Pano build update (#169)

* making spawn changes and adding double handed cargo

* running pano build using the docker images

* fixing function after api change

* add reason for splitting pip commands

* accomodate hugin changing API

dense_map/geometry_mapper/tools/get_depth_data_from_mesh.cc

@@ -52,7 +52,7 @@ int main(int argc, char** argv) {
     "Directory containing groundtruth poses with timestamps as filenames.")(
     "mesh", po::value<std::string>()->required(), "Mesh used to provide depth data.")(
     "config-path,c", po::value<std::string>()->required(), "Path to astrobee config directory.")(
-    "robot-config-file,r", po::value<std::string>(&robot_config_file)->default_value("config/robots/bumble.config"),
+    "robot-config-file,r", po::value<std::string>(&robot_config_file)->default_value("bumble.config"),
     "Robot config file")("world,w", po::value<std::string>(&world)->default_value("iss"), "World name")(
     "output-file,o", po::value<std::string>(&output_file)->default_value("depths.csv"),
     "Output file containing timestamp, depth, x, y values on each line. Timestamps for which depth data was not "
@@ -84,7 +84,6 @@ int main(int argc, char** argv) {
   const std::string sensor_rays_file = vm["sensor-rays-file"].as<std::string>();
   const std::string groundtruth_directory = vm["groundtruth-directory"].as<std::string>();
   const std::string mesh_file = vm["mesh"].as<std::string>();
-  const std::string config_path = vm["config-path"].as<std::string>();
 
   // Only pass program name to free flyer so that boost command line options
   // are ignored when parsing gflags.
@@ -104,7 +103,7 @@ int main(int argc, char** argv) {
     LOG(FATAL) << "Mesh " << mesh_file << " not found.";
   }
 
-  lc::SetEnvironmentConfigs(config_path, world, robot_config_file);
+  lc::SetEnvironmentConfigs(world, robot_config_file);
   config_reader::ConfigReader config;
   config.AddFile("geometry.config");
   if (!config.ReadFiles()) {

pano/docker/pano.Dockerfile

@@ -14,16 +14,19 @@ RUN apt-get update \
     hugin \
     libvips-tools \
     python3-pip \
+    gfortran libopenblas-dev libfftw3-dev \
   && rm -rf /var/lib/apt/lists/*
 
 # pandas: pulled in as pyshtools dependency but install breaks if not mentioned explicitly (?)
 # pyshtools: used during Pannellum multires generation
 # snakemake: modern build system based on Python, manages stitching workflows
-RUN pip3 install --no-cache-dir --upgrade pip \
-  && pip3 install --no-cache-dir \
-    pandas \
-    pyshtools \
-    snakemake
+
+# Install Jupyter explicitly first
+RUN pip3 install --no-cache-dir --upgrade pip && \
+    pip3 install --no-cache-dir jupyter
+
+# Install other Python packages: jupyter package needs to be installed before attempting to build pyshtools
+RUN pip3 install --no-cache-dir pandas pyshtools snakemake  pulp==2.7 --ignore-installed PyYAML
 
 # pannellum: library for viewing/navigating panorama tours
 RUN mkdir -p /opt \

pano/pano_stitch/scripts/pano_image_meta.py

@@ -26,7 +26,7 @@
 import rosbag
 from tf.transformations import euler_from_quaternion
 
-IMAGE_TOPIC = "/hw/cam_sci/compressed"
+IMAGE_TOPIC = ["/hw/cam_sci/compressed", "/hw/cam_sci_info"]
 POSE_TOPIC = "/loc/pose"
 FIELD_NAMES = (
     "timestamp",
@@ -50,8 +50,9 @@ def get_image_meta(inbag_path, num_images=None):
     images = []
     with rosbag.Bag(inbag_path) as bag:
         img_meta = None
-        for topic, msg, t in bag.read_messages([IMAGE_TOPIC, POSE_TOPIC]):
-            if topic == IMAGE_TOPIC:
+        topics = IMAGE_TOPIC + [POSE_TOPIC]
+        for topic, msg, t in bag.read_messages(topics):
+            if topic in IMAGE_TOPIC:
                 if num_images is not None and len(images) == num_images:
                     break
 

pano/pano_stitch/scripts/stitch_panorama.py

@@ -427,12 +427,26 @@ def next(self):
 
 def read_pto(pano, pto_path):
     print("\nread_pto: %s" % pto_path)
-    pano.ReadPTOFile(pto_path)
+    # Accomodate hugin changing API
+    try:
+        # Attempt the first method
+        ifs = hsi.ifstream(pto_path)
+        pano.readData(ifs)
+    except AttributeError:
+        # Fallback to the second method if the first method fails
+        pano.ReadPTOFile(pto_path)
 
 
 def write_pto(pano, pto_path):
     print("\nwrite_pto: %s" % pto_path)
-    pano.WritePTOFile(pto_path)
+    # Accomodate hugin changing API
+    try:
+        # Attempt the first method
+        ofs = hsi.ofstream(pto_path)
+        pano.writeData(ofs)
+    except AttributeError:
+        # Fallback to the second method if the first method fails
+        pano.WritePTOFile(pto_path)
 
 
 def get_timestamp():