkit_lib = {git = "https://github.com/agimus-project/bop_toolkit"} cosypose = {optional = true, path = "happypose/pose_estimators/cosypose"} 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00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 9 Apr 2024 08:44:02 +0000 Subject: [PATCH 08/15] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- happypose/pose_estimators/cosypose/cosypose/config.py | 1 - .../pose_estimators/cosypose/cosypose/datasets/bop.py | 3 +-- .../cosypose/cosypose/evaluation/evaluation.py | 6 +++++- .../cosypose/cosypose/scripts/run_bop20_eval.py | 9 +++++---- .../cosypose/cosypose/scripts/run_custom_scenario.py | 3 +-- happypose/pose_estimators/megapose/evaluation/bop.py | 4 ++-- happypose/toolbox/datasets/bop_scene_dataset.py | 6 +++--- 7 files changed, 17 insertions(+), 15 deletions(-) diff --git a/happypose/pose_estimators/cosypose/cosypose/config.py b/happypose/pose_estimators/cosypose/cosypose/config.py index 66f9318e..1ddf5ccd 100644 --- a/happypose/pose_estimators/cosypose/cosypose/config.py +++ b/happypose/pose_estimators/cosypose/cosypose/config.py @@ -9,7 +9,6 @@ import happypose - torch.multiprocessing.set_sharing_strategy("file_system") hostname = socket.gethostname() diff --git a/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py b/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py index 37cba9a4..ac26e263 100644 --- a/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py +++ b/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py @@ -6,14 +6,13 @@ import numpy as np import pandas as pd import torch +from bop_toolkit_lib import inout from PIL import Image from happypose.pose_estimators.cosypose.cosypose.config import MEMORY from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger from happypose.toolbox.lib3d.transform import Transform -from bop_toolkit_lib import inout - sys.path = sys.path[:-1] diff --git a/happypose/pose_estimators/cosypose/cosypose/evaluation/evaluation.py b/happypose/pose_estimators/cosypose/cosypose/evaluation/evaluation.py index 3d8f72af..70dc90d2 100644 --- a/happypose/pose_estimators/cosypose/cosypose/evaluation/evaluation.py +++ b/happypose/pose_estimators/cosypose/cosypose/evaluation/evaluation.py @@ -198,12 +198,16 @@ def run_eval( if cfg.inference.run_depth_refiner: if cfg.inference.depth_refiner == "icp": - from happypose.pose_estimators.megapose.inference.icp_refiner import ICPRefiner + from happypose.pose_estimators.megapose.inference.icp_refiner import ( + ICPRefiner, + ) + ICPRefiner(mesh_db, renderer) elif cfg.inference.depth_refiner == "teaserpp": from happypose.pose_estimators.megapose.inference.teaserpp_refiner import ( TeaserppRefiner, ) + TeaserppRefiner(mesh_db, renderer) else: pass diff --git a/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop20_eval.py b/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop20_eval.py index aea748cd..e105ca0b 100644 --- a/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop20_eval.py +++ b/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop20_eval.py @@ -1,14 +1,15 @@ import argparse import shutil import subprocess -from pathlib import Path import torch +from bop_toolkit_lib import inout from tqdm import tqdm -from happypose.pose_estimators.cosypose.cosypose.config import PROJECT_DIR, RESULTS_DIR, BOP_POSE_EVAL_SCRIPT_NAME - -from bop_toolkit_lib import inout # noqa +from happypose.pose_estimators.cosypose.cosypose.config import ( + BOP_POSE_EVAL_SCRIPT_NAME, + RESULTS_DIR, +) def main(): diff --git a/happypose/pose_estimators/cosypose/cosypose/scripts/run_custom_scenario.py b/happypose/pose_estimators/cosypose/cosypose/scripts/run_custom_scenario.py index cd2191fb..ba6cb96c 100644 --- a/happypose/pose_estimators/cosypose/cosypose/scripts/run_custom_scenario.py +++ b/happypose/pose_estimators/cosypose/cosypose/scripts/run_custom_scenario.py @@ -6,6 +6,7 @@ import numpy as np import pandas as pd import torch +from bop_toolkit_lib import inout import happypose.pose_estimators.cosypose.cosypose.utils.tensor_collection as tc from happypose.pose_estimators.cosypose.cosypose.config import ( @@ -23,8 +24,6 @@ from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger from happypose.pose_estimators.cosypose.cosypose.visualization.multiview import nms3d -from bop_toolkit_lib import inout - logger = get_logger(__name__) diff --git a/happypose/pose_estimators/megapose/evaluation/bop.py b/happypose/pose_estimators/megapose/evaluation/bop.py index 018de01e..aa77b241 100644 --- a/happypose/pose_estimators/megapose/evaluation/bop.py +++ b/happypose/pose_estimators/megapose/evaluation/bop.py @@ -31,10 +31,10 @@ # MegaPose from happypose.pose_estimators.megapose.config import ( + BOP_DETECTION_EVAL_SCRIPT_NAME, + BOP_POSE_EVAL_SCRIPT_NAME, LOCAL_DATA_DIR, PROJECT_DIR, - BOP_POSE_EVAL_SCRIPT_NAME, - BOP_DETECTION_EVAL_SCRIPT_NAME, ) from happypose.pose_estimators.megapose.evaluation.eval_config import BOPEvalConfig from happypose.toolbox.datasets.scene_dataset import ObjectData diff --git a/happypose/toolbox/datasets/bop_scene_dataset.py b/happypose/toolbox/datasets/bop_scene_dataset.py index d642cd74..0f8277ed 100644 --- a/happypose/toolbox/datasets/bop_scene_dataset.py +++ b/happypose/toolbox/datasets/bop_scene_dataset.py @@ -22,6 +22,9 @@ # Third Party import numpy as np import pandas as pd + +# Third Party +from bop_toolkit_lib import inout from PIL import Image from tqdm import tqdm @@ -39,9 +42,6 @@ from happypose.toolbox.lib3d.transform import Transform from happypose.toolbox.utils.logging import get_logger -# Third Party -from bop_toolkit_lib import inout - sys.path = sys.path[:-1] From 9d1bf91eefb3c22cfca10badb9993555160cd355 Mon Sep 17 00:00:00 2001 From: MedericFourmy Date: Tue, 9 Apr 2024 07:05:40 -0400 Subject: [PATCH 09/15] remove sys.path manipulation --- happypose/pose_estimators/cosypose/cosypose/datasets/bop.py | 2 -- happypose/toolbox/datasets/bop_scene_dataset.py | 2 -- 2 files changed, 4 deletions(-) diff --git a/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py b/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py index ac26e263..39196708 100644 --- a/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py +++ b/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py @@ -13,8 +13,6 @@ from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger from happypose.toolbox.lib3d.transform import Transform -sys.path = sys.path[:-1] - logger = get_logger(__name__) diff --git a/happypose/toolbox/datasets/bop_scene_dataset.py b/happypose/toolbox/datasets/bop_scene_dataset.py index 0f8277ed..9f59d3d4 100644 --- a/happypose/toolbox/datasets/bop_scene_dataset.py +++ b/happypose/toolbox/datasets/bop_scene_dataset.py @@ -42,8 +42,6 @@ from happypose.toolbox.lib3d.transform import Transform from happypose.toolbox.utils.logging import get_logger -sys.path = sys.path[:-1] - logger = get_logger(__name__) From 83c44b7cf2a1522390099d73d7a69da3717db4f8 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 9 Apr 2024 11:06:27 +0000 Subject: [PATCH 10/15] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- happypose/pose_estimators/cosypose/cosypose/datasets/bop.py | 2 -- happypose/toolbox/datasets/bop_scene_dataset.py | 2 -- 2 files changed, 4 deletions(-) diff --git a/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py b/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py index 39196708..5f1ad82a 100644 --- a/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py +++ b/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py @@ -1,6 +1,5 @@ import json import pickle -import sys from pathlib import Path import numpy as np @@ -13,7 +12,6 @@ from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger from happypose.toolbox.lib3d.transform import Transform - logger = get_logger(__name__) diff --git a/happypose/toolbox/datasets/bop_scene_dataset.py b/happypose/toolbox/datasets/bop_scene_dataset.py index 9f59d3d4..c74d265a 100644 --- a/happypose/toolbox/datasets/bop_scene_dataset.py +++ b/happypose/toolbox/datasets/bop_scene_dataset.py @@ -16,7 +16,6 @@ # Standard Library import json import pickle -import sys from pathlib import Path # Third Party @@ -42,7 +41,6 @@ from happypose.toolbox.lib3d.transform import Transform from happypose.toolbox.utils.logging import get_logger - logger = get_logger(__name__) From 246f32b8ffb81ab44c0f21346b504ee3b1caf31d Mon Sep 17 00:00:00 2001 From: MedericFourmy Date: Tue, 9 Apr 2024 07:34:44 -0400 Subject: [PATCH 11/15] Remove pip extras mention from github workflows --- .github/workflows/conda-test.yml | 2 +- .github/workflows/pip-test.yml | 2 +- .github/workflows/poetry-test.yml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/conda-test.yml b/.github/workflows/conda-test.yml index 27fdba6e..71c857e6 100644 --- a/.github/workflows/conda-test.yml +++ b/.github/workflows/conda-test.yml @@ -52,7 +52,7 @@ jobs: if: steps.cache.outputs.cache-hit != 'true' - name: Install happypose - run: pip install -e ".[evaluation]" + run: pip install -e . - name: Download pre-trained models required for tests run: | diff --git a/.github/workflows/pip-test.yml b/.github/workflows/pip-test.yml index 7e05aac7..651baf9b 100644 --- a/.github/workflows/pip-test.yml +++ b/.github/workflows/pip-test.yml @@ -30,7 +30,7 @@ jobs: run: pip install -U pip - name: Install happypose - run: pip install ".[cpu,evaluation,pypi]" --extra-index-url https://download.pytorch.org/whl/cpu + run: pip install ".[cpu,pypi]" --extra-index-url https://download.pytorch.org/whl/cpu - name: Download pre-trained models required for tests run: | diff --git a/.github/workflows/poetry-test.yml b/.github/workflows/poetry-test.yml index 2d177472..2e71987a 100644 --- a/.github/workflows/poetry-test.yml +++ b/.github/workflows/poetry-test.yml @@ -31,7 +31,7 @@ jobs: cache: poetry - name: Install happypose - run: poetry install --with dev -E cpu -E evaluation -E pypi + run: poetry install --with dev -E cpu -E pypi - name: Download pre-trained models required for tests run: | From cef4a61ace0deb560ee953c11fb89a9eb6d709ed Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Elliot=20Ma=C3=AEtre?= Date: Mon, 15 Apr 2024 13:39:21 +0200 Subject: [PATCH 12/15] Update environment.yml --- environment.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/environment.yml b/environment.yml index f3aff00d..f7242178 100644 --- a/environment.yml +++ b/environment.yml @@ -11,6 +11,7 @@ dependencies: - pip - pytorch::pytorch==1.11.0 - torchvision==0.12.0 + - mkl==2024.0.0 - geckodriver - firefox - opencv From 22a13ddbf6bb3acb7ddee81bc6150007c77ebf36 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Elliot=20Ma=C3=AEtre?= Date: Mon, 15 Apr 2024 13:42:02 +0200 Subject: [PATCH 13/15] Update environment.yml --- environment.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/environment.yml b/environment.yml index f7242178..e56d6d62 100644 --- a/environment.yml +++ b/environment.yml @@ -11,7 +11,7 @@ dependencies: - pip - pytorch::pytorch==1.11.0 - torchvision==0.12.0 - - mkl==2024.0.0 + - mkl==2024.0.0 - geckodriver - firefox - opencv From 4fa910ec3656889717570732ff89e71fccf40dce Mon Sep 17 00:00:00 2001 From: Mederic Fourmy Date: Wed, 17 Apr 2024 14:24:33 +0200 Subject: [PATCH 14/15] Update download_data.md only propose to download detector when dowloading megapose related models --- docs/book/megapose/download_data.md | 18 +++--------------- 1 file changed, 3 insertions(+), 15 deletions(-) diff --git a/docs/book/megapose/download_data.md b/docs/book/megapose/download_data.md index 552a5f80..8bb46fc7 100644 --- a/docs/book/megapose/download_data.md +++ b/docs/book/megapose/download_data.md @@ -19,23 +19,11 @@ Megapose can use pretrained detectors from CosyPose, which can be downloaded to ```sh # hope -python -m happypose.toolbox.utils.download --cosypose_models \ - detector-bop-hope-pbr--15246 \ - coarse-bop-hope-pbr--225203 \ - refiner-bop-hope-pbr--955392 - +python -m happypose.toolbox.utils.download --cosypose_models detector-bop-hope-pbr--15246 # ycbv - -python -m happypose.toolbox.utils.download --cosypose_models \ - detector-bop-ycbv-pbr--970850 \ - coarse-bop-ycbv-pbr--724183 \ - refiner-bop-ycbv-pbr--604090 - +python -m happypose.toolbox.utils.download --cosypose_models detector-bop-ycbv-pbr--970850 # tless -python -m happypose.toolbox.utils.download --cosypose_models \ - detector-bop-tless-pbr--873074 \ - coarse-bop-tless-pbr--506801 \ - refiner-bop-tless-pbr--233420 +python -m happypose.toolbox.utils.download --cosypose_models detector-bop-tless-pbr--873074 ``` # Dataset From 3af8f07d7241cb92ae2975a7a1cbaea2ae7c4449 Mon Sep 17 00:00:00 2001 From: Mederic Fourmy Date: Thu, 25 Apr 2024 11:35:16 +0200 Subject: [PATCH 15/15] Update eval teaserpp --- docs/book/megapose/evaluate.md | 19 +------------------ 1 file changed, 1 insertion(+), 18 deletions(-) diff --git a/docs/book/megapose/evaluate.md b/docs/book/megapose/evaluate.md index c1adf1ec..012a8979 100644 --- a/docs/book/megapose/evaluate.md +++ b/docs/book/megapose/evaluate.md @@ -2,28 +2,11 @@ Please make sure you followed the steps relative to the evaluation in the main readme. -## TEASER++ - -You will first 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 : - -``` -# Go to HappyPose root directory -apt install -y cmake libeigen3-dev libboost-all-dev -conda activate happypose -mamba install compilers -c conda-forge -pip install open3d -mkdir /build && cd /build && git clone https://github.com/MIT-SPARK/TEASER-plusplus.git -cd TEASER-plusplus && mkdir build && cd build -cmake -DTEASERPP_PYTHON_VERSION=3.9 .. && make teaserpp_python -cd python && pip install . -``` - ## Evaluating with Megapose detector Run a detector part of Megapose pipeline to detect bounding boxes in the image dataset at run-time. ``` -python -m happypose.pose_estimators.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19,lmo.bop19,tless.bop19,tudl.bop19,icbin.bop19,hb.bop19,itodd.bop19] result_id=detector_1posehyp detection_coarse_types=[["detector","SO3_grid"]] inference.n_pose_hypotheses=1 skip_inference=false run_bop_eval=true +python -m happypose.pose_estimators.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19,lmo.bop19,tless.bop19,tudl.bop19,icbin.bop19,hb.bop19,itodd.bop19,hope.bop19] result_id=detector_1posehyp detection_coarse_types=[["detector","SO3_grid"]] inference.n_pose_hypotheses=1 skip_inference=false run_bop_eval=true ``` ## Evaluating with external detections