first commit

.flake8

@@ -0,0 +1,6 @@
+[flake8]
+max-line-length = 120
+exclude = .git,__pycache__,docs/source/conf.py,old,build,dist
+ignore = E203, E266, E501, W503
+max-complexity = 18
+select = B,C,E,F,W,T4

.github/workflows/python-package.yml

@@ -0,0 +1,37 @@
+name: Python package
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        python-version: [3.7, 3.8, 3.9, 3.10]
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v2
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install flake8 pytest
+        if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+    - name: Lint with flake8
+      run: |
+        # stop the build if there are Python syntax errors or undefined names
+        flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
+        # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide
+        flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics
+    - name: Test with pytest
+      run: |
+        pytest

.gitignore

@@ -0,0 +1,74 @@
+# These are some examples of commonly ignored file patterns.
+# You should customize this list as applicable to your project.
+# Learn more about .gitignore:
+#     https://www.atlassian.com/git/tutorials/saving-changes/gitignore
+
+**/__pycache__/
+
+# Node artifact files
+node_modules/
+dist/
+
+# Compiled Java class files
+*.class
+
+# Compiled Python bytecode
+*.py[cod]
+
+# Log files
+*.log
+
+# Package files
+*.jar
+
+# Maven
+target/
+dist/
+
+# JetBrains IDE
+.idea/
+
+# vscode
+.vscode
+
+# Unit test reports
+TEST*.xml
+
+# Generated by MacOS
+.DS_Store
+
+# Generated by Windows
+Thumbs.db
+
+# Applications
+*.app
+*.exe
+*.war
+
+# Large media files
+*.mp4
+*.tiff
+*.avi
+*.flv
+*.mov
+*.wmv
+
+# Trace files and vscode files
+*trace.json
+*.vscode
+# test
+panoptic_models/.pytest_cache/
+# ignore network weights
+panoptic_models/panoptic_models/deeplab2/weights/
+panoptic_models/panoptic_models/detr/weights/
+panoptic_models/panoptic_models/detr/configs/wandb
+panoptic_models/panoptic_models/mask2former/weights/
+panoptic_models/datasets/
+panoptic_models/outputs/
+panoptic_models/logs/
+panoptic_models/test
+panoptic_models/wandb/
+panoptic_models/.pytest_cache
+panoptic_models/.etc
+panoptic_models/panoptic_models/wandb/
+panoptic_models/panoptic_models.egg-info

CONTRIBUTING.md

@@ -0,0 +1,42 @@
+# Contributing to RSL Panoptic
+
+We love your input! We want to make contributing to this project as easy and transparent as possible, whether it's:
+- Reporting a bug
+- Discussing the current state of the code
+- Submitting a fix
+- Proposing new features
+
+## We Develop with Github
+We use GitHub to host code, to track issues and feature requests, as well as accept pull requests.
+
+## We Use Github Flow, So All Code Changes Happen Through Pull Requests
+Pull requests are the best way to propose changes to the codebase. We actively welcome your pull requests:
+
+1. Fork the repo and create your branch from `main`.
+2. If you've added code that should be tested, add tests.
+3. If you've changed APIs, update the documentation.
+4. Ensure the test suite passes.
+5. Make sure your code lints.
+6. Issue that pull request!
+
+## Any contributions you make will be under the MIT Software License
+In short, when you submit code changes, your submissions are understood to be under the same [MIT License](LICENSE) that covers the project. Feel free to contact the maintainers if that's a concern.
+
+## Report bugs using Github's [issues](https://github.com/your/repo/issues)
+We use GitHub issues to track public bugs. Report a bug by opening a new issue.
+
+**Great Bug Reports** tend to have:
+- A quick summary and/or background
+- Steps to reproduce
+  - Be specific!
+  - Give sample code if you can.
+- What you expected would happen
+- What actually happens
+- Notes (possibly including why you think this might be happening, or stuff you tried that didn't work)
+
+## Use a Consistent Coding Style
+* 4 spaces for indentation rather than tabs
+* You can try running `pre-commit install` to automatically check your code style on commit
+
+## License
+By contributing, you agree that your contributions will be licensed under its MIT License.

Dockerfile

@@ -0,0 +1,197 @@
+#=============================================================================
+# Copyright (C) 2021, Robotic Systems Lab, ETH Zurich
+# All rights reserved.
+# http://www.rsl.ethz.ch
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
+#=============================================================================
+# Authors: Julian Nubert, [email protected]
+#          Pascal Roth, [email protected]
+#          Lorenzo Terenzi, [email protected]
+#=============================================================================
+
+#==
+# Foundation
+#==
+ARG UBUNTU_VERSION=20.04
+ARG CUDA=11.1.1
+ARG DRIVER=510
+ARG ARCH
+FROM nvidia/cuda${ARCH:+-$ARCH}:${CUDA}-cudnn8-devel-ubuntu${UBUNTU_VERSION} as base
+
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics,video,compute,utility
+
+# Suppresses interactive calls to APT
+ENV DEBIAN_FRONTEND="noninteractive"
+
+# Install graphics drivers
+RUN apt update && apt install -y libnvidia-gl-${DRIVER} \
+  && rm -rf /var/lib/apt/lists/*
+
+# Needed for string substitution
+SHELL ["/bin/bash", "-c"]
+ENV TERM=xterm-256color
+
+# ----------------------------------------------------------------------------
+
+#==
+# System APT base dependencies and utilities
+#==
+RUN apt update && apt install -y \
+  sudo \
+  lsb-release \
+  ca-certificates \
+  apt-utils \
+  gnupg2 \
+  locate \
+  curl \
+  wget \
+  git \
+  vim \
+  gedit \
+  tmux \
+  unzip \
+  iputils-ping \
+  net-tools \
+  htop \
+  iotop \
+  iftop \
+  nmap \
+  software-properties-common \
+  build-essential \
+  gdb \
+  pkg-config \
+  cmake \
+  zsh \
+  tzdata \
+  clang-format \
+  clang-tidy \
+  xterm \
+  gnome-terminal \
+  dialog \
+  tasksel \
+  && rm -rf /var/lib/apt/lists/*
+
+#==
+# ROS
+#==
+# Version
+ARG ROS=noetic
+
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
+ && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - \
+ && apt update && apt install -y \
+  python3-pip \
+  python3-rosdep \
+  python3-rosclean \
+  python3-rosparam \
+  python3-progressbar \
+  python3-catkin-tools \
+  python3-osrf-pycommon \
+  python3-virtualenvwrapper \
+  ros-${ROS}-desktop-full \
+  ros-${ROS}-velodyne-pointcloud \
+  ros-${ROS}-joy \
+  ros-${ROS}-grid-map-core \
+ && rm -rf /var/lib/apt/lists/* \
+ && rosdep init && rosdep update \
+ && apt update && apt install -y \
+  libblas-dev \
+  xutils-dev \
+  gfortran \
+  libf2c2-dev \
+  libgmock-dev \
+  libgoogle-glog-dev \
+  libboost-all-dev \
+  libeigen3-dev \
+  libglpk-dev \
+  liburdfdom-dev \
+  liboctomap-dev \
+  libassimp-dev \
+  python3-catkin-tools \
+  ros-${ROS}-ompl \
+  ros-${ROS}-octomap-msgs \
+  ros-${ROS}-pybind11-catkin \
+  doxygen-latex \
+  usbutils \
+  python3-vcstool \
+ && rm -rf /var/lib/apt/lists/* \
+ && sudo ln -s /usr/include/eigen3 /usr/local/include/
+
+#==
+# RSL Panoptic Segmentation Setup
+#==
+COPY ./ /home/rsl_panoptic_seg
+
+# Set CUDA paths
+ENV CUDA_HOME=/usr/local/cuda-11.1 \
+    PATH="/usr/local/cuda-11.1/bin:${PATH}" \
+    LD_LIBRARY_PATH="/usr/local/cuda-11.1/lib64:${LD_LIBRARY_PATH}"
+
+# Create a symbolic link for CUDA (do this before any CUDA detection happens)
+RUN ln -s /usr/local/cuda-11.1 /usr/local/cuda
+
+# Display CUDA environment variables (for debugging)
+RUN echo "CUDA_HOME=$CUDA_HOME" && \
+    echo "PATH=$PATH" && \
+    echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH"
+
+# Set the repository path
+ENV REPO_PATH=/home/rsl_panoptic_seg
+
+# Change to the repository directory
+WORKDIR $REPO_PATH
+
+# Install numpy and torch with specified versions
+RUN pip3 install numpy==1.22.3
+RUN pip3 install torch==1.10.0+cu111 torchvision==0.11.1+cu111 -f https://download.pytorch.org/whl/torch_stable.html
+
+# Install additional required packages
+RUN pip3 install pandas tensorflow --upgrade wandb timm scikit-learn
+
+# Install detectron2 if it's required for the project
+RUN pip3 install detectron2 -f https://dl.fbaipublicfiles.com/detectron2/wheels/cu111/torch1.10/index.html
+
+# Ensure pytube is installed before attempting to copy files
+RUN pip3 install pytube
+
+# Install the panoptic models package
+RUN pip3 install -e ./panoptic_models
+
+# Ensure the detectron2 evaluation directory exists before copying files
+RUN mkdir -p /usr/local/lib/python3.8/dist-packages/detectron2/evaluation && \
+    cp ./panoptic_models/panoptic_models/mask2former/third_party/adapted_source_code/panoptic_evaluation.py /usr/local/lib/python3.8/dist-packages/detectron2/evaluation/
+
+# Set permissions for the dist-packages directory
+RUN chmod 777 '/usr/local/lib/python3.8/dist-packages/'
+
+ENV FORCE_CUDA="1"
+# Build and install custom ops for Mask2Former
+WORKDIR $REPO_PATH/panoptic_models/panoptic_models/mask2former/third_party/Mask2Former/mask2former/modeling/pixel_decoder/ops
+RUN python3 setup.py build install
+
+# Return to the repository path
+WORKDIR $REPO_PATH
+
+# ----------------------------------------------------------------------------
+
+#==
+# Cleanup
+#==
+RUN apt update && apt upgrade -y
+
+# ----------------------------------------------------------------------------
+
+#==
+# Execution
+#==
+COPY bin/entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+CMD []
+
+# EOF

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Robotics Systems Laboratory
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.