diff --git a/ibpc_py/README.md b/ibpc_py/README.md
new file mode 100644
index 00000000..1fa0ded8
--- /dev/null
+++ b/ibpc_py/README.md
@@ -0,0 +1,38 @@
+# Industrial Bin Picking Challenge (IBPC)
+
+This is the python entrypoint for the Industrial Bin Picking Challenge
+
+## Usage
+
+Get a dataset
+`bpc fetch lm`
+
+
+Run tests against a dataset
+`bpc test <Pose Estimator Image Name> <datasetname> `
+
+`bpc test ibpc:pose_estimator lm`
+
+
+## Prerequisites
+
+
+### Install the package:
+
+In a virtualenv
+`pip install ibpc`
+
+Temporary before rocker release of https://github.com/osrf/rocker/pull/317/
+`pip uninstall rocker && pip install git+http://github.com/osrf/rocker.git@console_to_file`
+
+
+### Nvidia Docker (optoinal)
+Make sure nvidia_docker is installed if you want cuda.
+
+## Release instructions
+
+```
+rm -rf dist/*
+python3 -m build --sdist .
+twine upload dist/*
+```
\ No newline at end of file
diff --git a/ibpc_py/setup.py b/ibpc_py/setup.py
new file mode 100644
index 00000000..08654a56
--- /dev/null
+++ b/ibpc_py/setup.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+
+import os
+import setuptools
+
+with open("README.md", "r") as fh:
+ long_description = fh.read()
+
+
+setuptools.setup(
+ name="ibpc",
+ version="0.0.2",
+ packages=["ibpc"],
+ package_dir={"": "src"},
+ # package_data={'ibpc': ['templates/*.em']},
+ author="Tully Foote",
+ author_email="tullyfoote@intrinsic.ai",
+ description="An entrypoint for the Industrial Bin Picking Challenge",
+ long_description=long_description,
+ long_description_content_type="text/markdown",
+ url="https://bpc.opencv.org/",
+ license="Apache 2.0",
+ install_requires=[
+ "empy",
+ "rocker>=0.2.13",
+ ],
+ install_package_data=True,
+ zip_safe=False,
+ entry_points={
+ "console_scripts": [
+ "bpc = ibpc.ibpc:main",
+ ],
+ },
+)
diff --git a/ibpc_py/src/ibpc/__init__.py b/ibpc_py/src/ibpc/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/ibpc.py b/ibpc_py/src/ibpc/ibpc.py
similarity index 50%
rename from ibpc.py
rename to ibpc_py/src/ibpc/ibpc.py
index 4c0475c1..f3943dd0 100644
--- a/ibpc.py
+++ b/ibpc_py/src/ibpc/ibpc.py
@@ -8,26 +8,78 @@
from rocker.core import RockerExtensionManager
from rocker.core import OPERATIONS_NON_INTERACTIVE
+from io import BytesIO
+from urllib.request import urlopen
+import urllib.request
+from zipfile import ZipFile
+
+
+def get_bop_template(modelname):
+ return f"https://huggingface.co/datasets/bop-benchmark/datasets/resolve/main/{modelname}/{modelname}"
+
+def get_ipb_template(modelname):
+ return f"https://huggingface.co/datasets/bop-benchmark/{modelname}/resolve/main/{modelname}"
+
+bop_suffixes = [
+ "_base.zip",
+ "_models.zip",
+ "_test_all.zip",
+ "_train_pbr.zip",
+]
+
+ipb_suffixes = [s for s in bop_suffixes]
+ipb_suffixes.append('_val.zip')
+ipb_suffixes.append('_test_all.z01')
+
+available_datasets = {
+ "ipb": (get_ipb_template("ipb"), ipb_suffixes),
+ "lm": (get_bop_template("lm"), bop_suffixes),
+ }
+
+def fetch_dataset(dataset, output_path):
+ (url_base, suffixes) = available_datasets[dataset]
+ for suffix in suffixes:
+
+ url = url_base + suffix
+ print(f"Downloading from url: {url}")
+ with urlopen(url) as zipurlfile:
+ with ZipFile(BytesIO(zipurlfile.read())) as zfile:
+ zfile.extractall(output_path)
+
def main():
- parser = argparse.ArgumentParser(
+ main_parser = argparse.ArgumentParser(
description="The entry point for the Bin Picking Challenge",
formatter_class=argparse.ArgumentDefaultsHelpFormatter,
)
- parser.add_argument("test_image")
- parser.add_argument("dataset_directory")
- parser.add_argument(
+ main_parser.add_argument(
"-v", "--version", action="version", version="%(prog)s " + get_rocker_version()
)
- parser.add_argument("--debug-inside", action="store_true")
+
+ sub_parsers = main_parser.add_subparsers(title="test", dest="subparser_name")
+ test_parser = sub_parsers.add_parser("test")
+
+ test_parser.add_argument("estimator_image")
+ test_parser.add_argument("dataset")
+ test_parser.add_argument("--dataset_directory", action="store", default=".")
+ test_parser.add_argument("--debug-inside", action="store_true")
+
+ fetch_parser = sub_parsers.add_parser("fetch")
+ fetch_parser.add_argument("dataset", choices=available_datasets.keys())
+ fetch_parser.add_argument("--dataset-path", default=".")
extension_manager = RockerExtensionManager()
default_args = {"cuda": True, "network": "host"}
- extension_manager.extend_cli_parser(parser, default_args)
+ # extension_manager.extend_cli_parser(test_parser, default_args)
- args = parser.parse_args()
+ args = main_parser.parse_args()
args_dict = vars(args)
+ if args.subparser_name == "fetch":
+ print(f"Fetching dataset {args_dict['dataset']} to {args_dict['dataset_path']}")
+ fetch_dataset(args_dict["dataset"], args_dict["dataset_path"])
+ print("Fetch complete")
+ return
# Confirm dataset directory is absolute
args_dict["dataset_directory"] = os.path.abspath(args_dict["dataset_directory"])
@@ -39,10 +91,13 @@ def main():
"network": "host",
"extension_blacklist": {},
"operating_mode": OPERATIONS_NON_INTERACTIVE,
- "env": [[f"BOP_PATH:/opt/ros/underlay/install/datasets"]],
+ "env": [
+ [f"BOP_PATH:/opt/ros/underlay/install/datasets/{args_dict['dataset']}"],
+ [f"DATASET_NAME:{args_dict['dataset']}"],
+ ],
"console_output_file": "ibpc_test_output.log",
"volume": [
- [f"{args_dict['dataset_directory']}:/opt/ros/underlay/install/datasets/lm"]
+ [f"{args_dict['dataset_directory']}:/opt/ros/underlay/install/datasets"]
],
}
print("Buiding tester env")
@@ -59,11 +114,13 @@ def main():
"extension_blacklist": {},
"console_output_file": "ibpc_zenoh_output.log",
"operating_mode": OPERATIONS_NON_INTERACTIVE,
+ "volume": [],
}
+ zenoh_extensions = extension_manager.get_active_extensions(tester_args)
print("Buiding zenoh env")
dig_zenoh = DockerImageGenerator(
- tester_extensions, tester_args, "eclipse/zenoh:1.1.1"
+ zenoh_extensions, zenoh_args, "eclipse/zenoh:1.1.1"
)
exit_code = dig_zenoh.build(**zenoh_args)
if exit_code != 0:
@@ -76,22 +133,14 @@ def run_instance(dig_instance, args):
tester_thread = threading.Thread(target=run_instance, args=(dig_zenoh, zenoh_args))
tester_thread.start()
- # TODO Redirect stdout
- import time
-
- time.sleep(3)
-
tester_thread = threading.Thread(
target=run_instance, args=(dig_tester, tester_args)
)
tester_thread.start()
- # TODO Redirect stdout
- import time
-
- time.sleep(3)
-
- dig = DockerImageGenerator(active_extensions, args_dict, args_dict["test_image"])
+ dig = DockerImageGenerator(
+ active_extensions, args_dict, args_dict["estimator_image"]
+ )
exit_code = dig.build(**vars(args))
if exit_code != 0:
@@ -104,7 +153,3 @@ def run_instance(dig_instance, args):
result = dig.run(**args_dict)
# TODO clean up threads here
return result
-
-
-if __name__ == "__main__":
- main()