Detector and detection names incompatbility between CosyPose and MegaPose

[ElliotMaitre]

Following the objective of having the same code for the detector of MegaPose and CosyPose, there might be an incompatibility of naming for the detected objects.

Currently, in cosypose/integrated/detector.py, line 27, there is a change of ds_name to adapt the name of ycbv.bop19 to ycbv. I am unsure why it was needed in the first hand, but I guess a similar problem could arise for other datasets ? Is this a naming issue between MegaPose and CosyPose ?

[MedericFourmy]

https://github.com/agimus-project/happypose/blob/606c1453d28539a9ad821b598f2b73d3fe3974ee/happypose/pose_estimators/cosypose/cosypose/integrated/detector.py#L25

[MedericFourmy]

I'm not sure either, all tests and examples only use the Detector class present in Megapose. https://github.com/agimus-project/happypose/blob/dev/happypose/pose_estimators/megapose/inference/detector.py

As for cosypose Detector class (which is pretty much the same as you were mentioning), it is used only in a handful of evaluation script that we (in my knowledge) are not currently attempting to support:

• run_bop_inference.py
• run_detection_eval.py
• cosypose/training/evaluation.py
• train_detector.py

If we actually need to support some of those, then we need to change cosy Detector to the megapose one and run them to see if it works, then we will be able to remove cosypose Detector.