renamed container folder, WIP devcontainers

.devcontainer/ROS/Dockerfile

@@ -0,0 +1,52 @@
+FROM ubuntu:22.04
+
+ENV DEBIAN_FRONTEND=noninteractive \
+ LANGUAGE=en_US:en \
+ LANG=en_US.UTF-8 \
+ LC_ALL=en_US.UTF-8
+
+RUN apt-get update && apt-get install -y \
+ sudo \
+ python3.10 \
+ dos2unix \
+ git \
+ python3-pip \
+ xauth \
+ apt-utils \
+ dialog \
+ libnss3-tools \
+ libx11-dev \
+ git \
+ xz-utils \
+ zip \
+ unzip \
+ && apt clean \
+ && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+
+COPY ./scripts /scripts
+
+RUN dos2unix /scripts/*.sh
+
+RUN /scripts/install-build-essential.sh
+RUN /scripts/install-cmake.sh
+RUN /scripts/install-ros2.sh
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Create and switch to user
+RUN groupadd --gid $USER_GID $USERNAME \
+ && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME --shell /bin/bash \
+ && echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME \
+ && chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Set the default user to vscode
+USER $USERNAME
+
+# Create workspace so that user own this directory
+RUN mkdir -p /home/$USERNAME/workspace
+WORKDIR /home/$USERNAME/workspace
+
+ENTRYPOINT ["/bin/bash"]
+

.devcontainer/ROS/devcontainer.json

@@ -0,0 +1,28 @@
+{
+ "name": "ROS2 Dev Container",
+ "remoteUser": "vscode",
+ "build": {
+ "dockerfile": "Dockerfile",
+ "args": {
+ "USERNAME": "vscode",
+ "USER_GID": "1000",
+ "USER_UID": "1000"
+ }
+ },
+ // "image": "agrobotappliedai/devcontainers:ros2",
+ "customizations":{
+ "settings": {
+ "terminal.integrated.shell.linux": "bash"
+ }
+ },
+ "workspaceFolder": "/home/vscode/workspace",
+ "workspaceMount": "source=.,target=/home/vscode/workspace,type=bind,consistency=cached",
+ "mounts": [],
+ "runArgs": [
+ "--net=host",
+ "-it"
+ // "--privileged"
+ // "--display later"
+ ],
+ "postCreateCommand": "bash -c 'echo source /opt/ros/humble/setup.bash >> ~/.bashrc && source /opt/ros/humble/setup.bash'"
+}

actions_scripts/Python Unit Tests.py

@@ -2,6 +2,9 @@
 import numpy as np
 from my_package.bbox_node import BBoxNode
 
+# get outputs of ultralytics and assert function diff between ultralytics and module vlaue is less than 0.5%
+# unit tests for also length of list (object count)
+
 def calculate_iou(boxA, boxB):
  """
  Calculate the Intersection over Union (IoU) between two bounding boxes.

calibration_tools/roi_calibration.py

@@ -20,7 +20,7 @@
 def print_camera_information(cam): 
  print("Serial number: {0}.\n".format( cam.get_camera_information().serial_number))
 
-def initialize_image_source(source_type="static_image", image_path='C:/Users/ishaa/Coding Projects/Applied-AI/ROS/assets/maize'):
+def initialize_image_source(source_type="static_image", image_path='C:/Users/ishaa/Coding Projects/ROS/assets/maize'):
  if source_type == "static_image":
  if not os.path.exists(image_path):
  raise ValueError(f"Images folder not found at {image_path}")
@@ -120,7 +120,7 @@ def retrieve_zed_image(cam, orientation="left"):
 
  return image, velocity[0]
 
-def roi_calibrator(source_type="static_image", images_path='C:/Users/ishaa/Coding Projects/Applied-AI/ROS/assets/maize'):
+def roi_calibrator(source_type="static_image", images_path='C:/Users/Ishaan/Coding Projects/Applied-AI/ROS/assets/maize'):
  global roi_x, roi_y, roi_w, roi_h, shift_constant, velocity
  image_source = initialize_image_source(source_type, images_path)
  if source_type == "zed_double":
@@ -233,5 +233,5 @@ def onTrack6(val):
  parser.add_argument('--source_type', type=str, required=False, help='Type of image source (static_image, zed_single, zed_double)')
  parser.add_argument('--images_path', type=str, required=False, help='Path to the folder of calibration images')
  args = parser.parse_args()
- # roi_calibrator(args.source_type, args.images_path)
- roi_calibrator()
+ roi_calibrator(args.source_type, args.images_path)
+ # roi_calibrator()

Containers/CPU.Dockerfile → instrumentation/CPU.Dockerfile

@@ -1,10 +1,7 @@
-# Use an official Python runtime as a parent image
 FROM python:3.10-slim-buster
 
-# Set environment variables to prevent prompts during package installations
 ENV DEBIAN_FRONTEND=noninteractive
 
-# Install system dependencies
 RUN apt-get update && apt-get install -y --no-install-recommends \
  build-essential \
  git \
@@ -22,10 +19,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
  && apt-get clean \
  && rm -rf /var/lib/apt/lists/*
 
-# Upgrade pip
 RUN python3 -m pip install --upgrade pip
 
-# Install CPU-only Python packages
 RUN pip3 install --upgrade --no-cache-dir --verbose \
  numpy \
  wandb \
@@ -40,8 +35,6 @@ RUN pip3 install --upgrade --no-cache-dir --verbose \
  tensorflow-cpu-aws \
  torch --extra-index-url https://download.pytorch.org/whl/cpu
 
-# Expose port for Jupyter Notebook
 EXPOSE 8888
 
-# Set the default command to run jupyter notebook
 CMD ["jupyter", "notebook", "--ip=0.0.0.0", "--port=8888", "--no-browser", "--allow-root"]

Containers/GPU.Dockerfile → instrumentation/GPU.Dockerfile

@@ -1,10 +1,7 @@
-# Use an official NVIDIA runtime image with CUDA
 FROM nvidia/cuda:12.2.2-cudnn8-runtime-ubuntu20.04
 
-# Set environment variables to prevent prompts during package installations
 ENV DEBIAN_FRONTEND=noninteractive
 
-# Install system dependencies
 RUN apt-get update && apt-get install -y --no-install-recommends \
  build-essential \
  git \
@@ -27,11 +24,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
  && apt-get clean \
  && rm -rf /var/lib/apt/lists/*
 
-# Upgrade pip
 RUN python3 -m pip install --upgrade pip
 
-# Install CUDA-enabled Python packages
-RUN pip install --no-cache-dir \
+RUN pip install --upgrade --no-cache-dir --verbose \
  numpy \
  scipy \
  scikit-learn \
@@ -53,8 +48,6 @@ RUN pip install --no-cache-dir \
  torch-tensorrt \
  tensorrt
 
-# Expose port for Jupyter Notebook
 EXPOSE 8888
 
-# Set the default command to run shell
 CMD ["jupyter", "notebook", "--ip=0.0.0.0", "--port=8888", "--no-browser", "--allow-root"]

instrumentation/scripts/install-build-essential.sh

@@ -0,0 +1,28 @@
+#!/usr/bin/env bash
+set -ex
+
+echo 'installing build-essential'
+
+apt -y update && apt -y upgrade
+apt-get install -y --no-install-recommends \
+ build-essential \
+ software-properties-common \
+ apt-transport-https \
+ ca-certificates \
+ lsb-release \
+ pkg-config \
+ gnupg \
+ git \
+ gdb \
+ wget \
+ curl \
+ nano \
+ zip \
+ unzip \
+ time \
+ sshpass \
+ ssh-client
+apt-get clean 
+rm -rf /var/lib/apt/lists/* 
+gcc --version 
+g++ --version

instrumentation/scripts/install-cmake.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -ex
+
+echo 'installing cmake'
+
+wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
+echo "deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/kitware.list >/dev/null
+apt-get update 
+rm /usr/share/keyrings/kitware-archive-keyring.gpg 
+apt-get install -y --no-install-recommends kitware-archive-keyring 
+apt-cache policy cmake 
+apt-get install -y --no-install-recommends cmake 
+rm -rf /var/lib/apt/lists/* 
+apt-get clean
+cmake --version

instrumentation/scripts/install-ros2.sh

@@ -0,0 +1,28 @@
+#!/usr/bin/env bash
+set -ex
+
+echo 'installing ros2'
+
+locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+
+apt-get update
+apt-get install -y --no-install-recommends \
+ gnupg2 \
+ lsb-release \
+ ca-certificates \
+ locales \
+ software-properties-common \
+
+add-apt-repository universe
+curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+apt-get update && apt upgrade -y
+apt install ros-humble-ros-base python3-argcomplete ros-dev-tools -y
+echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+source /opt/ros/humble/setup.bash
+printenv | grep -i ROS
+
+apt-get install -y --no-install-recommends \
+
+rm -rf /var/lib/apt/lists/*
+apt-get clean

python_wip/ultralytics_poc.py

@@ -0,0 +1,36 @@
+from ultralytics import YOLO
+import cv2
+
+# Define ROI (Region of Interest) as (x_min, y_min, x_max, y_max)
+roi = (100, 100, 800, 800)
+roi_x1, roi_y1, roi_x2, roi_y2 = roi
+
+# Load the pre-trained YOLO model
+model = YOLO('C:/Users/ishaa/Coding Projects/ROS/models/maize/Maize.pt')
+
+# Load the image
+image = cv2.imread('C:/Users/ishaa/Coding Projects/ROS/assets/maize/IMG_1822_14.JPG')
+
+# Make predictions on the image
+results = model(image)
+result = results[0]
+
+print("Bounding boxes:")
+boxes = result.boxes.xyxy # xyxy format: [x_min, y_min, x_max, y_max]
+
+for box in boxes:
+ print(box)
+ x_min, y_min, x_max, y_max = box.tolist()
+
+ if x_min >= roi_x1 and x_max <= roi_x2 and y_min >= roi_y1 and y_max <= roi_y2:
+ print(1)
+
+ cv2.rectangle(image, (int(x_min), int(y_min)), (int(x_max), int(y_max)), (0, 255, 0), 2)
+
+cv2.rectangle(image, (roi_x1, roi_y1), (roi_x2, roi_y2), (255, 0, 0), 2)
+
+cv2.imshow("Image with ROI", image)
+cv2.waitKey(0)
+cv2.destroyAllWindows()
+
+# scaling color filter bbox output -> can get cropped images from ultralytics API