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@@ -1,77 +1,62 @@ | ||
--- | ||
name: 'Humble: Build and Test' | ||
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on : | ||
on: | ||
push: | ||
branches: | ||
- main | ||
- main | ||
pull_request: | ||
branches: | ||
- '*' | ||
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- '*' | ||
jobs: | ||
test_happypose_ros: | ||
runs-on: ubuntu-22.04 | ||
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env: | ||
HAPPYPOSE_DATA_DIR: /tmp/local_data | ||
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steps: | ||
- name: Install EGL mesa - required for Panda3D renderer | ||
run: | | ||
sudo apt-get update | ||
sudo apt-get install -qqy libegl1-mesa libegl1-mesa-dev | ||
- name: Install Python C headers and remove Blinker version conflicting with HappyPose | ||
run: | | ||
sudo apt-get update | ||
sudo apt-get install -qqy python3-dev | ||
sudo apt purge -qqy python3-blinker | ||
- name: Caching of the HappyPose installation and data | ||
uses: actions/cache@v4 | ||
with: | ||
path: /tmp/local_data | ||
key: data | ||
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||
- name: Update pip | ||
run: pip install -U pip | ||
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- name: Download HappyPose source | ||
working-directory: /tmp | ||
run: | | ||
git clone --branch dev --recurse-submodules https://github.com/agimus-project/happypose.git | ||
- name: Build and install HappyPose | ||
working-directory: /tmp/happypose | ||
run: pip install ".[cpu,pypi,evaluation,multiview]" --extra-index-url https://download.pytorch.org/whl/cpu | ||
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||
- name: Download pre-trained models required for tests | ||
run: | | ||
mkdir -p /tmp/local_data | ||
python -m happypose.toolbox.utils.download \ | ||
--bop_dataset ycbv \ | ||
--cosypose_models \ | ||
detector-bop-ycbv-pbr--970850 \ | ||
coarse-bop-ycbv-pbr--724183 \ | ||
refiner-bop-ycbv-pbr--604090 | ||
- name: Unzip HappyPose YCBV models | ||
working-directory: /tmp/local_data/bop_datasets/ycbv | ||
run: | | ||
unzip -n -qq ycbv_base.zip | ||
unzip -n -qq ycbv_models.zip | ||
- name: Remove incompatible PyTest version | ||
run: pip uninstall -y pytest | ||
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||
- name: Install ROS 2 Humble | ||
uses: ros-tooling/[email protected] | ||
with: | ||
required-ros-distributions: humble | ||
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||
- name: Build and test happypose_ros | ||
uses: ros-tooling/[email protected] | ||
with: | ||
package-name: happypose_ros | ||
target-ros2-distro: humble | ||
- name: Install EGL mesa - required for Panda3D renderer | ||
run: | | ||
sudo apt-get update | ||
sudo apt-get install -qqy libegl1-mesa libegl1-mesa-dev | ||
- name: Install Python C headers and remove Blinker version conflicting with HappyPose | ||
run: | | ||
sudo apt-get update | ||
sudo apt-get install -qqy python3-dev | ||
sudo apt purge -qqy python3-blinker | ||
- name: Caching of the HappyPose installation and data | ||
uses: actions/cache@v4 | ||
with: | ||
path: /tmp/local_data | ||
key: data | ||
- name: Update pip | ||
run: pip install -U pip | ||
- name: Download HappyPose source | ||
working-directory: /tmp | ||
run: | | ||
git clone --branch dev --recurse-submodules https://github.com/agimus-project/happypose.git | ||
- name: Build and install HappyPose | ||
working-directory: /tmp/happypose | ||
run: pip install ".[cpu,pypi,evaluation,multiview]" --extra-index-url https://download.pytorch.org/whl/cpu | ||
- name: Download pre-trained models required for tests | ||
run: | | ||
mkdir -p /tmp/local_data | ||
python -m happypose.toolbox.utils.download \ | ||
--bop_dataset ycbv \ | ||
--cosypose_models \ | ||
detector-bop-ycbv-pbr--970850 \ | ||
coarse-bop-ycbv-pbr--724183 \ | ||
refiner-bop-ycbv-pbr--604090 | ||
- name: Unzip HappyPose YCBV models | ||
working-directory: /tmp/local_data/bop_datasets/ycbv | ||
run: | | ||
unzip -n -qq ycbv_base.zip | ||
unzip -n -qq ycbv_models.zip | ||
- name: Remove incompatible PyTest version | ||
run: pip uninstall -y pytest | ||
- name: Install ROS 2 Humble | ||
uses: ros-tooling/[email protected] | ||
with: | ||
required-ros-distributions: humble | ||
- name: Build and test happypose_ros | ||
uses: ros-tooling/[email protected] | ||
with: | ||
package-name: happypose_ros | ||
target-ros2-distro: humble |
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---|---|---|
@@ -1,39 +1,37 @@ | ||
--- | ||
repos: | ||
- repo: https://github.com/astral-sh/ruff-pre-commit | ||
rev: v0.6.5 | ||
hooks: | ||
- id: ruff | ||
args: | ||
- --fix | ||
- --exit-non-zero-on-fix | ||
- id: ruff-format | ||
- repo: https://github.com/pre-commit/pre-commit-hooks | ||
rev: v4.6.0 | ||
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/codespell-project/codespell | ||
rev: v2.3.0 | ||
hooks: | ||
- id: codespell | ||
args: [--write-changes] | ||
exclude: resources/happypose_ros_diagram.drawio.svg | ||
- repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt | ||
rev: 0.2.3 | ||
hooks: | ||
- id: yamlfmt | ||
args: [--mapping, '2', --sequence, '2', --offset, '0', --colons, --width, '86'] | ||
- repo: https://github.com/astral-sh/ruff-pre-commit | ||
rev: v0.6.5 | ||
hooks: | ||
- id: ruff | ||
args: | ||
- --fix | ||
- --exit-non-zero-on-fix | ||
- id: ruff-format | ||
- repo: https://github.com/pre-commit/pre-commit-hooks | ||
rev: v4.6.0 | ||
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/codespell-project/codespell | ||
rev: v2.3.0 | ||
hooks: | ||
- id: codespell | ||
args: [--write-changes] | ||
exclude: resources/happypose_ros_diagram.drawio.svg | ||
- repo: https://github.com/google/yamlfmt | ||
rev: v0.13.0 | ||
hooks: | ||
- id: yamlfmt |
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---|---|---|
@@ -1,21 +1,20 @@ | ||
--- | ||
image_width : 640 | ||
image_height : 480 | ||
camera_name : webcam | ||
camera_matrix : | ||
image_width: 640 | ||
image_height: 480 | ||
camera_name: webcam | ||
camera_matrix: | ||
rows: 3 | ||
cols: 3 | ||
data: [1066.778, 0.0, 312.9869, 0.0, 1067.487, 241.3109, 0.0, 0.0, 1.0] | ||
distortion_model : plumb_bob | ||
distortion_model: plumb_bob | ||
distortion_coefficients: | ||
rows: 1 | ||
cols: 5 | ||
data: [0.0, 0.0, 0.0, 0.0, 0.0] | ||
rectification_matrix : | ||
rectification_matrix: | ||
rows: 3 | ||
cols: 3 | ||
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] | ||
projection_matrix : | ||
projection_matrix: | ||
rows: 3 | ||
cols: 4 | ||
data: [1.0, 0.0, 320.0, 0.0, 0.0, 1.0, 240.0, 0.0, 0.0, 0.0, 1.0, 0.0] |
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