laas download for crackers example

nim65s · Oct 24, 2023 · ea52daa · ea52daa
1 parent f3f2843
commit ea52daa
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Showing 3 changed files with 15 additions and 6 deletions.
diff --git a/happypose/toolbox/utils/download.py b/happypose/toolbox/utils/download.py
@@ -19,6 +19,7 @@
 logger = get_logger(__name__)
 
 DOWNLOAD_URL = "https://www.paris.inria.fr/archive_ylabbeprojectsdata"
+LAAS_DOWNLOAD_URL = "https://gepettoweb.laas.fr/data/happypose/"
 
 DOWNLOAD_DIR = LOCAL_DATA_DIR / "downloads"
 DOWNLOAD_DIR.mkdir(exist_ok=True)
@@ -67,6 +68,7 @@ def main():
     parser.add_argument("--bop_result_id", nargs="*")
     parser.add_argument("--synt_dataset", nargs="*")
     parser.add_argument("--detections", nargs="*")
+    parser.add_argument("--examples", nargs="*")
     parser.add_argument("--example_scenario", action="store_true")
     parser.add_argument("--pbr_training_images", action="store_true")
     parser.add_argument("--all_bop20_results", action="store_true")
@@ -282,6 +284,14 @@ def main():
                     LOCAL_DATA_DIR / "results",
                 )
             )
+    if args.examples:
+        for example in args.examples:
+            to_dl.append(
+                (
+                    f"{LAAS_DOWNLOAD_URL}/examples/{example}",
+                    LOCAL_DATA_DIR / "examples",
+                )
+            )
 
     print(f"{to_dl=}")
     asyncio.run(adownloads(*to_dl))

diff --git a/tests/test_cosypose_inference.py b/tests/test_cosypose_inference.py
@@ -1,14 +1,13 @@
 """Set of unit tests for testing inference example for CosyPose."""
 import unittest
-from pathlib import Path
 
 import numpy as np
 import pinocchio as pin
 import torch
 import yaml
 from PIL import Image
 
-from happypose.pose_estimators.cosypose.cosypose.config import EXP_DIR
+from happypose.pose_estimators.cosypose.cosypose.config import EXP_DIR, LOCAL_DATA_DIR
 from happypose.pose_estimators.cosypose.cosypose.integrated.detector import Detector
 from happypose.pose_estimators.cosypose.cosypose.integrated.pose_estimator import (
     PoseEstimator,
@@ -86,7 +85,7 @@ def _load_pose_models(
     ):
         """Load coarse and refiner for the crackers example renderer."""
         object_dataset = BOPObjectDataset(
-            Path(__file__).parent / "data" / "crackers_example" / "models",
+            LOCAL_DATA_DIR / "examples" / "crackers_example" / "models",
             label_format="ycbv-{label}",
         )
         renderer = Panda3dBatchRenderer(
@@ -105,7 +104,7 @@ def _load_pose_models(
     @staticmethod
     def _load_crackers_example_observation():
         """Load cracker example observation tensor."""
-        data_dir = Path(__file__).parent.joinpath("data").joinpath("crackers_example")
+        data_dir = LOCAL_DATA_DIR / "examples" / "crackers_example"
         camera_data = CameraData.from_json((data_dir / "camera_data.json").read_text())
         rgb = np.array(Image.open(data_dir / "image_rgb.png"), dtype=np.uint8)
         assert rgb.shape[:2] == camera_data.resolution

diff --git a/tests/test_megapose_inference.py b/tests/test_megapose_inference.py
@@ -1,10 +1,10 @@
 """Set of unit tests for testing inference example for MegaPose."""
 import unittest
-from pathlib import Path
 
 import numpy as np
 import pinocchio as pin
 
+from happypose.pose_estimators.cosypose.cosypose.config import LOCAL_DATA_DIR
 from happypose.toolbox.datasets.bop_object_datasets import BOPObjectDataset
 from happypose.toolbox.utils.load_model import NAMED_MODELS, load_named_model
 
@@ -25,7 +25,7 @@ def test_megapose_pipeline(self):
         detections = detections[:1]  # let's keep the most promising one only.
 
         object_dataset = BOPObjectDataset(
-            Path(__file__).parent / "data" / "crackers_example" / "models",
+            LOCAL_DATA_DIR / "examples" / "crackers_example" / "models",
             label_format="ycbv-{label}",
         )