CI and Tests

.github/workflows/test.yml

@@ -5,16 +5,70 @@ on: [push, pull_request]
 jobs:
   test:
     runs-on: ubuntu-latest
+    defaults:
+      run:
+        shell: bash -el {0}
     strategy:
       matrix:
-        python-version: ["3.8", "3.9", "3.10", "3.11"]
+        python-version: ["3.9"]
     steps:
-      - uses: actions/checkout@v3
-      - run: pipx install poetry
-      - uses: actions/setup-python@v4
+      - uses: actions/checkout@v4
         with:
+          submodules: 'recursive'
+      - name: Install EGL mesa - required for Panda3D renderer
+        run: |
+          sudo apt-get update -y -qq
+          sudo apt-get install -y -qq libegl1-mesa libegl1-mesa-dev
+
+      - name: Setup conda
+        uses: conda-incubator/setup-miniconda@v2
+        with:
+          activate-environment: happypose
           python-version: ${{ matrix.python-version }}
-          cache: poetry
-      - run: poetry install --with dev -E render
-      - run: poetry run coverage run -m unittest
+          miniforge-variant: Mambaforge
+          miniforge-version: latest
+          use-mamba: true
+
+      - name: Get date for caching, reset cache every day
+        id: get-date
+        run: echo "::set-output name=today::$(/bin/date -u '+%Y%m%d')"
+        shell: bash
+
+      - name: Caching of the happypose installation
+        uses: actions/cache@v3
+        with:
+          path: ${{ env.CONDA }}/envs
+          key:
+            conda-${{ runner.os }}--${{ runner.arch }}--${{steps.get-date.outputs.today }}-${{hashFiles('environment.yml') }}-${{env.CACHE_NUMBER }}
+        env:
+          # Increase this value to reset cache manually
+          CACHE_NUMBER: 0
+        id: cache
+
+      - name: Update conda environment with happypose dependencies
+        run:
+          mamba env update -n happypose -f environment.yml
+        if: steps.cache.outputs.cache-hit != 'true'
+
+      - name: Install bop toolkit (temporal fix)
+        run: |
+          cd happypose/pose_estimators/megapose/deps/bop_toolkit_challenge/
+          sed 's/==.*$//' requirements.txt > req_nover.txt
+          pip install -r req_nover.txt -e .
+        if: steps.cache.outputs.cache-hit != 'true'
+
+      - name: Install happypose
+        run: |
+          cd happypose/pose_estimators/cosypose
+          pip install .
+          cd ../../..
+          pip install -e .
+
+      - name: Run tests
+        run: |
+          pip install pytest coverage
+          coverage run --source=happypose -m pytest tests
+          coverage xml
       - uses: codecov/codecov-action@v3
+        env:
+          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

.vscode/settings.json

@@ -8,5 +8,5 @@
     },
     "python.linting.enabled": true,
     "python.linting.flake8Enabled": true,
-    "python.linting.mypyEnabled": true,
-}
+    "python.linting.mypyEnabled": true
+}

environment.yml

@@ -16,9 +16,9 @@ dependencies:
   - ipython
   - ipykernel
   - jupyterlab
-  - notebook
-  - nb_conda_kernels
-  - jupyter_contrib_nbextensions
+#  - notebook
+#  - nb_conda_kernels
+#  - jupyter_contrib_nbextensions
   - pinocchio
   - rclone
   - pillow

happypose/toolbox/renderer/panda3d_scene_renderer.py

@@ -29,6 +29,7 @@
 from typing import Dict, List, Optional, Set
 
 # Third Party
+import torch
 import numpy as np
 import panda3d as p3d
 from direct.showbase.ShowBase import ShowBase
@@ -62,6 +63,7 @@ def __init__(self) -> None:
         p3d.core.load_prc_file_data(
             __file__,
             "load-display pandagl\n"
+            "gl-version 3 2\n"
             "notify-level-assimp fatal\n"
             "notify-level-egldisplay fatal\n"
             "notify-level-glgsg fatal\n"
@@ -80,20 +82,21 @@ def __init__(self) -> None:
             "audio-library-name null\n"
             "model-cache-dir\n",
         )
-        assert "CUDA_VISIBLE_DEVICES" in os.environ
-        devices = os.environ["CUDA_VISIBLE_DEVICES"].split(",")
-        assert len(devices) == 1
-        if "EGL_VISIBLE_DEVICES" not in os.environ:
-            out = subprocess.check_output(
-                ["nvidia-smi", "--id=" + str(devices[0]), "-q", "--xml-format"]
-            )
-            tree = ET.fromstring(out)
-            gpu = tree.findall("gpu")[0]
-            assert gpu is not None
-            minor_number_el = gpu.find("minor_number")
-            assert minor_number_el is not None
-            dev_id = minor_number_el.text
-            os.environ["EGL_VISIBLE_DEVICES"] = str(dev_id)
+        if torch.cuda.is_available():
+            assert "CUDA_VISIBLE_DEVICES" in os.environ
+            devices = os.environ["CUDA_VISIBLE_DEVICES"].split(",")
+            assert len(devices) == 1
+            if "EGL_VISIBLE_DEVICES" not in os.environ:
+                out = subprocess.check_output(
+                    ["nvidia-smi", "--id=" + str(devices[0]), "-q", "--xml-format"]
+                )
+                tree = ET.fromstring(out)
+                gpu = tree.findall("gpu")[0]
+                assert gpu is not None
+                minor_number_el = gpu.find("minor_number")
+                assert minor_number_el is not None
+                dev_id = minor_number_el.text
+                os.environ["EGL_VISIBLE_DEVICES"] = str(dev_id)
 
         super().__init__(windowType="offscreen")
         self.render.set_shader_auto()

tests/test_renderer_panda3d.py

@@ -0,0 +1,72 @@
+"""Set of unit tests for Panda3D renderer."""
+import unittest
+from pathlib import Path
+import numpy as np
+from numpy.testing import assert_equal
+
+from happypose.toolbox.datasets.object_dataset import RigidObjectDataset, RigidObject
+from happypose.toolbox.lib3d.transform import Transform
+from happypose.toolbox.renderer.panda3d_scene_renderer import Panda3dSceneRenderer
+from happypose.toolbox.renderer.types import (
+    Panda3dObjectData,
+    Panda3dCameraData,
+    Panda3dLightData,
+)
+
+
+class TestRendererPanda3D(unittest.TestCase):
+    """Unit tests for Panda3D renderer."""
+
+    def test_simple_render(self):
+        """Render an example object and check that output image match expectation."""
+        renderer = Panda3dSceneRenderer(
+            asset_dataset=RigidObjectDataset(
+                objects=[
+                    RigidObject(
+                        label="obj",
+                        mesh_path=Path(__file__).parent.joinpath("data/obj_000001.ply"),
+                        mesh_units="mm",
+                    )
+                ]
+            )
+        )
+
+        object_datas = [
+            Panda3dObjectData(
+                label="obj", TWO=Transform((0, 0, 0, 1), (0, 0, 1)), color=(1, 0, 0, 1)
+            )
+        ]
+        camera_datas = [
+            Panda3dCameraData(
+                K=np.array(
+                    [
+                        [600.0, 0.0, 160.0],
+                        [0.0, 600.0, 160.0],
+                        [0.0, 0.0, 1.0],
+                    ]
+                ),
+                resolution=(320, 320),
+            )
+        ]
+
+        light_datas = [
+            Panda3dLightData(
+                light_type="ambient",
+                color=(1.0, 1, 1, 1),
+            ),
+        ]
+        renderings = renderer.render_scene(object_datas, camera_datas, light_datas)
+        # import matplotlib.pyplot as plt
+        # fig, ax = plt.subplots(1, 1, squeeze=True)  # type: plt.Figure, plt.Axes
+        # ax.imshow(renderings[0].rgb)
+        # plt.show()
+
+        self.assertEqual(len(renderings), 1)
+        rgb = renderings[0].rgb
+
+        assert_equal(rgb[rgb.shape[0] // 2, rgb.shape[1] // 2], (255, 0, 0))
+        assert_equal(rgb[0, 0], (0, 0, 0))
+
+
+if __name__ == "__main__":
+    unittest.main()