Merge master into develop

.github/workflows/test_packages.yml

@@ -0,0 +1,103 @@
+name: Test Packages
+# This workflow tests the latest (third-party hosted) available builds
+
+on:
+  pull_request:
+    types: [opened, reopened, synchronize, labeled, unlabeled]
+  schedule:
+    - cron:  '0 23 * * *'
+
+defaults:
+  run:
+    shell: bash
+
+
+jobs:
+  cleanup-runs:
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test packages') || github.event_name == 'schedule' }}
+    runs-on: ubuntu-latest
+    steps:
+    - uses: rokroskar/workflow-run-cleanup-action@master
+      env:
+        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
+  test-wheel:
+    needs: cleanup-runs
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test packages') || github.event_name == 'schedule' }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04]
+        package:
+          - engine
+          - utils
+          - perception/activity_recognition
+          - perception/compressive_learning
+          - perception/face_recognition
+          - perception/heart_anomaly_detection
+          - perception/multimodal_human_centric
+          - perception/object_tracking_2d
+          - perception/pose_estimation
+          - perception/speech_recognition
+          - perception/skeleton_based_action_recognition
+          - perception/semantic_segmentation
+          - perception/object_detection_2d
+          - perception/facial_expression_recognition
+          # - perception/object_detection_3d
+          # - control/mobile_manipulation
+          # - simulation/human_model_generation
+          # - control/single_demo_grasp
+          # - perception/object_tracking_3d
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+    - name: Test Wheel
+      run: |
+        export DISABLE_BCOLZ_AVX2=true
+        sudo apt -y install python3.8-venv libfreetype6-dev git build-essential cmake python3-dev wget libopenblas-dev libsndfile1 libboost-dev python3-dev
+        python3 -m venv venv
+        source venv/bin/activate
+        wget https://raw.githubusercontent.com/opendr-eu/opendr/master/dependencies/pip_requirements.txt
+        cat pip_requirements.txt | xargs -n 1 -L 1 pip install
+        # Test new package
+        pip install opendr-toolkit
+        python -m unittest discover -s tests/sources/tools/${{ matrix.package }}
+  test-docker:
+    needs: cleanup-runs
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test packages') || github.event_name == 'schedule' }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04]
+        package:
+          - engine
+          - utils
+          - perception/activity_recognition
+          - perception/compressive_learning
+          - perception/face_recognition
+          - perception/heart_anomaly_detection
+          - perception/multimodal_human_centric
+          - perception/object_tracking_2d
+          - perception/pose_estimation
+          - perception/speech_recognition
+          - perception/skeleton_based_action_recognition
+          - perception/semantic_segmentation
+          - perception/object_detection_2d
+          - perception/facial_expression_recognition
+          - perception/object_detection_3d
+          - control/mobile_manipulation
+          - simulation/human_model_generation
+          - control/single_demo_grasp
+          #- perception/object_tracking_3d
+    runs-on: ${{ matrix.os }}
+    steps:
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+    - name: Test Docker
+      run: |
+        docker run --name toolkit -i opendr/opendr-toolkit:cpu_latest bash
+        docker start toolkit
+        docker exec -i toolkit bash -c "source bin/activate.sh && source tests/sources/tools/control/mobile_manipulation/run_ros.sh && python -m unittest discover -s tests/sources/tools/${{ matrix.package }}"

.github/workflows/tests_sources.yml → .github/workflows/tests_suite.yml

@@ -1,24 +1,26 @@
-name: Test Sources
+name: Test Suite (master)
 
 on:
   pull_request:
     types: [opened, synchronize, reopened, ready_for_review, labeled, unlabeled]
+  schedule:
+    - cron:  '0 23 * * *'
 
 defaults:
   run:
     shell: bash
 
 jobs:
   cleanup-runs:
-    if: ${{ contains(github.event.pull_request.labels.*.name, 'test sources') || contains(github.event.pull_request.labels.*.name, 'test tools') }}
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test sources') || contains(github.event.pull_request.labels.*.name, 'test tools') || github.event_name == 'schedule' }}
     runs-on: ubuntu-latest
     steps:
     - uses: rokroskar/workflow-run-cleanup-action@master
       env:
         GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
   test-sources:
     needs: cleanup-runs
-    if: ${{ contains(github.event.pull_request.labels.*.name, 'test sources') }}
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test sources') || github.event_name == 'schedule' }}
     strategy:
       matrix:
         os: [ubuntu-18.04, ubuntu-20.04, macos-10.15]
@@ -50,7 +52,7 @@ jobs:
         python -m unittest discover -s tests
   test-tools:
     needs: cleanup-runs
-    if: ${{ contains(github.event.pull_request.labels.*.name, 'test tools') }}
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test tools') || github.event_name == 'schedule' }}
     strategy:
       matrix:
         os: [ubuntu-20.04]
@@ -71,7 +73,7 @@ jobs:
           - control/mobile_manipulation
           - perception/object_detection_2d
           - simulation/human_model_generation
-          - perception/facial_expression_recognition/landmark_based_facial_expression_recognition
+          - perception/facial_expression_recognition
           - control/single_demo_grasp
           # - perception/object_tracking_3d
         include:
@@ -88,7 +90,6 @@ jobs:
       with:
         python-version: 3.8
     - name: Test Tools
-      if: ${{ contains(github.event.pull_request.labels.*.name, 'test tools') }}
       run: |
         ${{ matrix.DEPENDENCIES_INSTALLATION }}
         export OPENDR_HOME=$PWD
@@ -105,3 +106,4 @@ jobs:
             source tests/sources/tools/control/mobile_manipulation/run_ros.sh
             python -m unittest discover -s tests/sources/tools/${{ matrix.package }}
         fi
+

.github/workflows/tests_suite_develop.yml

@@ -0,0 +1,108 @@
+name: Test Suite (develop)
+
+on:
+  schedule:
+    - cron:  '0 23 * * *'
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  cleanup-runs:
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test sources') || contains(github.event.pull_request.labels.*.name, 'test tools') || github.event_name == 'schedule' }}
+    runs-on: ubuntu-latest
+    steps:
+    - uses: rokroskar/workflow-run-cleanup-action@master
+      env:
+        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
+  test-sources:
+    needs: cleanup-runs
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test sources') || github.event_name == 'schedule' }}
+    strategy:
+      matrix:
+        os: [ubuntu-18.04, ubuntu-20.04, macos-10.15]
+        include:
+          - os: ubuntu-18.04
+            DEPENDENCIES_INSTALLATION: "sudo apt -y install clang-format-10 cppcheck"
+          - os: ubuntu-20.04
+            DEPENDENCIES_INSTALLATION: "sudo apt -y install clang-format-10 cppcheck"
+          - os: macos-10.15
+            DEPENDENCIES_INSTALLATION: "brew install clang-format cppcheck"
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v2
+      if: matrix.os == 'ubuntu-20.04' || github.event.pull_request.draft == false
+      with:
+        submodules: true
+        ref: develop
+    - name: Set up Python 3.8
+      if: matrix.os == 'ubuntu-20.04' || github.event.pull_request.draft == false
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+    - name: Test Sources
+      if: matrix.os == 'ubuntu-20.04' || github.event.pull_request.draft == false
+      run: |
+        ${{ matrix.DEPENDENCIES_INSTALLATION }}
+        export OPENDR_HOME=$PWD
+        export OPENDR_DEVICE=cpu
+        pip install -r tests/requirements.txt
+        python -m unittest discover -s tests
+  test-tools:
+    needs: cleanup-runs
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test tools') || github.event_name == 'schedule' }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04]
+        package:
+          - engine
+          - utils
+          - perception/activity_recognition
+          - perception/compressive_learning
+          - perception/face_recognition
+          - perception/heart_anomaly_detection
+          - perception/multimodal_human_centric
+          - perception/object_tracking_2d
+          - perception/object_detection_3d
+          - perception/pose_estimation
+          - perception/speech_recognition
+          - perception/skeleton_based_action_recognition
+          - perception/semantic_segmentation
+          - control/mobile_manipulation
+          - perception/object_detection_2d
+          - simulation/human_model_generation
+          - perception/facial_expression_recognition
+          - control/single_demo_grasp
+          # - perception/object_tracking_3d
+        include:
+          - os: ubuntu-20.04
+            DEPENDENCIES_INSTALLATION: "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 -"
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v2
+      with:
+         submodules: true
+         ref: develop
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+    - name: Test Tools
+      run: |
+        ${{ matrix.DEPENDENCIES_INSTALLATION }}
+        export OPENDR_HOME=$PWD
+        export OPENDR_DEVICE=cpu
+        export PYTHONPATH=$OPENDR_HOME/src:$PYTHONPATH
+        export DISABLE_BCOLZ_AVX2=true
+        export ROS_DISTRO=noetic
+        make install_compilation_dependencies
+        make install_runtime_dependencies
+        pip install -r tests/sources/requirements.txt
+        if [ ${{ matrix.package }} = "ctests" ]; then
+            make ctests
+        else
+            source tests/sources/tools/control/mobile_manipulation/run_ros.sh
+            python -m unittest discover -s tests/sources/tools/${{ matrix.package }}
+        fi

CHANGELOG.md

@@ -0,0 +1,17 @@
+# OpenDR Toolkit Change Log
+
+## Version 1.X
+Released on XX, XXth, 2022.
+
+  - New Features:
+    - None.
+  - Enhancements:
+    - None.
+  - Bug Fixes:
+    - Updated wheel building pipeline to include missing files and removed unnecessary dependencies ([#200](https://github.com/opendr-eu/opendr/pull/200)).
+  - Dependency Updates:
+    - `heart anomaly detection`: upgraded scikit-learn runtime dependency from 0.21.3 to 0.22 ([#198](https://github.com/opendr-eu/opendr/pull/198)).
+
+
+## Version 1.0
+Released on December 31th, 2021.

MANIFEST.in

@@ -0,0 +1,2 @@
+recursive-include src/opendr *
+include requirements.txt

README.md

@@ -8,28 +8,30 @@ ______________________________________________________________________
 <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="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="#roadmap">Roadmap</a> •
+  <a href="CHANGELOG.md">Changelog</a> •
   <a href="LICENSE">License</a>
 </p>
 
 [![License](https://img.shields.io/badge/License-Apache_2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
-
+[![Test Suite (master)](https://github.com/opendr-eu/opendr/actions/workflows/tests_suite.yml/badge.svg)](https://github.com/opendr-eu/opendr/actions/workflows/tests_suite.yml)
+[![Test Packages](https://github.com/opendr-eu/opendr/actions/workflows/test_packages.yml/badge.svg)](https://github.com/opendr-eu/opendr/actions/workflows/test_packages.yml)
 </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/))**. 
+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 
+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. 
+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
 
@@ -42,7 +44,7 @@ You can find detailed installation instruction in the [documentation](docs/refer
 
 ## 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/). 
+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
@@ -52,7 +54,7 @@ OpenDR has the following roadmap:
 - **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). 
+Please follow the instructions provided in the [wiki](https://github.com/tasostefas/opendr_internal/wiki).
 
 
 ## Acknowledgments

bin/build_wheel.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+# Build all OpenDR dependecies
+./bin/install.sh
+
+# Activate OpenDR
+source ./bin/activate.sh
+
+# Prepare requirements.txt for wheel distributions
+pip3 freeze > requirements.txt
+
+# Remove detectron and git repositories (installation not supported through PyPI)
+sed -i '/detectron2/d' requirements.txt
+sed -i '/git/d' requirements.txt
+sed -i '/pkg_resources/d' requirements.txt
+sed -i '/auditwheel/d' requirements.txt
+
+# Build binary wheel and repair it
+python3 setup.py sdist

bin/install.sh

@@ -40,13 +40,5 @@ 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/parse_dependencies.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2020-2021 OpenDR European Project
+# Copyright 2020-2022 OpenDR European Project
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.