pyaarapsi

Multi-purpose python package, for a variety of needs across the AARAPSI Project

Sister ROS Package: https://github.com/QVPR/aarapsi_robot_pack

Installation steps:

Grab the repo:

git clone https://github.com/QVPR/pyaarapsi.git

One of:

>>> pip install -e .[basic] # Only standard python dependencies
>>> pip install -e .[basic,ros] # Standard and ROS python dependencies
>>> pip install -e .[basic-versioned] # Only standard python dependencies with developer's flavour of package versions
>>> pip install -e .[basic-versioned,ros-versioned] # Standard and ROS python dependencies with developer's flavour of package versions
>>> pip install -e .[complete] # Same as [basic,ros]
>>> pip install -e .[complete-versioned] # Same as [basic-versioned,ros-versioned] (Recommended)

Contents

core

• ajax_tools.py: Create and manage AJAX servers, requests for use with python Bokeh or inter-node data sharing.
• argparse_tools.py: Methods to parse a variety of data types, for use with python argparse module.
• enum_tools.py: Methods to ease use or improve readability of python enum enumerations.
• file_system_tools.py: Methods to help explore the file system.
• helper_tools.py: A variety of methods and classes to assist and accelerate python development.
• image_transforms.py: ROS, cv2, cv_bridge, and numpy fusion methods.
• lightglue.py: For use with LightGlue
• missing_pixel_filler.py: Code I ripped from an online github, realised was bad, then upgraded (see Owen's corrections). Does what name suggests.
• os_tools.py: Commands to ease python utilisation of Linux screen package.
• plotting_tools.py: Generic plotting helpers
• ros_tools.py: A variety of methods and classes to assist and accelerate ROS development in python.
• roslogger.py: Custom build of ROS's rospy logging system to add exposed boolean for whether text was printed. Also useful for compatibility with non-ROS codebases.
• transforms.py: Python tools for homogeneous transformations as well as 2D and 3D rotation matrices in numpy.
• vars.py: Some defined codes, currently for colouring terminal output

core.classes

• defaultdict.py: For DefaultDict, which extends dict, to provide a default key.
• object_storage_handler.py: For Object_Storage_Handler, to provide an easy loader/saver.

examples

• extract_images_from_rosbags.py: Needs update.
• working_with_VPRDatasetProcessor_and_SVMModelProcessor.py: Needs update.

nn

• classes.py:
• colours.py:
• enums.py:
• exceptions.py:
• general_helpers.py:
• modules.py:
• nn_factors.py:
• nn_helpers.py:
• param_helpers.py:
• params.py:
• visualize.py:
• vpr_helpers.py:

pathing

• basic_rospy.py: Helper commands for aarapsi_robot_pack's path_follower.py; has ROS dependencies.
• basic.py: Helper commands for aarapsi_robot_pack's path_follower.py; no ROS dependencies.
• enums.py: enumerations for aarapsi_robot_pack's path_follower.py.
• extended_follower_base.py: Extended base class(es) for aarapsi_robot_pack's path_follower.py.
• simple_follower_base.py: Simple base class(es) for aarapsi_robot_pack's path_follower.py.

vpr_classes

• apgem_lib.py: Helper commands for apgem.py.
• apgem.py: Container for AP-GeM, somewhat accelerated.
• base.py: A base class for aarapsi_robot_pack nodes.
• dataset_loader_base.py: A base class for aarapsi_robot_pack nodes.
• download_models.py: Helper commands to pull down models from cloud storage solution
• hybridnet.py Container for HybridNet, somewhat accelerated.
• netvlad_lib.py: Helper commands for netvlad.py
• netvlad.py: Container for NetVLAD, somewhat accelerated.
• salad_lib.py: Helper commands for salad.py
• salad.py: Container for DinoV2 SALAD, somewhat accelerated.

vpr_simple

• config.py: Tool for setting up paths used in various pyaarapsi instances.
• npz_dataset_finder.py: Tool for searching up npz files, to aid in use of vpr_dataset_tool.py
• svm_model_tool.py: All-in-one support vector machine generator, loader, and accessor.
• vpr_dataset_tool.py: All-in-one ROS bag to numpy npz generator, loader, fixer-upper.
• vpr_helpers.py: Enumerations and tools for VPR feature extraction.
• vpr_image_methods.py: Tools for making, colouring, and operating on numpy images.
• vpr_plots.py: Might broken. Intended for Bokeh integration.
• vpr_plots_new.py: Broken. Intended for Bokeh integration.

vpred

• gradseq_tools.py:
• robotmonitor.py:
• robotrun.py:
• robotvpr.py:
• visual_preproc.py:
• vpred_factors.py:
• vpred_tools.py: