Dev/calibration

.gitignore

@@ -6,3 +6,7 @@ build
 devel
 provision/ansible/.password
 .catkin_tools
+kamera.egg-info
+# uv lock file (optional, but can be committed for reproducible builds)
+uv.lock
+**.DS_Store

README.md

@@ -22,20 +22,69 @@ KAMERA, or the **K**nowledge-guided Image **A**cquisition **M**anag**ER** and **
 
 ## Installation
 
+### Recommended: Micromamba (Cross-Platform)
+
+For best cross-platform support, especially for GDAL and pycolmap:
+
+1. **Install micromamba**:
+   ```bash
+   # Linux/macOS
+   curl -Ls https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xvj bin/micromamba
+
+   # Windows: See https://mamba.readthedocs.io/en/latest/installation/micromamba-installation.html
+   ```
+
+2. **Create environment** (uses conda-forge only):
+   ```bash
+   git clone https://github.com/Kitware/kamera.git
+   cd kamera
+   micromamba env create -f environment.yml
+   micromamba activate kamera
+   pip install -e .
+   ```
+
+   This automatically handles GDAL and pycolmap cross-platform without any platform-specific setup.
+
+### Alternative: Pip/uv Installation
+
+If you prefer pip-only installation (Linux/MacOS only):
+
+1. **Install uv** (fast Python package manager):
+   ```bash
+   # Linux/macOS
+   curl -LsSf https://astral.sh/uv/install.sh | sh
+   ```
+
+2. **Install the package**:
+   ```bash
+   git clone https://github.com/Kitware/kamera.git
+   cd kamera
+   uv pip install -e .
+   ```
+
+   **Platform-specific notes:**
+   - **Linux**: GDAL via system packages: `sudo apt-get install libgdal-dev python3-gdal`
+   - **macOS**: Install GDAL: `brew install gdal`
+
+3. **Lint code** (optional):
+   ```bash
+   uv pip install ruff
+   ruff check .
+   ```
+
+### Docker Images
+
 ```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
+# For the pure post-processing and generating flight summary
 make postflight
-# Builds the core docker images for use in the onboard sytems
+# Builds the core docker images for use in the onboard systems
 make nuvo
 # if using VIAME for the DL detectors
 make viame
 # if using the real-time GUI
 make gui
 ```
-Note that these images take up a large amount of disk space, especially the VIAME image which is 30Gb, and it can take several hours to builds. The core images are faster and lighter weight.
+Note that these images take up a large amount of disk space, especially the VIAME image which is 30Gb, and it can take several hours to build. The core images are faster and lighter weight.
 
 ## Partners and Acknowledgements
 KAMERA was developed in collaboration with:

docker/core.dockerfile

@@ -5,10 +5,14 @@ FROM kamera/base/core-deps:latest
 COPY . /root/kamera
 WORKDIR /root/kamera
 
+# Install uv for Python package management
+COPY --from=ghcr.io/astral-sh/uv:latest /uv /usr/local/bin/uv
+
 # use the exec form of run because we need bash syntax
 RUN [ "/bin/bash", "-c", "source /entry/project.sh && catkin build -s backend"]
 # python package is currently only supported for python3.10+, not on ubuntu20.04
-# RUN [ "/bin/bash", "-c", "pip install ."]
+# When Python 3.10+ is available, uncomment:
+# RUN [ "/bin/bash", "-c", "uv pip install --system -e ."]
 
 
 

docker/gui.dockerfile

@@ -37,9 +37,12 @@ RUN find /home/user -not -user user -execdir chown user {} \+
 
 # use the exec form of run because we need bash syntax
 USER user
+# Install uv for Python package management
+COPY --from=ghcr.io/astral-sh/uv:latest /uv /usr/local/bin/uv
+
 RUN [ "/bin/bash", "-c", "source /entry/project.sh && catkin build wxpython_gui "]
 RUN [ "/bin/bash", "-c", "source /entry/project.sh && catkin build ins_driver "]
-RUN [ "/bin/bash", "-c", "pip install -e ."]
+RUN [ "/bin/bash", "-c", "uv pip install --system -e ."]
 USER root
 RUN find /home/user -not -user user -execdir chown user {} \+
 USER user

docker/kamerapy.dockerfile

@@ -8,13 +8,19 @@ RUN apt-get update && apt-get install -yq \
     libxext6 \
     redis \
     dnsutils \
-    gdal-bin
+    gdal-bin \
+    curl \
+    && rm -rf /var/lib/apt/lists/*
 
-RUN pip install --upgrade pip
-RUN pip install setuptools==57.0.0
+# Install uv
+COPY --from=ghcr.io/astral-sh/uv:latest /uv /usr/local/bin/uv
 
 COPY ./ /src/kamera
 WORKDIR /src/kamera
-RUN pip install -e .
+
+# Install kamera package using uv
+# Note: GDAL is handled via system package (python3-gdal) on Linux
+# For Windows, use: uv pip install -e .[windows]
+RUN uv pip install --system -e .
 
 ENTRYPOINT ["bash"]

environment.yml

@@ -0,0 +1,45 @@
+name: kamera
+channels:
+  - conda-forge
+dependencies:
+  # Python version
+  - python>=3.10,<3.12
+
+  # Core scientific computing
+  - numpy>=2.1.1
+  - scipy>=1.14.1
+  - matplotlib>=3.9.2
+
+  # Image processing
+  - opencv>=4.10.0
+  - pillow>=10.4.0
+
+  # Geospatial libraries (conda-forge is best for cross-platform support)
+  - gdal>=3.9.2  # Cross-platform GDAL with all drivers
+  - shapely>=2.0.6
+
+  # Computer vision / 3D reconstruction
+  - pycolmap>=3.13.0  # Pre-built binaries work cross-platform
+  # Note: If you encounter Qt5/Qt6 conflicts, run: ./fix_qt_conflict.sh
+  # or manually remove Qt6: micromamba remove qt-main qt6-* -n kamera
+
+  # Utilities
+  - pyyaml>=6.0.2
+  - rich>=13.9.1
+
+  # Pip-only packages (install via pip after conda)
+  # These packages are not available in conda-forge or are better maintained on PyPI
+  - pip
+  - pip:
+    - pygeodesy>=24.9.29
+    - pyshp>=2.3.1
+    - simplekml>=1.3.6
+    - transformations>=2024.5.24
+    - scriptconfig>=0.8.0
+    - ubelt>=1.3.6
+    - exifread>=3.0.0
+    - ipdb>=0.13.13
+    - bottle>=0.13.2
+    # After creating this environment, install the kamera package itself:
+    # pip install -e .  (from the project root directory)
+