diff --git a/.dockerignore b/.dockerignore new file mode 100644 index 0000000..a63d738 --- /dev/null +++ b/.dockerignore @@ -0,0 +1,3 @@ +.venv +**/__pycache__ +**/*.pyc diff --git a/.gitignore b/.gitignore index 1797505..e7b7ec1 100644 --- a/.gitignore +++ b/.gitignore @@ -2,9 +2,9 @@ **.swp **.pyc **.DS_Store -uv.lock artifacts build devel provision/ansible/.password .catkin_tools +.venv diff --git a/Makefile b/Makefile index 0d0026f..55d03be 100644 --- a/Makefile +++ b/Makefile @@ -1,6 +1,13 @@ ROS_DISTRO ?= noetic +PYTHON_VERSION ?= 3.10 -.PHONY: build core viame gui postflight follower leader all clean +.PHONY: install build core viame gui postflight follower leader all clean + +# Build .venv on top of an activated conda env from environment.yml +install: + @echo "🚀 Creating virtual environment using uv" + @uv venv --system-site-packages --python=$(PYTHON_VERSION) + @uv sync --frozen --no-cache build: docker compose build diff --git a/README.md b/README.md index 0c82ba9..ff3afa5 100644 --- a/README.md +++ b/README.md @@ -22,11 +22,41 @@ KAMERA, or the **K**nowledge-guided Image **A**cquisition **M**anag**ER** and ** ## Installation +### Post-processing (native, Windows or Linux) + +GDAL and pycolmap come from conda-forge; [uv](https://docs.astral.sh/uv/) +installs the rest into `.venv`. Requires +[conda](https://conda-forge.org/download/). + +Linux/macOS: + ```bash git clone https://github.com/Kitware/kamera.git cd kamera -# For the pure post-processing and generating flight summary, you can install -# the requirements in requirements.txt, or use the provided dockerfile +conda env create -f environment.yml +conda activate kamera +make install +source .venv/bin/activate +``` + +Windows (PowerShell or Anaconda Prompt): + +```powershell +git clone https://github.com/Kitware/kamera.git +cd kamera +conda env create -f environment.yml +conda activate kamera +pip install -e . +``` + +Afterwards, `conda activate kamera` is all you need. Conda installs the CUDA +build of pycolmap automatically with NVIDIA driver 575+ (CUDA 12.9), +otherwise the CPU build; GPU only matters for full camera model calibration. + +### Docker images + +```bash +# post-processing / flight summary image make postflight # Builds the core docker images for use in the onboard sytems make nuvo diff --git a/docker/gui.dockerfile b/docker/gui.dockerfile index f46b565..fdbf0e6 100644 --- a/docker/gui.dockerfile +++ b/docker/gui.dockerfile @@ -36,11 +36,11 @@ RUN mkdir -p /home/user/.config/kamera && \ RUN ln -sv /usr/bin/python3 /usr/bin/python || true RUN find /home/user -not -user user -execdir chown user {} \+ -# Install kamera for wxpython_gui imports (e.g. colmap_processing.camera_models). -# Use --no-deps: base images already provide runtime deps, and a full install -# fails trying to replace distutils-installed PyYAML from ROS/Noetic. +# Install kamera for wxpython_gui imports. --no-deps: deps come from the base +# image (a full install trips on ROS's distutils PyYAML). +# --ignore-requires-python: ROS Noetic pins python 3.8, below our 3.10 floor. RUN pip install --no-cache-dir matplotlib \ - && pip install --no-cache-dir --no-deps -e $REPO_DIR + && pip install --no-cache-dir --no-deps --ignore-requires-python -e $REPO_DIR # use the exec form of run because we need bash syntax USER user diff --git a/docker/kamerapy.dockerfile b/docker/kamerapy.dockerfile index e00f1bf..65469fe 100644 --- a/docker/kamerapy.dockerfile +++ b/docker/kamerapy.dockerfile @@ -1,20 +1,41 @@ -FROM python:3.10.15-bookworm +FROM debian:bookworm-slim + +SHELL ["/bin/bash", "-c"] RUN apt-get update && apt-get install -yq \ - libgdal-dev \ - python3-gdal \ - libgl1-mesa-glx \ + curl \ + bzip2 \ + ca-certificates \ + make \ + libgl1 \ + libglib2.0-0 \ libsm6 \ libxext6 \ redis \ dnsutils \ - gdal-bin + && rm -rf /var/lib/apt/lists/* + +# Install micromamba +ARG MAMBA_VERSION=2.3.3 +RUN curl -Ls https://micro.mamba.pm/api/micromamba/linux-64/${MAMBA_VERSION} \ + | tar -xvj -C /usr/local/bin --strip-components=1 bin/micromamba +ENV MAMBA_ROOT_PREFIX=/opt/conda + +# Conda env supplies python + GDAL + uv; make install layers .venv on top +COPY environment.yml /tmp/environment.yml +RUN micromamba create -y -n kamera -f /tmp/environment.yml \ + && micromamba clean --all -y -RUN pip install --upgrade pip -RUN pip install setuptools==57.0.0 +ENV UV_COMPILE_BYTECODE=1 \ + UV_LINK_MODE=copy COPY ./ /src/kamera WORKDIR /src/kamera -RUN pip install -e . + +RUN eval "$(micromamba shell hook --shell bash)" \ + && micromamba activate kamera \ + && make install + +ENV PATH="/src/kamera/.venv/bin:/opt/conda/envs/kamera/bin:$PATH" ENTRYPOINT ["bash"] diff --git a/environment.yml b/environment.yml new file mode 100644 index 0000000..043eee1 --- /dev/null +++ b/environment.yml @@ -0,0 +1,11 @@ +# Binary deps (GDAL, pycolmap) with no reliable cross-platform wheels. +# `make install` layers the rest on top; see README.md for setup. +name: kamera +channels: + - 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