refactor for PyCaesar

LICENSE

@@ -1,6 +1,7 @@
 The MIT License (MIT)
 
-Copyright (c) 2016-2019
+Copyright (c) 2020-2023 Contributors and NavAbility, Inc.
+Copyright (c) 2016-2020 Dehann Fourie
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

NEWS.md

@@ -2,6 +2,12 @@
 
 Major changes and news in Caesar.jl.
 
+## v0.15 - v0.16
+
+- Change to standard weakdeps package extensions, dropping use of Requires.jl.
+- Refactor and separate out to new PyCaesar package all code using PyCall.
+- Updates for Julia 1.10.
+- Updates for IncrementalInference upgrades relating to StaticArray variable values.
 ## Changes in v0.13
 
 - Finally adding a NEWS.md to Caesar.jl.

Project.toml

@@ -2,7 +2,7 @@ name = "Caesar"
 uuid = "62eebf14-49bc-5f46-9df9-f7b7ef379406"
 keywords = ["SLAM", "state-estimation", "MM-iSAM", "MM-iSAMv2", "inference", "robotics", "ROS"]
 desc = "Non-Gaussian simultaneous localization and mapping"
-version = "0.15.0"
+version = "0.16.0"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
@@ -43,7 +43,6 @@ Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 ProgressMeter = "92933f4c-e287-5a05-a399-4b506db050ca"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
-Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 RoME = "91fb55c2-4c03-5a59-ba21-f4ea956187b8"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 Serialization = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
@@ -106,7 +105,6 @@ NearestNeighbors = "0.4"
 Optim = "1"
 ProgressMeter = "1"
 Reexport = "1"
-Requires = "1"
 RoME = "0.21, 0.22"
 Rotations = "1.1"
 StaticArrays = "1"

src/images/DistributedUtils.jl → examples/visualization/DistributedUtils.jl

@@ -1,8 +1,4 @@
 
-@info "Caesar.jl is loading tools related to Distributed.jl"
-
-export plotToVideo_Distributed
-
 
 function plotToVideo_Distributed( pltfnc::Function, 
                                   args::Union{<:AbstractVector, <:Tuple}; 

src/3rdParty/_PCL/_PCL.jl

@@ -15,7 +15,7 @@ using Colors
 using Dates
 using Printf
 using DocStringExtensions
-using Requires
+# using Requires
 using StaticArrays
 using Statistics
 using StatsBase
@@ -59,11 +59,11 @@ include("services/ConsolidateRigidTransform.jl")
 include("services/ICP_Simple.jl")
 
 
-function __init__()
-  # @require LasIO="570499db-eae3-5eb6-bdd5-a5326f375e68" include("services/LasIOSupport.jl")
-  @require RobotOS="22415677-39a4-5241-a37a-00beabbbdae8" include("services/ROSConversions.jl")
-  # moved plotting out of Caesar, use Arena.jl or RoMEPlotting.jl instead
-end
+# function __init__()
+#   # @require LasIO="570499db-eae3-5eb6-bdd5-a5326f375e68" include("services/LasIOSupport.jl")
+#   @require RobotOS="22415677-39a4-5241-a37a-00beabbbdae8" include("services/ROSConversions.jl")
+#   # moved plotting out of Caesar, use Arena.jl or RoMEPlotting.jl instead
+# end
 
 
 end

src/Caesar.jl

@@ -101,37 +101,40 @@ include("../ext/WeakdepsPrototypes.jl")
 include("Deprecated.jl")
 
 
-# FIXME remove
-using Requires
-
-
-# conditional loading for ROS
-function __init__()
-  # ZMQ server and endpoints
-  # @require ZMQ="c2297ded-f4af-51ae-bb23-16f91089e4e1" include("zmq/ZmqCaesar.jl")
-  @require PyCall="438e738f-606a-5dbb-bf0a-cddfbfd45ab0" begin
-    @require RobotOS="22415677-39a4-5241-a37a-00beabbbdae8" include("ros/CaesarROS.jl")
-  end
-  # @require Colors="5ae59095-9a9b-59fe-a467-6f913c188581" include("3rdParty/_PCL/_PCL.jl")
-  # @require AprilTags="f0fec3d5-a81e-5a6a-8c28-d2b34f3659de" begin 
-  #   include("images/apriltags.jl")
-  #   @require ImageDraw="4381153b-2b60-58ae-a1ba-fd683676385f" include("images/AprilTagDrawingTools.jl")
-  # end
-  # @require ImageDraw="4381153b-2b60-58ae-a1ba-fd683676385f" include("images/imagedraw.jl")
-  # @require ImageMagick="6218d12a-5da1-5696-b52f-db25d2ecc6d1" include("images/imagedata.jl")
-  @require Images="916415d5-f1e6-5110-898d-aaa5f9f070e0" begin 
-    # include("images/images.jl")
-    # include("images/ImageToVideoUtils.jl")
-    # include("images/ScanMatcherUtils.jl")
-    # include("images/ScanMatcherPose2.jl")
-    # include("images/ScatterAlignPose2.jl")
+# # FIXME remove
+# using Requires
+
+
+# # conditional loading for ROS
+# function __init__()
+#   # # ZMQ server and endpoints
+#   # # @require ZMQ="c2297ded-f4af-51ae-bb23-16f91089e4e1" include("zmq/ZmqCaesar.jl")
+
+#   # @require PyCall="438e738f-606a-5dbb-bf0a-cddfbfd45ab0" begin
+#   #   @require RobotOS="22415677-39a4-5241-a37a-00beabbbdae8" include("ros/CaesarROS.jl")
+#   # end
+
+#   # # @require Colors="5ae59095-9a9b-59fe-a467-6f913c188581" include("3rdParty/_PCL/_PCL.jl")
+#   # # @require AprilTags="f0fec3d5-a81e-5a6a-8c28-d2b34f3659de" begin 
+#   # #   include("images/apriltags.jl")
+#   # #   @require ImageDraw="4381153b-2b60-58ae-a1ba-fd683676385f" include("images/AprilTagDrawingTools.jl")
+#   # # end
+#   # # @require ImageDraw="4381153b-2b60-58ae-a1ba-fd683676385f" include("images/imagedraw.jl")
+#   # # @require ImageMagick="6218d12a-5da1-5696-b52f-db25d2ecc6d1" include("images/imagedata.jl")
+#   # @require Images="916415d5-f1e6-5110-898d-aaa5f9f070e0" begin 
+#   #   # include("images/images.jl")
+#   #   # include("images/ImageToVideoUtils.jl")
+#   #   # include("images/ScanMatcherUtils.jl")
+#   #   # include("images/ScanMatcherPose2.jl")
+#   #   # include("images/ScatterAlignPose2.jl")
 
-    # moved Gadfly plotting to RoMEPlotting
-    # @require Gadfly="c91e804a-d5a3-530f-b6f0-dfbca275c004" include("plotting/ScatterAlignPlotting.jl")
-    @require RobotOS="22415677-39a4-5241-a37a-00beabbbdae8" include("images/ROSConversions.jl")
-  end
-  # @require ImageFeatures="92ff4b2b-8094-53d3-b29d-97f740f06cef" include("images/imagefeatures.jl")
-  @require Distributed="8ba89e20-285c-5b6f-9357-94700520ee1b" include("images/DistributedUtils.jl")
-end
+#   #   # moved Gadfly plotting to RoMEPlotting
+#   #   # @require Gadfly="c91e804a-d5a3-530f-b6f0-dfbca275c004" include("plotting/ScatterAlignPlotting.jl")
+#   #   @require RobotOS="22415677-39a4-5241-a37a-00beabbbdae8" include("images/ROSConversions.jl")
+#   # end
+
+#   # @require ImageFeatures="92ff4b2b-8094-53d3-b29d-97f740f06cef" include("images/imagefeatures.jl")
+#   @require Distributed="8ba89e20-285c-5b6f-9357-94700520ee1b" include("images/DistributedUtils.jl")
+# end
 
 end