v1 release

.dockerignore

@@ -0,0 +1,24 @@
+.git
+*.egg-info
+oarphpy.egg-info
+*.pyc
+*/**/__pycache__
+.eggs
+.pytest_cache
+eggs
+build
+docs/build
+ext_data
+external_test_fixtures
+notebooks/**/*
+test_*
+*.bag
+dataroot
+test_run_output
+
+dataroot_costco
+my_html_viz
+trimeshtast*
+colmap*
+cv_charuco
+history*

.gitattributes

@@ -0,0 +1 @@
+test/fixtures/test_DiskCachedFramesVideoSegmentFactory_create_factory_for_video.parquet filter=lfs diff=lfs merge=lfs -text

.gitignore

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+*.egg-info
+*.pyc
+*/**/__pycache__
+.DS_Store
+._.DS_Store
+.eggs
+.vscode
+*/**/._*
+eggs
+build
+dataroot
+ext_data
+external_test_fixtures
+notebooks/.ipynb_checkpoints
+notebooks/sparkmonitor_kernelextension.log
+notebooks/pybullet_debug_out.mp4
+psegs_test

LICENSE

@@ -1,4 +1,4 @@
-Copyright 2020 Maintainers of PSegs
+Copyright 2023 Maintainers of PSegs
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.

README.md

@@ -1,2 +1,118 @@
-(Drafting)
+# PSegs: Perception Segments Library
 
+[![License: Apache 2.0](https://img.shields.io/badge/License-Apache_2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+
+# PSegs Extensions
+
+notes about extensions and links to them
+
+readme!
+
+Things to finalize:
+ * Transforms: want some unit tests of chaining and demo of that
+ * frames: maybe | -> .
+ * maybe drop the timestamp member from cuboids, camera images, point clouds etc
+ * For a segment debug: fused painted cloud in plotly! sampeled to 100k pts obvi
+ * PointCloud: have column names for cloud (x, y, z, intensity, semantic [, instance])
+  * for nusc and mebbe others: should cloud labels be separate URIs?
+
+
+frames:
+ * http://www.mech.sharif.ir/c/document_library/get_file?uuid=5a4bb247-1430-4e46-942c-d692dead831f&groupId=14040
+ * http://wiki.ros.org/tf/Overview/Transformations
+
+
+ * trailer: 
+     * show a histogram with examples of distance / orientation with samples over ALL datasets
+     * show perf!  show time to fetch frames using Spark + Parquet
+     * show a video of one camera with debug overlays.  maybe one with delauny lidar too (!)
+     * show a frame HTML with 3d interface
+     * show new things: argo associated bikes, delauny lidar, occlusion tree
+ * supported datasets, how to get a blurb and **stats** on each of them.  prolly render histo reports for each.
+ * data structures:
+    * StampedDatum
+    * Frame
+
+
+cli
+  * install as part of pip install psegs
+  * dataset:
+     * stages:
+         - download (might be manual); download test fixtures
+         - place (symlinks or whatever)
+         - test (need way to check skipped tests)
+         - demo (show one segment)
+         - convert (all to sd table)
+
+
+
+
+
+cd /tmp
+pip3 install rosdep rospkg rosinstall_generator rosinstall wstool vcstools catkin_tools catkin_pkg
+
+rosdep init
+rosdep update
+mkdir ros_catkin_ws
+cd ros_catkin_ws
+catkin config --init -DCMAKE_BUILD_TYPE=Release -DROS_PYTHON_VERSION=3 --blacklist rqt_rviz rviz_plugin_tutorials librviz_tutorial --install
+
+rosinstall_generator desktop_full --rosdistro melodic --deps --tar > melodic-desktop-full.rosinstall
+wstool init -j8 src melodic-desktop-full.rosinstall
+
+export ROS_PYTHON_VERSION=3
+pip3 install -U -f https://extras.wxpython.org/wxPython4/extras/linux/gtk3/ubuntu-18.04 wxPython
+
+
+#!/bin/bash
+#Check whether root
+if [ $(whoami) != root ]; then
+    echo You must be root or use sudo to install packages.
+    return
+fi
+
+#Call apt-get for each package
+for pkg in "$@"
+do
+    echo "Installing $pkg"
+    sudo apt-get -my install $pkg >> install.log
+done
+
+
+chmod +x install_skip
+
+#./install_skip `rosdep check --from-paths src --ignore-src | grep python | sed -e "s/^apt\t//g" | sed -z "s/\n/ /g" | sed -e "s/python/python3/g"`
+
+echo 'Etc/UTC' > /etc/timezone && \
+    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
+    apt-get update && apt-get install -q -y tzdata
+
+apt-get install -y python3-psutil python3-catkin-pkg python3-empy python3-numpy python3-rospkg python3-yaml python3-pyqt5.qtwebkit python3-mock python3-rospkg python3-paramiko python3-cairo python3-pil python3-defusedxml python3-sip-dev python3-pyqt5.qtopengl python3-matplotlib python3-pyqt5 python3-pyqt5.qtsvg python3-sip-dev python3-pydot python3-pygraphviz python3-netifaces python3-yaml python3-opencv python3-catkin-pkg python3-rosdep python3-coverage python3-gnupg python3-lxml python3-mock python3-opengl python3-empy python3-nose
+
+# apt-get install -y python3-wxtools
+
+rosdep install --from-paths src --ignore-src -y --skip-keys="`rosdep check --from-paths src --ignore-src | grep python | sed -e "s/^apt\t//g" | sed -z "s/\n/ /g"`"
+find . -type f -exec sed -i 's/\/usr\/bin\/env[ ]*python/\/usr\/bin\/env python3/g' {} +
+
+
+cd src && git clone https://github.com/RobotWebTools/rosbridge_suite && git clone https://github.com/GT-RAIL/rosauth && cd -
+
+# https://github.com/RobotWebTools/rosbridge_suite/blob/ad63eb1f7a05d8d52470ac1364b033c74683bbbf/rosbridge_server/package.xml#L18
+apt-get install -y \
+    python3-twisted python3-autobahn python-backports.ssl-match-hostname python3-tornado python3-bson
+
+catkin build
+
+
+
+
+#############################
+# NOPE NOPE
+cd /tmp
+apt-get install -y lsb-release
+sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
+apt-get update
+apt-get install -y ros-melodic-rosbridge-server
+
+roslaunch rosbridge_server rosbridge_websocket.launch

docker/Dockerfile

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+# Copyright 2023 Maintainers of PSegs
+
+# syntax=docker/dockerfile:1
+FROM oarphpy/full:0.1.1
+
+## Include banner
+COPY docker/bashrc /etc/bash.bashrc
+RUN chmod a+rwx /etc/bash.bashrc
+
+RUN \
+  --mount=type=cache,target=/var/cache/apt \
+  --mount=type=cache,target=/root/.cache/pip \
+  apt-get update && \
+  apt-get install -y \
+    git \
+    wget \
+  && \
+  pip3 install --upgrade pip
+
+# # Pytorch3d
+# RUN \
+#   pip3 install torch==1.9.0+cu111 torchvision==0.9.2+cu111 torchaudio==0.8.2 && \
+#   pip3 install pytorch3d==0.6.0 -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py38_cu111_pyt190/download.html
+
+# # open3d
+# RUN apt-get install ffmpeg libsm6 libxext6 libc++-dev sudo git -y
+# RUN apt-get install -y build-essential cmake ccache
+# RUN cd /opt && \
+#   git clone https://github.com/isl-org/Open3D.git && \
+#   cd Open3D && \
+#   ./util/install_deps_ubuntu.sh assume-yes && \
+#   mkdir -p build && cd build && \
+#   cmake \
+#     -DBUILD_CUDA_MODULE=1 \
+#     -DBUILD_COMMON_CUDA_ARCHS=1 \
+#     -DENABLE_HEADLESS_RENDERING=1 \
+#     -DBUILD_WEBRTC=1 \
+#     -DCMAKE_BUILD_TYPE=Release \
+#     .. && \
+#   make -j $(nproc)
+
+# # RUN pip3 install open3d==0.13.0
+# # RUN \
+# #   ln -s \
+# #     /usr/local/cuda-11.1/targets/x86_64-linux/lib/libcusolver.so.11 \
+# #     $(python3 -c "import open3d as x; print(x.__path__[0])")/cuda/libcusolver.so.10
+
+# # ENV LD_LIBRARY_PATH ${LD_LIBRARY_PATH}:/usr/local/cuda-11.1/targets/x86_64-linux/lib/
+# RUN python3 -c ''
+
+# PSegs extras
+RUN \
+  --mount=type=cache,target=/var/cache/apt \
+  apt-get update && \
+  apt-get install -y \
+    ffmpeg
+
+# pycolmap and pycolmap: TODO use a wheel
+## COLMAP
+RUN \
+  --mount=type=cache,target=/var/cache/apt \
+  apt-get update && \
+  apt-get install -y \
+    git \
+    cmake \
+    ninja-build \
+    build-essential \
+    libboost-program-options-dev \
+    libboost-filesystem-dev \
+    libboost-graph-dev \
+    libboost-system-dev \
+    libboost-test-dev \
+    libeigen3-dev \
+    libflann-dev \
+    libfreeimage-dev \
+    libopencv-dev \
+    libmetis-dev \
+    libgoogle-glog-dev \
+    libgflags-dev \
+    libsqlite3-dev \
+    libglew-dev \
+    qtbase5-dev \
+    libqt5opengl5-dev \
+    libcgal-dev \
+    libceres-dev
+RUN \
+  cd /opt && \
+    (git clone --depth 1 --branch 3.8 https://github.com/colmap/colmap || true) && \
+    cd colmap && \
+    mkdir -p build && cd build && \
+    cmake .. -GNinja -DCUDA_ENABLED=OFF && \
+    ninja && \
+    ninja install && \
+    colmap -h
+RUN \
+  --mount=type=cache,target=/root/.cache/pip \
+  cd /opt && \
+  git clone --recursive https://github.com/colmap/pycolmap.git && \
+  cd pycolmap && \
+  git checkout 401f82658cdad1e8b657c77381863f9e261c7c3c && \
+  echo "Hack: build with debug symbols else segfaults on list comps python 3.10" && \
+  sed -i -e "s/cfg = 'Debug'/cfg = 'RelWithDebInfo' # /g" setup.py && \
+  pip3 install -v -e .
+
+# FIXME when upgrading base image
+RUN \
+  --mount=type=cache,target=/root/.cache/pip \
+  sudo apt remove -y python3-blinker && \
+  pip3 install "blinker>=1.7.0"
+
+COPY requirements.txt /tmp/requirements.txt
+RUN \
+  --mount=type=cache,target=/root/.cache/pip \
+  pip3 install -r /tmp/requirements.txt && \
+  rm /tmp/requirements.txt
+
+# RUN \
+#   --mount=type=cache,target=/root/.cache/pip \
+#   pip3 install \
+#     "opencv-contrib-python>=4.5.5.62"
+
+RUN mkdir -p /opt/psegs
+COPY . /opt/psegs
+WORKDIR /opt/psegs
+ENV PYTHONPATH $PYTHONPATH:/opt/psegs