Add metric_depth_network

.devcontainer/build_and_push_images.sh

@@ -0,0 +1 @@
+docker buildx build -t omavteam/radarmeetsvision:latest -f desktop/Dockerfile --push .

.devcontainer/desktop/Dockerfile

@@ -0,0 +1,56 @@
+FROM nvcr.io/nvidia/pytorch:23.04-py3
+
+ARG FLIRIMAGING_GID=1001
+ARG TZ=Europe/Zurich
+ARG VGLUSERS_GID=1004
+ENV DEBIAN_FRONTEND=noninteractive
+ENV LANG="en_US.UTF-8"
+ENV LANGUAGE="en_US:en"
+ENV LC_ALL="en_US.UTF-8"
+ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/hpcx/ompi/lib"
+ENV PATH="${PATH}:/opt/hpcx/ompi/bin"
+
+# All apt packages
+COPY devcontainer-all-packages.sh /tmp/devcontainer-all-packages.sh
+RUN /tmp/devcontainer-all-packages.sh && rm -f /tmp/devcontainer-all-packages.sh
+
+# Python packages
+COPY requirements.txt /tmp/requirements.txt
+RUN python3 -m pip install --upgrade pip && \
+    python3 -m pip install --ignore-installed -r /tmp/requirements.txt && \
+    rm -f /tmp/requirements.txt
+
+# Add user "asl" with sudo rights
+RUN groupadd -r asl && \
+    groupadd -g ${FLIRIMAGING_GID} flirimaging && \
+    groupadd -g ${VGLUSERS_GID} vglusers && \
+    useradd --create-home --gid asl --groups dialout,plugdev,flirimaging,vglusers --shell /bin/bash asl && \
+    mkdir -p /etc/sudoers.d && \
+    echo 'asl ALL=NOPASSWD: ALL' > /etc/sudoers.d/asl
+
+# ROS: noetic install
+COPY install_ros_noetic_and_deps.sh /tmp/install_ros_noetic_and_deps.sh
+RUN bash /tmp/install_ros_noetic_and_deps.sh
+
+# Spinnaker: Install spinnaker SDK for flir cameras
+COPY spinnaker/spinnaker-3.2.0.62-amd64 /tmp/spinnaker-3.2.0.62-amd64
+WORKDIR /tmp/spinnaker-3.2.0.62-amd64
+# Figured out by running: RUN echo $(debconf-show libgentl)
+RUN echo "libspinnaker libspinnaker/accepted-flir-eula boolean true" | debconf-set-selections
+RUN echo "libspinnaker libspinnaker/present-flir-eula boolean true" | debconf-set-selections
+RUN /tmp/spinnaker-3.2.0.62-amd64/install_spinnaker.sh
+RUN /tmp/spinnaker-3.2.0.62-amd64/configure_usbfs.sh
+
+# Git-prompt: Source
+RUN echo 'if [ -f "$HOME/.bash-git-prompt/gitprompt.sh" ]; then GIT_PROMPT_ONLY_IN_REPO=1; source "$HOME/.bash-git-prompt/gitprompt.sh"; fi' >> /home/asl/.bash_aliases
+
+# TI: Download and install UniFlash
+WORKDIR /tmp
+RUN wget https://dr-download.ti.com/software-development/software-programming-tool/MD-QeJBJLj8gq/8.7.0/uniflash_sl.8.7.0.4818.run && \
+    chmod +x uniflash_sl.8.7.0.4818.run && \
+    ./uniflash_sl.8.7.0.4818.run --mode unattended --prefix /home/asl/ti/uniflash --debuglevel 0
+
+# Clean up
+RUN rm -rf /tmp/* /var/lib/apt/lists/* /var/tmp/* /var/cache/apt/archives/*
+
+ENTRYPOINT ["/bin/bash"]

.devcontainer/desktop/devcontainer.json

@@ -0,0 +1,55 @@
+{
+    "image": "omavteam/radarmeetsvision:latest",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-python.python",
+                "github.vscode-github-actions"
+            ],
+            "settings": {
+                "files.hotExit": "off",
+                "window.restoreWindows": "none",
+                "workbench.startupEditor": "none"
+            }
+        }
+    },
+    "remoteEnv": {
+        "DISPLAY": "${localEnv:DISPLAY}"
+    },
+    "remoteUser": "asl",
+    "initializeCommand": ".devcontainer/devcontainer-optional-mounts.sh",
+    "postStartCommand": "pip3 install -e .",
+    "mounts": [
+        {
+            "source": "${localEnv:HOME}/.bash-git-prompt",
+            "target": "/home/asl/.bash-git-prompt",
+            "type": "bind"
+        },
+        {
+            "source": "${localEnv:HOME}/Downloads",
+            "target": "/home/asl/Downloads",
+            "type": "bind"
+        },
+        {
+            "source": "${localEnv:HOME}/Storage",
+            "target": "/home/asl/Storage",
+            "type": "bind"
+        },
+        {
+            "source": "${localEnv:HOME}/.cache",
+            "target": "/home/asl/.cache",
+            "type": "bind"
+        }
+    ],
+    "runArgs": [
+        "--gpus",
+        "all",
+        "--privileged",
+        "--device=/dev/dri:/dev/dri",
+        "-v",
+        "/tmp/.X11-unix:/tmp/.X11-unix",
+        "-v",
+        "/dev/bus/usb:/dev/bus/usb",
+        "--net=host"
+    ]
+}

.devcontainer/devcontainer-all-packages.sh

@@ -0,0 +1,53 @@
+#!/bin/bash
+
+set -eux
+export DEBIAN_FRONTEND=noninteractive
+
+main() {
+    local pkgs=(
+        apt-transport-https
+        bison
+        build-essential
+        ca-certificates
+        ccache
+        curl
+        gawk
+        gnupg
+        htop
+        libgconf-2-4
+        libnss3
+        libusb-1.0-0
+        locales
+        net-tools
+        python3-dev
+        python3-pip
+        python3-pyqt5
+        screen
+        software-properties-common
+        ssh
+        sudo
+        udev
+        unzip
+        usbutils
+        wget
+    )
+
+    apt-get update
+    apt-get upgrade -y
+    apt-get -y --quiet --no-install-recommends install "${pkgs[@]}"
+
+    mkdir -p /root/.ssh \
+        && chmod 0700 /root/.ssh \
+        && ssh-keyscan github.com > /root/.ssh/known_hosts
+
+    ln -snf /usr/share/zoneinfo/${TZ} /etc/localtime && echo ${TZ} > /etc/timezone
+    sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen
+    locale-gen en_US.UTF-8
+    dpkg-reconfigure locales
+
+    apt-get -y autoremove
+    apt-get clean autoclean
+    rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+}
+
+main "$@"

.devcontainer/devcontainer-optional-mounts.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+
+if [ ! -d "$HOME/.bash-git-prompt" ]; then
+    mkdir "$HOME/.bash-git-prompt"
+fi
+
+if [ ! -d "$HOME/.cache" ]; then
+    mkdir "$HOME/.cache"
+fi
+
+if [ ! -d "$HOME/Storage" ]; then
+    mkdir "$HOME/Storage"
+fi

.devcontainer/install_ros_noetic_and_deps.sh

@@ -0,0 +1,27 @@
+#!/bin/bash
+
+# Add ROS repository to sources list
+echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
+
+# Add the ROS key
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+
+# Update package list and install ROS Noetic packages
+apt update
+apt install -y ros-noetic-ros-core ros-noetic-camera-info-manager \
+    ros-noetic-diagnostic-updater \
+    ros-noetic-roslint ros-noetic-rqt-image-view \
+    ros-noetic-tf2-eigen ros-noetic-tf2 ros-noetic-tf2-ros \
+    ros-noetic-tf2-geometry-msgs ros-noetic-rviz \
+    python3-catkin-tools python3-osrf-pycommon \
+    python3-rosdep ros-noetic-rqt-multiplot \
+    ros-noetic-imu-filter-madgwick
+
+# Setup environment
+# Check if .bash_aliases file exists, create it if it doesn't
+if [ ! -f "/home/asl/.bash_aliases" ]; then
+    touch /home/asl/.bash_aliases
+fi
+
+echo "source /opt/ros/noetic/setup.bash" >> /home/asl/.bash_aliases
+echo 'if [ -f "/workspaces/paper/ros_workspace/devel/setup.bash" ]; then source "/workspaces/paper/ros_workspace/devel/setup.bash"; fi' >> /home/asl/.bash_aliases

.devcontainer/requirements.txt

@@ -0,0 +1 @@
+colorlog