Initial commit

fbshipit-source-id: 11860c868779047b101df6287fd211cfa9caa5ee

.gitattributes

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+*.vrs filter=lfs diff=lfs merge=lfs -text
+*.csv.gz filter=lfs diff=lfs merge=lfs -text

.github/workflows/build-and-test.yml

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+name: Build and Test
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  build:
+    name: Build projectaria_tools on ${{ matrix.os }} / ${{ matrix.cmakeOptions }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest,  macOS-latest]
+    steps:
+      - name : Checkout
+        uses: actions/checkout@v2
+        with:
+          submodules: 'true'
+
+      - name: Install dependencies
+        shell: bash
+        run: |
+          if [ "$RUNNER_OS" == "Linux" ]; then
+              # Update & upgrade package lists
+              sudo apt-get update -y
+              sudo apt-get upgrade
+              # Deal with Github CI limitation
+              # https://github.com/actions/runner-images/issues/6399#issuecomment-1285011525
+              sudo apt install -y libunwind-dev
+
+              # Generic dependencies
+              sudo apt-get install cmake
+
+              # Install VRS dependencies
+              sudo apt-get install -o Acquire::Retries=5 \
+                libgtest-dev libgmock-dev \
+                libfmt-dev libcereal-dev \
+                libturbojpeg-dev libpng-dev \
+                liblz4-dev libzstd-dev libxxhash-dev \
+                libboost-chrono-dev \
+                libboost-date-time-dev \
+                libboost-filesystem-dev \
+                libboost-iostreams-dev \
+                libboost-system-dev \
+                libboost-thread-dev
+
+              # Build Cereal (header only library)
+              cd /tmp; git clone https://github.com/USCiLab/cereal.git -b v1.3.2 \
+                && cd cereal \
+                && cmake -DSKIP_PORTABILITY_TEST=1 -DJUST_INSTALL_CEREAL=ON .; sudo make -j$thread install; rm -rf /tmp/cereal;
+
+              # Clean APT cache
+              sudo apt-get clean
+
+          elif [ "$RUNNER_OS" == "macOS" ]; then
+              # Install system deps with Homebrew
+              brew install cmake
+              # VRS dependencies
+              brew install boost fmt sophus cereal googletest glog lz4 zstd xxhash libpng jpeg-turbo
+          else
+              echo "$RUNNER_OS not supported"
+              exit 1
+          fi
+
+      - name: Configure
+        shell: bash
+        run: |
+          mkdir build
+          cmake -DCMAKE_BUILD_TYPE=RELEASE -S . -B build \
+            -DBUILD_UNIT_TEST=ON
+
+      - name: Build and Test
+        shell: bash
+        run: |
+          cd build
+          make -j8
+          ctest -j
+
+      - name: Build Python bindings
+        shell: bash
+        run: |
+          # Installing Python and dependencies
+          if [ "$RUNNER_OS" == "Linux" ]; then
+            sudo apt-get install libpython3-dev python3-pip
+            sudo pip3 install numpy
+          elif [ "$RUNNER_OS" == "macOS" ]; then
+            pip3 install numpy
+          else
+            echo "$RUNNER_OS not supported"
+            exit 1
+          fi
+
+          # Build and install Python bindings
+          pip3 install --global-option=build_ext --global-option="-j8" .

.github/workflows/build-and-test_projects.yml

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+name: Build projects
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  build:
+    name: Build ${{ matrix.project }} on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest,  macOS-latest]
+        project: [
+          PROJECTARIA_TOOLS_BUILD_PROJECTS_ADT,
+          PROJECTARIA_TOOLS_BUILD_TOOLS]
+    steps:
+      - name : Checkout
+        uses: actions/checkout@v2
+        with:
+          submodules: 'true'
+
+      - name: Install dependencies
+        shell: bash
+        run: |
+          if [ "$RUNNER_OS" == "Linux" ]; then
+              # Update & upgrade package lists
+              sudo apt-get update -y
+              sudo apt-get upgrade
+              # Deal with Github CI limitation
+              # https://github.com/actions/runner-images/issues/6399#issuecomment-1285011525
+              sudo apt install -y libunwind-dev
+
+              # Generic dependencies
+              sudo apt-get install cmake
+
+              # Install VRS dependencies
+              sudo apt-get install -o Acquire::Retries=5 \
+                libfmt-dev libcereal-dev \
+                libturbojpeg-dev libpng-dev \
+                liblz4-dev libzstd-dev libxxhash-dev \
+                libboost-chrono-dev \
+                libboost-date-time-dev \
+                libboost-filesystem-dev \
+                libboost-iostreams-dev \
+                libboost-system-dev \
+                libboost-thread-dev
+
+              # Build Cereal (header only library)
+              cd /tmp; git clone https://github.com/USCiLab/cereal.git -b v1.3.2 \
+                && cd cereal \
+                && cmake -DSKIP_PORTABILITY_TEST=1 -DJUST_INSTALL_CEREAL=ON .; sudo make -j$thread install; rm -rf /tmp/cereal;
+
+              # Clean APT cache
+              sudo apt-get clean
+
+          elif [ "$RUNNER_OS" == "macOS" ]; then
+              # Install system deps with Homebrew
+              brew install cmake
+              # VRS dependencies
+              brew install boost fmt sophus cereal glog lz4 zstd xxhash libpng jpeg-turbo
+          else
+              echo "$RUNNER_OS not supported"
+              exit 1
+          fi
+
+      - name: Install & build Pangolin
+        shell: bash
+        run: |
+          if [ "$RUNNER_OS" == "Linux" ]; then
+            sudo apt-get install \
+              libeigen3-dev \
+              libglew-dev libgl1-mesa-dev \
+              libwayland-dev libxkbcommon-dev wayland-protocols
+          elif [ "$RUNNER_OS" == "macOS" ]; then
+            brew install eigen glew
+          fi
+
+          # Build and install Pangolin (optional)
+          cd /tmp; git clone https://github.com/stevenlovegrove/Pangolin.git \
+            && mkdir Pangolin_Build && cd Pangolin_Build \
+            && cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TOOLS=OFF -DBUILD_PANGOLIN_PYTHON=OFF -DBUILD_EXAMPLES=OFF ../Pangolin/ \
+            && sudo make -j$thread install;
+
+      - name: Configure & build project
+        shell: bash
+        run: |
+          mkdir build
+          cmake -DCMAKE_BUILD_TYPE=RELEASE -S ./ -B build -D${{ matrix.project }}=ON -DPROJECTARIA_TOOLS_BUILD_PROJECTS=ON
+          cd build
+          make -j8

.github/workflows/build-wheels-and-deploy.yml

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+name: Build wheels and deploy
+
+on:
+  # this workflow can only be manually triggered for now.
+  workflow_dispatch:
+    inputs:
+      deploy:
+        description: 'Where to deploy the artifacts? Only build (build), deploy to test PyPI (test), or deploy to PyPI (prod).'
+        required: true
+        type: choice
+        default: 'build'
+        options:
+          - build
+          - test
+          - prod
+
+jobs:
+  build-wheels:
+    name: Build wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [macOS-latest, ubuntu-20.04]
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: recursive
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.8'
+      - name: Upgrade pip
+        run: |
+          python3 -m pip install --upgrade pip
+
+      - name: Install cibuildwheel
+        run: |
+          python3 -m pip install cibuildwheel
+
+      - name: Build wheels for CPython
+        run: |
+          python3 -m cibuildwheel --output-dir dist
+      - uses: actions/upload-artifact@v2
+        with:
+          name: python-package-distributions
+          path: dist
+  publish-to-pypi:
+    runs-on: ubuntu-latest
+    needs:
+      - build-wheels
+    steps:
+    - name: Download wheels from previous jobs
+      # by default this will download all artifacts
+      uses: actions/download-artifact@v3
+      with:
+        name: python-package-distributions
+        # PyPI publish action uploads everything under dist/* by default
+        path: dist
+
+    - name: Display the list of artifacts
+      run: ls -R dist
+
+    - name: Publish to Test PyPI
+      if: github.event.inputs.deploy == 'test'
+      uses: pypa/[email protected]
+      with:
+        user: __token__
+        password: ${{ secrets.TEST_PYPI_TOKEN_PROJECTARIA_TOOLS }}
+        repository_url: https://test.pypi.org/legacy/
+        skip_existing: true
+        verbose: true
+    - name: Publish to PyPI
+      if: github.event.inputs.deploy == 'prod'
+      uses: pypa/[email protected]
+      with:
+        user: __token__
+        password: ${{ secrets.PYPI_TOKEN_PROJECTARIA_TOOLS_DEV }}
+        skip_existing: true
+        verbose: true

.github/workflows/publish-website.yml

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+name: publish website
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+  workflow_dispatch:
+
+jobs:
+  build_docs_job:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: [3.6]
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v2
+    - name: Install dependencies
+      run: |
+        sudo apt-get install doxygen
+    - name: Build the Website
+      run: |
+        cd website
+        yarn install
+        yarn run build
+      id: build
+    - name: Get output time
+      run: echo "The time was ${{ steps.build.outputs.time }}"
+    - name: Deploy
+      if: ${{ github.event_name == 'push' }}
+      uses: JamesIves/github-pages-deploy-action@releases/v3
+      with:
+          ACCESS_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          BRANCH: gh-pages # The branch the action should deploy to.
+          FOLDER: website/build # The folder the action should deploy.

.gitignore

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+build/**
+dist/**
+website/yarn.lock
+projectaria_tools.egg-info/**
+projectaria_tools_dev.egg-info/**

CMakeLists.txt

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+# Copyright (c) Meta Platforms, Inc. and affiliates.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.12)
+
+project(projectaria_tools
+    VERSION 0.1
+    DESCRIPTION "Tools to process and use Project Aria data."
+    LANGUAGES CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+# Build in Release mode by default
+if (NOT CMAKE_BUILD_TYPE AND NOT MSVC)
+  set(CMAKE_BUILD_TYPE "Release")
+endif (NOT CMAKE_BUILD_TYPE AND NOT MSVC)
+
+# Project CMAKE options
+option(BUILD_PYTHON_BINDINGS "Build python binding." OFF)
+option(BUILD_UNIT_TEST "Build tests." OFF)
+option(PROJECTARIA_TOOLS_BUILD_PROJECTS "Build projects." OFF)
+option(PROJECTARIA_TOOLS_BUILD_TOOLS "Build tools." OFF)
+
+if(BUILD_UNIT_TEST)
+    enable_testing()
+endif(BUILD_UNIT_TEST)
+
+# Additional CMake configuration to setup 3rd party libraries
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+include(${CMAKE_MODULE_PATH}/Setup3rdParty.cmake)
+
+# Adding core libraries
+message("- Compiling Core.")
+add_subdirectory(core)
+
+if(PROJECTARIA_TOOLS_BUILD_PROJECTS)
+    message("- Compiling Projects.")
+    add_subdirectory(projects)
+endif()
+
+if(PROJECTARIA_TOOLS_BUILD_TOOLS AND NOT BUILD_PYTHON_BINDINGS)
+    message("- Compiling Tools.")
+    add_subdirectory(tools)
+endif()