Install scripts, bdist_wheel, x86 docker and instructions

.github/workflows/tests_sources.yml

@@ -105,4 +105,3 @@ jobs:
             source tests/sources/tools/control/mobile_manipulation/run_ros.sh
             python -m unittest discover -s tests/sources/tools/${{ matrix.package }}
         fi
-

Dockerfile

@@ -0,0 +1,25 @@
+FROM ubuntu:20.04
+
+# Install dependencies
+RUN apt-get update && \
+    apt-get --yes install git sudo
+RUN DEBIAN_FRONTEND="noninteractive" apt-get -y install tzdata
+
+# Add Tini
+ENV TINI_VERSION v0.19.0
+ADD https://github.com/krallin/tini/releases/download/${TINI_VERSION}/tini /tini
+RUN chmod +x /tini
+ENTRYPOINT ["/tini", "--"]
+
+# Clone the repo and install the toolkit
+RUN git clone --depth 1 --recurse-submodules -j8 https://github.com/opendr-eu/opendr
+WORKDIR "/opendr"
+RUN ./bin/install.sh
+
+# Create script for starting Jupyter Notebook
+RUN /bin/bash -c "source ./bin/activate.sh; pip3 install jupyter"
+RUN echo "#!/bin/bash\n source ./bin/activate.sh\n ./venv/bin/jupyter notebook --port=8888 --no-browser --ip 0.0.0.0 --allow-root" > start.sh
+RUN chmod +x start.sh
+
+# Start Jupyter Notebook inside OpenDR
+CMD ["./start.sh"]

Dockerfile-cuda

@@ -0,0 +1,56 @@
+FROM nvidia/cuda:11.0-base
+
+# Install dependencies
+RUN apt-get update && \
+    apt-get --yes install git sudo apt-utils
+RUN DEBIAN_FRONTEND="noninteractive" apt-get -y install tzdata
+
+# Install CUDA 10.2
+RUN apt-get --yes install gcc-8 g++-8 wget  && \
+    update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 100 --slave /usr/bin/g++ g++ /usr/bin/g++-8  && \
+    update-alternatives --auto gcc && \
+    apt-get --yes install zlib1g-dev libbz2-dev libreadline-dev libssl-dev libsqlite3-dev libffi-dev && \
+    wget https://developer.download.nvidia.com/compute/cuda/10.2/Prod/local_installers/cuda_10.2.89_440.33.01_linux.run && \
+    wget http://people.cs.uchicago.edu/~kauffman/nvidia/cudnn/cudnn-10.2-linux-x64-v8.2.0.53.tgz
+
+RUN sudo apt-get --yes install libxml2 && \
+    sh cuda_10.2.89_440.33.01_linux.run --silent --toolkit --override  --librarypath=/usr/local/cuda-10.2 && \
+    ln -s /usr/local/cuda-10.2/ /usr/local/cuda && \
+    tar -xzvf cudnn-10.2-linux-x64-v8.2.0.53.tgz && \
+    cp cuda/include/cudnn.h /usr/local/cuda/include && \
+    cp cuda/lib64/libcudnn* /usr/local/cuda/lib64 && \
+    chmod a+r /usr/local/cuda/include/cudnn.h /usr/local/cuda/lib64/libcudnn* && \
+    bash -c 'echo "/usr/local/cuda-10.2/lib64" > /etc/ld.so.conf.d/nvidia.conf' && \
+    ln -sf /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn_adv_train.so.8.2.0 /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn_adv_train.so.8 && \
+    ln -sf /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn_ops_infer.so.8.2.0 /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn_ops_infer.so.8 && \
+    ln -sf /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn_cnn_train.so.8.0.0 /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn_cnn_train.so.8 && \
+    ln -sf /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn_adv_infer.so.8.2.0 /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn_adv_infer.so.8 && \
+    ln -sf /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn_ops_train.so.8.2.0 /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn_ops_train.so.8 && \
+    ln -sf /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn_cnn_infer.so.8.2.0 /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn_cnn_infer.so.8 && \
+    ln -sf /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn.so.8.2.0 /usr/local/cuda-10.2/targets/x86_64-linux/lib/libcudnn.so.8 && \
+    ldconfig
+
+# Add Tini
+ENV TINI_VERSION v0.19.0
+ADD https://github.com/krallin/tini/releases/download/${TINI_VERSION}/tini /tini
+RUN chmod +x /tini
+ENTRYPOINT ["/tini", "--"]
+
+# Avoid switching back to gcc9 when install build-essential
+RUN sudo apt-get --yes install build-essential && \
+    update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 100 --slave /usr/bin/g++ g++ /usr/bin/g++-8  && \
+    update-alternatives --auto gcc
+
+# Clone the repo and install the toolkit
+ENV OPENDR_DEVICE gpu
+RUN git clone --depth 1 --recurse-submodules -j8 https://github.com/opendr-eu/opendr
+WORKDIR "/opendr"
+RUN ./bin/install.sh
+
+# Create script for starting Jupyter Notebook
+RUN /bin/bash -c "source ./bin/activate.sh; pip3 install jupyter"
+RUN echo "#!/bin/bash\n source ./bin/activate.sh\n ./venv/bin/jupyter notebook --port=8888 --no-browser --ip 0.0.0.0 --allow-root" > start.sh
+RUN chmod +x start.sh
+
+# Start Jupyter Notebook inside OpenDR
+CMD ["./start.sh"]

README.md

@@ -1,12 +1,62 @@
-# OpenDR Toolkit
-OpenDR Internal Repository
+<div align="center">
 
+<img src="docs/reference/images/opendr_logo.png" width="400px">
 
-This is the internal repository of [OpenDR Project](https://opendr.eu) that contains the development version of OpenDR toolkit. 
-Note that this version is not yet production ready, so this repository is not yet intended to be used for any purpose, since it might contain unstable code that undergoes heavy development. 
-The first public version of OpenDR toolkit is scheduled to be released on Dec. 2021.
+**A modular, open and non-proprietary toolkit for core robotic functionalities by harnessing deep learning**
+______________________________________________________________________
 
+<p align="center">
+  <a href="https://www.opendr.eu/">Website</a> •
+  <a href="#about">About</a> •
+  <a href="docs/reference/installation.md">Installation</a> •  
+  <a href="#using-opendr-toolkit">Using OpenDR toolkit</a> •
+  <a href="projects">Examples</a> •
+  <a href="#roadmap">Roadmap</a> •  
+  <a href="LICENSE">License</a>
+</p>
 
-*OpenDR project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 871449.*
+[![License](https://img.shields.io/badge/License-Apache_2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+
+</div>
+
+## About
+
+The aim of [OpenDR Project](https://opendr.eu) is to develop a **modular, open** and **non-proprietary toolkit** for core **robotic functionalities** by harnessing **deep learning** to provide advanced perception and cognition capabilities, meeting in this way the general requirements of robotics applications in the applications areas of healthcare, agri-food and agile production. 
+OpenDR provides the means to link the **robotics applications to software libraries** (deep learning frameworks, e.g., [PyTorch](https://pytorch.org/) and [Tensorflow](https://www.tensorflow.org/)) to the **operating environment ([ROS](https://www.ros.org/))**. 
+OpenDR focuses on the **AI and Cognition core technology** in order to provide tools that make robotic systems cognitive, giving them the ability to:
+1. interact with people and environments by developing deep learning methods for **human centric and environment active perception and cognition**,
+2. **learn and categorize** by developing deep learning **tools for training and inference in common robotics settings**, and 
+3. **make decisions and derive knowledge** by developing deep learning tools for cognitive robot action and decision making.
+
+As a result, the developed OpenDR toolkit will also enable cooperative human-robot interaction as well as the development of cognitive mechatronics where sensing and actuation are closely coupled with cognitive systems thus contributing to another two core technologies beyond AI and Cognition. 
+OpenDR aims to develop, train, deploy and evaluate deep learning models that improve the technical capabilities of the core technologies beyond the current state of the art. 
+
+## Installing OpenDR Toolkit
+
+OpenDR can be installed in the following ways:
+1. By *cloning* this repository (CPU/GPU support)
+2. Using *pip* (CPU only)
+3. Using *docker* (CPU/GPU support)
 
+You can find detailed installation instruction in the [documentation](docs/reference/installation.md).
+
+## Using OpenDR toolkit
+OpenDR provides an intuitive and easy to use **[Python interface](src/opendr)**, a **[C API](src/c_api) for performance critical application**, a wealth of **[usage examples and supporting tools](projects)**, as well as **ready-to-use [ROS nodes](projects/opendr_ws)**.
+OpenDR is built to support [Webots Open Source Robot Simulator](https://cyberbotics.com/), while it also extensively follows industry standards, such as [ONNX model format](https://onnx.ai/) and [OpenAI Gym Interface](https://gym.openai.com/). 
+You can find detailed documentation in OpenDR [wiki](https://github.com/tasostefas/opendr_internal/wiki), as well as in the [tools index](docs/reference/index.md).
+
+## Roadmap
+OpenDR has the following roadmap:
+- **v1.0 (2021)**: Baseline deep learning tools for core robotic functionalities
+- **v2.0 (2022)**: Optimized lightweight and high-resolution deep learning tools for robotics
+- **v3.0 (2023)**: Active perception-enabled deep learning tools for improved robotic perception
+
+## How to contribute
+Please follow the instructions provided in the [wiki](https://github.com/tasostefas/opendr_internal/wiki). 
+
+
+## Acknowledgments
+*OpenDR project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 871449.*
+<div align="center">
 <img src="https://user-images.githubusercontent.com/16520105/123549590-6a9f4b00-d772-11eb-998a-ed4c70133617.png" height="70"> <img src="https://user-images.githubusercontent.com/16520105/123549536-31ff7180-d772-11eb-9c81-6cc98b7d2e1e.png" height="70">
+</div>

bin/activate.sh

@@ -0,0 +1,12 @@
+#!/bin/sh
+export OPENDR_HOME=$PWD
+export PYTHONPATH=$OPENDR_HOME/src:$PYTHONPATH
+export PYTHON=python3
+export LD_LIBRARY_PATH=$OPENDR_HOME/src:$LD_LIBRARY_PATH
+
+if [[ -z "${OPENDR_DEVICE}" ]]; then
+  echo "[INFO] Set available device to CPU. You can manually change this by running 'export OPENDR_DEVICE=gpu'."
+  export OPENDR_DEVICE=cpu
+fi
+
+source venv/bin/activate

bin/install.sh

@@ -0,0 +1,52 @@
+#!/bin/bash
+export OPENDR_HOME=$PWD
+export PYTHONPATH=$OPENDR_HOME/src:$PYTHONPATH
+export PYTHON=python3
+export DISABLE_BCOLZ_AVX2=true
+
+if [[ -z "${OPENDR_DEVICE}" ]]; then
+  echo "[INFO] Set available device to CPU. You can manually change this by running 'export OPENDR_DEVICE=gpu'."
+  export OPENDR_DEVICE=cpu
+fi
+
+# Install base ubuntu deps
+sudo apt-get install --yes libfreetype6-dev lsb-release git python3-pip curl wget python3.8-venv
+
+# Get all submodules
+git submodule init
+git submodule update
+
+case $(lsb_release -r |cut -f2) in
+  "18.04")
+    export ROS_DISTRO=melodic;;
+  "20.04")
+    export ROS_DISTRO=noetic;;
+  *)
+    echo "Not tested for this ubuntu version" && exit 1;;
+esac
+
+# Create a virtual environment and update
+python3 -m venv venv
+source venv/bin/activate
+python3 -m pip install -U pip
+pip3 install setuptools configparser
+
+# Add repositories for ROS
+sudo 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 -
+
+# Build OpenDR
+make install_compilation_dependencies
+make install_runtime_dependencies
+make libopendr
+
+# Prepare requirements.txt for wheel distributions
+pip3 freeze > requirements.txt
+
+# Remove detectron, since it was installed from git repo
+sed -i '/detectron2/d' requirements.txt
+sed -i '/git/d' requirements.txt
+python3 setup.py bdist_wheel
+
+deactivate
+

dependencies/install.sh

@@ -14,7 +14,7 @@ fi
 pip install ConfigParser
 
 # Install global dependencies
-python parse_dependencies.py $TYPE --global
+python3 parse_dependencies.py $TYPE --global
 if [ -f "linux_dependencies.txt" ]; then
        cat linux_dependencies.txt | xargs sudo apt-get install --yes
        rm linux_dependencies.txt
@@ -29,7 +29,7 @@ if [ -f "python_dependencies.txt" ]; then
 fi
 
 # Install the dependencies from the work packages
-python parse_dependencies.py $TYPE
+python3 parse_dependencies.py $TYPE
 if [ -f "linux_dependencies.txt" ]; then
        cat linux_dependencies.txt | xargs sudo apt-get install --yes
        rm linux_dependencies.txt

dependencies/install_onnx.sh

@@ -4,7 +4,7 @@ if [ ! -f /usr/local/lib/libonnxruntime.so ]; then
 
 
   VERSION="1.6.0"
-  if [[ "$OPENDR_DEVICE" == "cuda" ]]
+  if [[ "$OPENDR_DEVICE" == "gpu" ]]
   then
       echo "Downloading and installing onnxruntime (gpu support) ..."
       DEVICE="-gpu"

dependencies/pip_requirements.txt

@@ -0,0 +1,7 @@
+numpy==1.17.5
+Cython
+torch==1.7.1
+wheel
+git+https://github.com/cidl-auth/cocoapi@03ee5a19844e253b8365dbbf35c1e5d8ca2e7281#subdirectory=PythonAPI
+git+https://github.com/cocodataset/panopticapi.git@7bb4655548f98f3fedc07bf37e9040a992b054b0
+git+https://github.com/MatthewHowe/DCNv2@194f5733c667cf13e5bd478a8c5bf27573ffa98c