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Merge branch 'main' into baseline_solution
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‎.github/workflows/build.yaml‎

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load: true
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push: true
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tags: ghcr.io/opencv/bpc/bpc_pose_estimator:example
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cache-from: type=gha
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cache-to: type=gha,mode=max
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-
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name: Build tester
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uses: docker/build-push-action@v6
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load: true
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push: true
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tags: ghcr.io/opencv/bpc/bpc_tester:latest
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cache-from: type=gha
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cache-to: type=gha,mode=max

‎.github/workflows/style.yaml‎

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on:
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pull_request:
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push:
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branches: [ main ]
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defaults:
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run:
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shell: bash

‎.github/workflows/test.yaml‎

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on: [push]
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jobs:
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basic_ci:
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name: Basic CI
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ipd_fetch:
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name: Fetch ipd dataset
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runs-on: ubuntu-latest
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timeout-minutes: 30
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steps:
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-
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name: Checkout
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uses: actions/checkout@v4
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-
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name: Build ibpc_py
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run: |
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cd ibpc_py
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python -m pip install -e .
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- name: Check space
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run: |
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df -h
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-
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name: Run bpc fetch
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run: |
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bpc fetch ipd --remove-zip-after-extract
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df -h
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-
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uses: actions/upload-artifact@v4
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with:
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name: ipd-dataset
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path: ipd
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local_build:
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name: Test Local Build
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needs: ipd_fetch
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runs-on: ubuntu-latest
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timeout-minutes: 30
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steps:
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file: Dockerfile.estimator
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load: true
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tags: pose_estimator:latest
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cache-from: type=gha
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cache-to: type=gha,mode=max
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-
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name: Build tester
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uses: docker/build-push-action@v6
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with:
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file: Dockerfile.tester
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load: true
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tags: estimator-tester:latest
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cache-from: type=gha
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cache-to: type=gha,mode=max
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-
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name: Build ibpc_py
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run: |
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run: |
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df -h
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docker images
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- uses: actions/download-artifact@v4
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with:
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name: ipd-dataset
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path: ipd
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- name: Display structure of downloaded files
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run: ls -lR
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-
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name: Run bpc fetch
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run: |
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bpc fetch ipd --remove-zip-after-extract
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df -h
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-
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name: Run bpc test
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name: Run bpc test local build
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continue-on-error: true
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run: |
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bpc test pose_estimator:latest ipd --tester-image estimator-tester:latest --no-gpu
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run: |
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df -h
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-
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name: Check results
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name: Check results exist
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run: |
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cat ibpc_test_output.log
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cat ibpc_zenoh_output.log
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cat submission.csv
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public_image:
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name: Test Public Image
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needs: ipd_fetch
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runs-on: ubuntu-latest
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timeout-minutes: 30
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steps:
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-
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name: Remove unused content for disk space
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shell: bash
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run: |
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df -h
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sudo rm -rf /usr/share/dotnet
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sudo rm -rf /usr/local/lib/android
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sudo rm -rf /opt/ghc
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sudo rm -rf /opt/hostedtoolcache/CodeQL
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sudo docker image prune --all --force
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sudo docker builder prune -a
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df -h
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-
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name: Checkout
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uses: actions/checkout@v4
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-
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name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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# -
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# name: Login to GitHub Container Registry
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# uses: docker/login-action@v3
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# with:
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# registry: ghcr.io
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# username: ${{ github.actor }}
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# password: ${{ secrets.GITHUB_TOKEN }}
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-
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name: Build ibpc_py
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run: |
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cd ibpc_py
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python -m pip install -e .
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- name: Check space
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run: |
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df -h
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docker images
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- uses: actions/download-artifact@v4
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with:
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name: ipd-dataset
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path: ipd
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- name: Display structure of downloaded files
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run: ls -lR
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-
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name: Run bpc test public build
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continue-on-error: true
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run: |
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bpc test ghcr.io/opencv/bpc/bpc_pose_estimator:example ipd
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name: Check results exist
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run: |
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cat ibpc_test_output.log
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cat ibpc_zenoh_output.log
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cat submission.csv
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#TODO(tfoote) Also add tests for public images
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‎Dockerfile.estimator‎

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ARG SERVICE_PACKAGE=ibpc_pose_estimator_py
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ARG SERVICE_EXECUTABLE_NAME=ibpc_pose_estimator
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RUN apt update \
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&& sudo apt install curl -y \
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&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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RUN apt-get update \
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&& apt upgrade -y \
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&& apt install -y ros-jazzy-rmw-zenoh-cpp python3-imageio python3-png python3-pip python3-scipy \
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&& rm -rf /var/lib/apt/lists/*
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‎Dockerfile.tester‎

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# result stage: base + copied install folders from the overlay + service setup.
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FROM base
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RUN apt update \
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&& sudo apt install curl -y \
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&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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RUN apt-get update \
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&& apt upgrade -y \
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&& apt install -y ros-jazzy-rmw-zenoh-cpp python3-imageio python3-pandas python3-png python3-pip python3-scipy \
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&& rm -rf /var/lib/apt/lists/*
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‎flowstate/services/.gitignore‎

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bpc_pose_estimator.tar
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bpc_pose_estimator.bundle.tar

‎flowstate/services/Dockerfile.service‎

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# Use the bpc pose estimator image as the base image.
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ARG BASE_IMAGE=bpc_pose_estimator:example
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FROM ${BASE_IMAGE}
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# Copy the zenoh config file.
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# TODO(Yadunund): Switch to ZENOH_CONFIG_OVERRIDE after the next jazzy sync.
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COPY zenoh_config.json5 /opt/zenoh_config.json5
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# Set environment variables
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ENV ZENOH_SESSION_CONFIG_URI=/opt/zenoh_config.json5
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ENV ZENOH_ROUTER_CHECK_ATTEMPTS=5
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# (Optional) If you need to override the entrypoint or command, do it here.
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# For example:
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# ENTRYPOINT ["/your/new/entrypoint.sh"]
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# CMD ["your", "new", "command"]

‎flowstate/services/README.md‎

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## Flowstate Service
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The Pose Estimators developed can be run as a service on [Intrinsic Flowstate](https://www.intrinsic.ai/) solutions to build applications with robotic systems.
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First, build another Docker image that wraps the pose estimator Docker image generated [previously](../README.md#build-and-test-custom-bpc_pose_estimator-image) with some environment variables to communicate with the Intrinsic Platform.
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```bash
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# Replace POSE_ESTIMATOR_DOCKER_TAG with tag of the pose estimator image generated previously.
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# Replace "bpc_pose_estimator_fs:team_name" with a different tag if needed.
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cd ~/bpc_ws/bpc/flowstate
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docker buildx build -t bpc_pose_estimator_fs:team_name \
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--file Dockerfile.service \
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--build-arg BASE_IMAGE=<POSE_ESTIMATOR_DOCKER_TAG> \
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.
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```
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Next, save this Docker image locally. Note, the name of the output file must remain `bpc_pose_estimator.tar`.
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```bash
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docker save bpc_pose_estimator_fs:example -o bpc_pose_estimator.tar
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```
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Then build a Flowstate Service bundle.
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```bash
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cd ~/
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git clone https://github.com/intrinsic-ai/sdk.git
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cd sdk
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bazel run //intrinsic/tools/inbuild -- service bundle \
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--manifest ~/bpc_ws/src/bpc/services/flowstate/bpc_pose_estimator.manifest.textproto \
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--oci_image ~/bpc_ws/src/bpc/services/flowstate/bpc_pose_estimator.tar \
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--output ~/bpc_ws/src/bpc/services/flowstate/bpc_pose_estimator.bundle.tar
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```
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Finally install the Service in a running solution.
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```bash
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bazel run //intrinsic/tools/inctl -- service install ~/bpc_ws/src/bpc/services/flowstate/bpc_pose_estimator.bundle.tar \
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--cluster CLUSTER_ID \
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--org ORG \
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--registry REGISTRY \
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--skip_direct_upload
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```
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To uninstall the Service,
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```bash
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bazel run //intrinsic/tools/inctl -- service uninstall ai.intrinsic.bpc_pose_estimator \
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--solution SOLUTION_ID \
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--org ORG
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```

‎flowstate/services/bpc_pose_estimator.manifest.textproto‎

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metadata {
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id {
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package: "ai.intrinsic"
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name: "bpc_pose_estimator"
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}
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vendor {
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display_name: "Intrinsic"
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}
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documentation {
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description: "A 6D pose estimator for objects in the BPC challenge."
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}
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display_name: "BPC Pose Estimator"
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}
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service_def {
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real_spec {
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image {
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archive_filename: "bpc_pose_estimator.tar"
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}
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}
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sim_spec {
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image {
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archive_filename: "bpc_pose_estimator.tar"
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}
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}
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}

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