VSS-Vision Library (v1.0.0)

.devcontainer/Dockerfile

@@ -15,4 +15,4 @@ RUN if [ "${REINSTALL_CMAKE_VERSION_FROM_SOURCE}" != "none" ]; then \
 
 # [Optional] Uncomment this section to install additional packages.
 RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
-    && apt-get -y install --no-install-recommends qtbase5-dev libsfml-dev libopencv-dev freeglut3-dev protobuf-compiler libprotobuf-dev
+    && apt-get -y install --no-install-recommends libsfml-dev libopencv-dev freeglut3-dev

.gitignore

@@ -46,3 +46,6 @@ client/RCClient
 
 # Compiled protobuf
 *_pb2.py
+
+# scikit-build
+_skbuild/

CMakeLists.txt

@@ -8,7 +8,23 @@ set(CMAKE_AUTORCC ON)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
-set(EXECUTABLE_OUTPUT_PATH "${PROJECT_SOURCE_DIR}/src")
+# set(EXECUTABLE_OUTPUT_PATH "${PROJECT_SOURCE_DIR}/src")
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/vss_vision)
+
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+include(GNUInstallDirs)
+include(FindPackageHandleStandardArgs)
+include(FetchContent)
+
+FetchContent_Declare(
+  pybind11
+  URL https://github.com/pybind/pybind11/archive/refs/tags/v2.6.2.tar.gz
+  URL_HASH SHA256=8ff2fff22df038f5cd02cea8af56622bc67f5b64534f1b83b9f133b8366acff2
+)
+FetchContent_MakeAvailable(pybind11)
+
+set(python_module_name vss_vision)
 
 set(SOURCES
     src/main.cpp
@@ -23,31 +39,15 @@ set(SOURCES
     src/Vision/ImageProcessing/MaggicSegmentation.cpp
     src/Vision/ImageProcessing/WarpCorrection.cpp
     src/Vision/ImageProcessing/OpenCV/connectedcomponents.cpp
-    src/visionconfigdialog.cpp
-    src/fieldpointscalibratedialog.cpp
-    src/segmentationconfigdialog.cpp
-    src/cameraconfigurationdialog.cpp
-    src/Logging/logging.cpp
     src/Vision/ColorSpace.cpp
-    src/maggicsegmentationdialog.cpp
-    src/Timer/Timer.cpp
-    src/visionthread.cpp
-    src/CameraManager/CameraManager.cpp
-    src/CameraManager/CameraThread.cpp
     src/Vision/PositionProcessing/runlengthencoding.cpp
     src/Vision/PositionProcessing/BlobDetection.cpp
-    src/TBBThreadManager.cpp
     src/Field/Field.cpp
     src/GameInfo/GameInfo.cpp
     src/Utils/Global.cpp
-    src/Windows/MainVSSWindow.cpp
     src/Utils/Geometry.cpp
     src/Utils/Draw.cpp
     src/Utils/EnumsAndConstants.cpp
-    src/Windows/RobotWidget.cpp
-    src/trackconfigdialog.cpp
-    src/Network/Network.cpp
-    src/Network/visionServer/server.cpp
 )
 
 set(HEADERS
@@ -63,66 +63,52 @@ set(HEADERS
     src/Vision/ImageProcessing/WarpCorrection.h
     src/Vision/ColorSpace.h
     src/Vision/ImageProcessing/OpenCV/connectedcomponents.hpp
-    src/visionconfigdialog.h
-    src/fieldpointscalibratedialog.h
-    src/segmentationconfigdialog.h
-    src/cameraconfigurationdialog.h
-    src/Logging/logging.h
-    src/maggicsegmentationdialog.h
-    src/Timer/Timer.h
-    src/visionthread.h
-    src/CameraManager/CameraManager.h
-    src/CameraManager/CameraThread.h
     src/Vision/PositionProcessing/runlengthencoding.h
     src/Vision/PositionProcessing/BlobDetection.h
-    src/TBBThreadManager.h
     src/Utils/Types.h
     src/Field/Field.h
     src/Utils/EnumsAndConstants.h
     src/GameInfo/GameInfo.h
     src/Utils/Defines.h
     src/Utils/Global.h
-    src/Windows/MainVSSWindow.h
     src/Utils/Geometry.h
     src/Utils/Draw.h
-    src/Windows/RobotWidget.h
     src/Utils/BetterEnum.h
-    src/trackconfigdialog.h
-    src/Windows/FileConstants.h
-    src/Network/Network.h
-    src/Network/visionServer/server.h
 )
 
 set(RESOURCES
     src/image.qrc
     src/iconTools/icontools.qrc
 )
 
-set(PROTOS
-    src/Network/protobuf/proto/messages_robocup_ssl_detection.proto
-    src/Network/protobuf/proto/messages_robocup_ssl_geometry.proto
-    src/Network/protobuf/proto/wrapper.proto
+pybind11_add_module(${python_module_name} MODULE
+  ${SOURCES}
+  ${HEADERS}
 )
 
-find_package(Protobuf REQUIRED)
-protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${PROTOS})
 
-add_executable(${PROJECT_NAME} ${SOURCES} ${HEADERS} ${RESOURCES} ${PROTO_SRCS} ${PROTO_HDRS})
+# add_executable(${PROJECT_NAME} ${SOURCES} ${HEADERS} ${RESOURCES} ${PROTO_SRCS} ${PROTO_HDRS})
 
-target_include_directories(${PROJECT_NAME} PUBLIC "${PROJECT_SOURCE_DIR}/src")
-target_include_directories(${PROJECT_NAME} PUBLIC "${PROJECT_SOURCE_DIR}/include")
-target_include_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_BINARY_DIR})
+set(CMAKE_CXX_FLAGS -O3)
+message(CMAKE_CXX_FLAGS)
+message("${CMAKE_CXX_FLAGS}")
 
-find_package(Qt5 REQUIRED COMPONENTS Core Widgets Gui Network)
-target_link_libraries(${PROJECT_NAME} Qt5::Core Qt5::Widgets Qt5::Gui Qt5::Network)
+target_include_directories(${python_module_name} PUBLIC "${PROJECT_SOURCE_DIR}/src")
+target_include_directories(${python_module_name} PUBLIC "${PROJECT_SOURCE_DIR}/include")
+target_include_directories(${python_module_name} PUBLIC ${CMAKE_CURRENT_BINARY_DIR})
 
+set(OpenCV_STATIC ON)
 find_package(OpenCV REQUIRED)
-target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
+target_link_libraries(${python_module_name} PUBLIC ${OpenCV_LIBS})
 
 find_package(TBB REQUIRED)
-target_link_libraries(${PROJECT_NAME} TBB::tbb)
+target_link_libraries(${python_module_name} PUBLIC TBB::tbb)
+
+file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/src/__init__.py
+        DESTINATION ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
+
+message(${python_module_name})
+
+install(TARGETS ${python_module_name} DESTINATION .)
 
-find_package(SFML REQUIRED COMPONENTS network system)
-target_link_libraries(${PROJECT_NAME} sfml-network sfml-system)
 
-target_link_libraries(${PROJECT_NAME} ${Protobuf_LIBRARIES})

Dockerfile

@@ -1,8 +1,19 @@
 FROM ubuntu:22.04
 
+ARG DEBIAN_FRONTEND=noninteractive
+ENV TZ=Etc/UTC
+
+# for python3.8
+RUN apt update && apt install -y tzdata software-properties-common \
+    && add-apt-repository -y ppa:deadsnakes/ppa \
+    && apt install -y python3.8 python3.8-dev python3.8-venv \
+    && python3.8 -m venv /home/.env \
+    && . /home/.env/bin/activate \
+    && pip install opencv-python pybind11 scikit-build
+
+
 RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
     && apt-get -y install --no-install-recommends \
-    qtbase5-dev \
     build-essential \
     pkg-config \
     zip \
@@ -11,16 +22,24 @@ RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
     libsfml-dev \
     libopencv-dev \
     freeglut3-dev \
-    protobuf-compiler \
     libprotobuf-dev \ 
-    cmake
+    cmake \
+    python3 \
+    libpython3-dev \
+    python3-dev \
+    python3-pip
 
 COPY . /opt/vss-vision
 
-WORKDIR /opt/vss-vision/build
+WORKDIR /opt/vss-vision
 
-RUN cmake clean .. -Wno-dev && make -j4
+RUN . /home/.env/bin/activate \
+    && mkdir build \
+    && cd build \
+    && cmake .. \
+    && make \
+		&& cd .. \
+		&& pip install -e .
 
-WORKDIR /opt/vss-vision/src
 
-CMD ["./VSS-VISION"]
+WORKDIR /opt/vss-vision

InstallDependencies

@@ -4,18 +4,20 @@
 # Update repos
 sudo apt update -y
 
-# Install SFML
-sudo apt install libsfml-dev -y
-
-# Install OpenCV
-sudo apt install libopencv-dev -y
-
-# Install OpenGL + FreeGLUT3
-sudo apt install freeglut3-dev -y
-
-# Install QT5
-sudo apt install qtbase5-dev -y
-
-# Intall Protobuf
-sudo apt install libprotobuf -y
-sudo apt install protobuf-compiler -y
+sudo apt -y install --no-install-recommends \
+    build-essential \
+    pkg-config \
+    zip \
+    unzip \
+    v4l-utils \
+    libsfml-dev \
+    libopencv-dev \
+    freeglut3-dev \
+    libprotobuf-dev 
+
+sudo apt install \
+    cmake \
+    python3 \
+    libpython3-dev \
+    python3-dev \
+    python3-pip

README.md

@@ -55,33 +55,20 @@ cd src
 ├── include
 │   └── spdlog
 └── src
-    ├── cameraconfigurationdialog.cpp
-    ├── CameraManager
-    │   ├── CameraManager.cpp
-    │   └── CameraThread.cpp
     ├── Config
     │   └── Segmentation
     ├── Entity
     │   └── Entity.cpp
-    ├── fieldpointscalibratedialog.cpp
     ├── iconTools
     ├── Images
     ├── Log
     │   ├── general
     │   ├── others
     │   └── vision
-    ├── Logging
-    │   └── logging.cpp
-    ├── maggicsegmentationdialog.cpp
     ├── main.cpp
     ├── mainwindow.cpp
     ├── qrc_icontools.cpp
     ├── qrc_image.cpp
-    ├── segmentationconfigdialog.cpp
-    ├── TBBThreadManager.cpp
-    ├── Timer
-    │   └── Timer.cpp
-    ├── trackconfigdialog.cpp
     ├── Utils
     │   ├── Constants.cpp
     │   └── Utils.cpp
@@ -102,8 +89,6 @@ cd src
     │   │   ├── runlengthencoding.cpp
     │   │   └── WhereAreThose.cpp
     │   └── Vision.cpp
-    ├── visionconfigdialog.cpp
-    └── visionthread.cpp
 ```
 - - -