Dev/uv

.dockerignore

@@ -0,0 +1,3 @@
+.venv
+**/__pycache__
+**/*.pyc

.gitignore

@@ -2,9 +2,9 @@
 **.swp
 **.pyc
 **.DS_Store
-uv.lock
 artifacts
 build
 devel
 provision/ansible/.password
 .catkin_tools
+.venv

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

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

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

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"]

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:
+  - conda-forge
+dependencies:
+  - python=3.10  # must match PYTHON_VERSION in the Makefile
+  - gdal>=3.10
+  - pycolmap>=4.0
+  - pip
+  - uv

pyproject.toml

@@ -1,39 +1,48 @@
-[tool.poetry]
+[project]
 name = "kamera"
 version = "0.1.0"
 description = "KAMERA: Kitware's Image Acquisition ManagER and Archiver"
-authors = ["Adam Romlein <adam.romlein@kitware.com>"]
+authors = [
+    { name = "Adam Romlein", email = "adam.romlein@kitware.com" },
+]
 license = "Apache-2.0"
 readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+    "numpy>=2.1.1",
+    "scipy>=1.14.1",
+    "matplotlib>=3.9.2",
+    "opencv-python>=4.10.0.84",
+    "pillow>=10.4.0",
+    "pyyaml>=6.0.2",
+    "datetime>=5.5",
+    "exifread>=3.0.0",
+    "pygeodesy>=24.9.29",
+    "pyshp>=2.3.1",
+    "simplekml>=1.3.6",
+    "shapely>=2.0.6",
+    "transformations>=2024.5.24",
+    "scriptconfig>=0.8.0",
+    "ubelt>=1.3.6",
+    "rich>=13.9.1",
+]
 
-[tool.poetry.dependencies]
-python = ">=3.8,<4"
-numpy = {version = "^2.1.1", markers = "python_version >= '3.10'"}
-scipy = {version = "^1.14.1", markers = "python_version >= '3.10'"}
-matplotlib = {version = "^3.9.2", markers = "python_version >= '3.10'"}
-opencv-python = {version = "^4.10.0.84", markers = "python_version >= '3.10'"}
-pillow = {version = "^10.4.0", markers = "python_version >= '3.10'"}
-pyyaml = {version = "^6.0.2", markers = "python_version >= '3.10'"}
-datetime = {version = "^5.5", markers = "python_version >= '3.10'"}
-exifread = {version = "^3.0.0", markers = "python_version >= '3.10'"}
-pygeodesy = {version = "^24.9.29", markers = "python_version >= '3.10'"}
-pyshp = {version = "^2.3.1", markers = "python_version >= '3.10'"}
-simplekml = {version = "^1.3.6", markers = "python_version >= '3.10'"}
-shapely = {version = "^2.0.6", markers = "python_version >= '3.10'"}
-transformations = {version = "^2024.5.24", markers = "python_version >= '3.9'"}
-scriptconfig = {version = "^0.8.0", markers = "python_version >= '3.10'"}
-ubelt = {version = "^1.3.6", markers = "python_version >= '3.10'"}
-rich = {version = "^13.9.1", markers = "python_version >= '3.10'"}
-gdal = [
-    { url = "https://github.com/girder/large_image_wheels/raw/wheelhouse/GDAL-3.10.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl#sha256=8c150cc85623d136734eb2fad91036933cbb2d6ba58a76095b82ddf53d9bf961", markers = "python_version >= '3.8' and python_version < '3.9'" },
-    { url = "https://github.com/girder/large_image_wheels/raw/wheelhouse/GDAL-3.10.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl#sha256=7894fddd09d31530d764d5f5e52faafa3585b906c2e49c79fe593af8c6a34c24", markers = "python_version >= '3.9' and python_version < '3.10'" },
-    { url = "https://github.com/girder/large_image_wheels/raw/wheelhouse/GDAL-3.10.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl#sha256=4a09086631d81808a97c8c7a605aa6230ca045874aa688863cf91794e94880c7", markers = "python_version >= '3.10' and python_version < '3.11'" },
-    { url = "https://github.com/girder/large_image_wheels/raw/wheelhouse/GDAL-3.10.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl#sha256=aee8c49c3528b8613ad3fe14a9d0066ad6990e143f277aff5be1143f371258a2", markers = "python_version >= '3.11' and python_version < '3.12'" },
-    { url = "https://github.com/girder/large_image_wheels/raw/wheelhouse/GDAL-3.10.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl#sha256=19cd80ad4bd684e8c7a3f712e5a1c284cce59e5750155f0db0c31d875d3c6321", markers = "python_version >= '3.12' and python_version < '3.13'" },
+# GDAL has no reliable cross-platform wheels; it comes from conda-forge
+# (environment.yml) and reaches .venv via --system-site-packages.
+
+[dependency-groups]
+dev = [
+    "ipdb>=0.13.13",
 ]
-ipdb = {version = "^0.13.13", markers = "python_version >= '3.10'"}
 
+[tool.uv]
+# Build .venv on the conda python, never a uv-managed one, so
+# --system-site-packages sees the conda GDAL.
+python-preference = "only-system"
 
 [build-system]
-requires = ["poetry-core"]
-build-backend = "poetry.core.masonry.api"
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[tool.hatch.build.targets.wheel]
+packages = ["kamera"]