Fixed installation issues and static paths

Dockerfile

@@ -0,0 +1,72 @@
+# FROM nvidia/cuda:11.3.1-cudnn8-devel-ubuntu20.04
+FROM nvidia/cuda:11.8.0-cudnn8-devel-ubuntu20.04
+
+ENV TZ=US/Pacific
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+RUN apt-get update --fix-missing && \
+    apt-get install -y libgtk2.0-dev && \
+    apt-get install -y wget bzip2 ca-certificates curl git vim tmux g++ gcc build-essential cmake checkinstall gfortran libjpeg8-dev libtiff5-dev pkg-config yasm libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine2-dev libv4l-dev qt5-default libgtk2.0-dev libtbb-dev libatlas-base-dev libfaac-dev libmp3lame-dev libtheora-dev libvorbis-dev libxvidcore-dev libopencore-amrnb-dev libopencore-amrwb-dev x264 v4l-utils libprotobuf-dev protobuf-compiler libgoogle-glog-dev libgflags-dev libgphoto2-dev libhdf5-dev doxygen libflann-dev libboost-all-dev proj-data libproj-dev libyaml-cpp-dev cmake-curses-gui
+
+# RUN cd / && wget https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz &&\
+#     tar xvzf ./eigen-3.4.0.tar.gz &&\
+#     cd eigen-3.4.0 &&\
+#     mkdir build &&\
+#     cd build &&\
+#     cmake .. &&\
+#     make install
+
+# RUN cd / &&\
+#     git clone https://github.com/opencv/opencv &&\
+#     cd opencv &&\
+#     git checkout 3.4.15 &&\
+#     cd / && git clone https://github.com/opencv/opencv_contrib.git &&\
+#     cd opencv_contrib &&\
+#     git checkout 3.4.15 &&\
+#     cd /opencv &&\
+#     mkdir build
+
+# RUN cd /opencv/build &&\
+#     cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_CUDA_STUBS=OFF -DBUILD_DOCS=OFF -DWITH_MATLAB=OFF -Dopencv_dnn_BUILD_TORCH_IMPORTE=OFF -DCUDA_FAST_MATH=ON  -DMKL_WITH_OPENMP=ON -DOPENCV_ENABLE_NONFREE=ON -DWITH_OPENMP=ON -DWITH_QT=ON -WITH_OPENEXR=ON -DENABLE_PRECOMPILED_HEADERS=OFF -DBUILD_opencv_cudacodec=OFF -DINSTALL_PYTHON_EXAMPLES=OFF  -DWITH_TIFF=OFF -DWITH_WEBP=OFF -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules -DCMAKE_CXX_FLAGS=-std=c++11 -DENABLE_CXX11=OFF  -DBUILD_opencv_xfeatures2d=ON -DOPENCV_DNN_OPENCL=OFF -DWITH_CUDA=ON -DWITH_OPENCL=OFF &&\
+#     make -j6 &&\
+#     make install &&\
+#     cd /opencv/build && make install
+
+RUN apt install -y libzmq3-dev freeglut3-dev
+
+SHELL ["/bin/bash", "--login", "-c"]
+
+RUN cd / && wget --quiet https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O /miniconda.sh && \
+    /bin/bash /miniconda.sh -b -p /opt/conda &&\
+    ln -s /opt/conda/etc/profile.d/conda.sh /etc/profile.d/conda.sh &&\
+    echo ". /opt/conda/etc/profile.d/conda.sh" >> ~/.bashrc &&\
+    /bin/bash -c "source ~/.bashrc" && \
+    /opt/conda/bin/conda update -n base -c defaults conda -y &&\
+    /opt/conda/bin/conda config --set ssl_verify no && \
+    /opt/conda/bin/conda config --add channels conda-forge 
+
+RUN cd / && git clone https://github.com/VenkatSBitra/PVO.git
+
+RUN cd /PVO &&\
+    conda env create -y -f VO_Module/environment.yaml
+    # conda activate droidenv &&\
+
+ENV PATH $PATH:/opt/conda/envs/droidenv/bin
+
+# SHELL ["conda", "run", "-n", "droidenv", "/bin/bash", "-c"]
+RUN conda init bash &&\
+    echo "conda activate droidenv" >> ~/.bashrc &&\
+    /bin/bash -c "source ~/.bashrc"
+
+RUN pip install evo --upgrade --no-binary evo &&\
+    pip install gdown
+
+# # RUN conda activate droidenv &&\
+#     # conda install -y pytorch==1.9.0 torchvision cudatoolkit=11.1 -c pytorch -c nvidia &&\
+RUN python -m pip install 'git+https://github.com/facebookresearch/detectron2.git' &&\
+    cd /PVO && python -m pip install -e VPS_Module &&\
+    pip install git+https://github.com/cocodataset/panopticapi.git
+
+RUN pip install ninja &&\
+    cd /PVO/VO_Module && python setup.py install
+

VO_Module/droid_slam/data_readers/vkitti2.py

@@ -84,17 +84,21 @@ def _build_dataset(self):
                 graph = self.build_frame_graph(poses, depths, intrinsics)
 
             if self.flow_label:
+                print(scene, self.split_mode, VKitti2.split[self.split_mode])
                 fo_flows = sorted(
                     glob.glob(osp.join(scene, VKitti2.split[self.split_mode], 'frames/forwardFlow/Camera_0/*.png')))
                 ba_flows = sorted(
                     glob.glob(osp.join(scene, VKitti2.split[self.split_mode], 'frames/backwardFlow/Camera_0/*.png')))
+                # segments = sorted(
+                #     glob.glob(osp.join(scene,  VKitti2.split[self.split_mode], 'panoptic_gt_id/*.png')))
                 segments = sorted(
-                    glob.glob(osp.join(scene,  VKitti2.split[self.split_mode], 'panoptic_gt_id/*.png')))
+                    glob.glob(osp.join("datasets/Virtual_KITTI2/ALL_15-deg-left", 'panoptic_gt_id/*.png')))
                 scene_info[scene] = {'images': images, 'depths': depths, 'fo_flows': fo_flows,
                                      'ba_flows': ba_flows, 'poses': poses, 'intrinsics': intrinsics, 'segments' : segments}
             else: 
+                print(self.split_mode)
                 masks = sorted(
-                    glob.glob(osp.join(scene, VKitti2.split[self.split_mode], 'frames/dynamicMask/Camera_0/*.npy')))
+                    glob.glob(osp.join(scene, VKitti2.split[self.split_mode], 'frames/dynamicMask_00/Camera_0/*.npy')))
                 segments = sorted(
                     glob.glob(osp.join(scene,  VKitti2.split[self.split_mode], 'panFPN_segm/*.png')))
 

VO_Module/droid_slam/droid_net.py

@@ -292,7 +292,7 @@ def forward(self, net, inp, corr, flow=None,
         weight = weight.permute(0, 1, 3, 4, 2).contiguous()
         delta_m = delta_m.permute(0, 1, 3, 4, 2).contiguous()
 
-        lay = torch.as_tensor(np.range(1, num+1).repeat(ht*wd).reshape(num,ht,wd)).unsqueeze(0) 
+        lay = torch.as_tensor(np.arange(1, num+1).repeat(ht*wd).reshape(num,ht,wd)).unsqueeze(0) 
         # weight = self.do_filter(lay, weight, delta_dy, delta_m, segments)
 
         net = net.view(*output_dim)

VO_Module/environment.yaml

@@ -12,7 +12,8 @@ dependencies:
   - torchvision
   - open3d
   - pytorch
-  - cudatoolkit
+  # - cudatoolkit=11.7
+  - pytorch-cuda=11.8
   - tensorboard
   - scipy
   - opencv

VO_Module/thirdparty/eigen/.clang-format

@@ -0,0 +1,12 @@
+---
+Language:     Cpp
+BasedOnStyle: Google
+ColumnLimit:  120
+SortIncludes: false
+AttributeMacros:
+- EIGEN_STRONG_INLINE
+- EIGEN_ALWAYS_INLINE
+- EIGEN_DEVICE_FUNC
+- EIGEN_DONT_INLINE
+- EIGEN_DEPRECATED
+- EIGEN_UNUSED

VO_Module/thirdparty/eigen/.git-blame-ignore-revs

@@ -0,0 +1,4 @@
+# First major clang-format MR (https://gitlab.com/libeigen/eigen/-/merge_requests/1429).
+f38e16c193d489c278c189bc06b448a94adb45fb
+# Formatting of tests, examples, benchmarks, et cetera (https://gitlab.com/libeigen/eigen/-/merge_requests/1432).
+46e9cdb7fea25d7f7aef4332b9c3ead3857e213d

VO_Module/thirdparty/eigen/.gitignore

@@ -12,7 +12,7 @@ core
 core.*
 *.bak
 *~
-*build*
+*.build*
 *.moc.*
 *.moc
 ui_*
@@ -36,3 +36,6 @@ lapack/reference
 .settings
 Makefile
 !ci/build.gitlab-ci.yml
+!scripts/buildtests.in
+!Eigen/Core
+!Eigen/src/Core

VO_Module/thirdparty/eigen/.gitlab-ci.yml

@@ -1,23 +1,31 @@
 # This file is part of Eigen, a lightweight C++ template library
 # for linear algebra.
 #
-# Copyright (C) 2020 Arm Ltd. and Contributors
+# Copyright (C) 2023, The Eigen Authors
 #
 # This Source Code Form is subject to the terms of the Mozilla
 # Public License v. 2.0. If a copy of the MPL was not distributed
 # with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 stages:
-  - buildsmoketests
-  - smoketests
+  - checkformat
   - build
   - test
 
 variables:
-  BUILDDIR: builddir
-  EIGEN_CI_CMAKE_GENEATOR: "Ninja"
+  # CMake build directory.
+  EIGEN_CI_BUILDDIR: .build
+  # Specify the CMake build target.
+  EIGEN_CI_BUILD_TARGET: ""
+  # If a test regex is specified, that will be selected.
+  # Otherwise, we will try a label if specified.
+  EIGEN_CI_TEST_REGEX: ""
+  EIGEN_CI_TEST_LABEL: ""
 
 include:
-  - "/ci/smoketests.gitlab-ci.yml"
-  - "/ci/build.gitlab-ci.yml"
-  - "/ci/test.gitlab-ci.yml"
+  - "/ci/checkformat.gitlab-ci.yml"
+  - "/ci/common.gitlab-ci.yml"
+  - "/ci/build.linux.gitlab-ci.yml"
+  - "/ci/build.windows.gitlab-ci.yml"
+  - "/ci/test.linux.gitlab-ci.yml"
+  - "/ci/test.windows.gitlab-ci.yml"