Merging py35 into master

.gitignore

@@ -92,3 +92,4 @@ ENV/
 
 *.c
 *.so
+cmake_build/

.travis.yml

@@ -1,15 +1,64 @@
 sudo: false
 language: python
-python:
-    - "2.7"
+
+cache:
+  directories:
+  - $HOME/.cache/pip
+  - $HOME/.ccache
+
+matrix:
+  include:
+    - os: linux
+      python: 2.7
+    - os: linux
+      python: 3.5
+    - os: linux
+      python: 3.6
+
+dist: trusty
+
+branches:
+  only:
+  - py35
+
 notifications:
-    email: false
-before_install:
-  - wget http://repo.continuum.io/miniconda/Miniconda-latest-Linux-x86_64.sh -O miniconda.sh
+    email: true
+
+install:
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+      sudo apt-get update;
+    fi;
+  - if [[ "$TRAVIS_PYTHON_VERSION" == "2.7" ]]; then
+      if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+        wget https://repo.continuum.io/miniconda/Miniconda2-latest-Linux-x86_64.sh -O miniconda.sh;
+      else
+        wget https://repo.continuum.io/miniconda/Miniconda2-latest-MacOSX-x86_64.sh -O miniconda.sh;
+      fi;
+    else
+      if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+        wget https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh -O miniconda.sh;
+      else
+        wget https://repo.continuum.io/miniconda/Miniconda3-latest-MacOSX-x86_64.sh -O miniconda.sh;
+      fi;
+    fi;
+  - pip install --upgrade pip
   - bash miniconda.sh -b -p $HOME/miniconda
   - export PATH="$HOME/miniconda/bin:$PATH"
-  - conda update --yes conda
-  - conda install --yes python=$TRAVIS_PYTHON_VERSION pip numpy scipy matplotlib cython nose future
-install:
-  - python setup.py build_ext --inplace
-script: nosetests tests -A 'not slow and not random'
+  - hash -r
+  - conda config --set always_yes yes --set changeps1 no
+  - conda config --set anaconda_upload yes
+  - conda config --add channels menpo
+  - conda update -q conda
+  - conda info -a
+  - conda install -y pip requests conda-build anaconda-client
+  - conda create -q -n test-environment python=$TRAVIS_PYTHON_VERSION
+  - conda install -c menpo opencv3
+  - export PYTHON="$TRAVIS_PYTHON_VERSION"
+
+  # Install pybot
+  - source activate test-environment
+  - conda build tools/conda.recipe --python $TRAVIS_PYTHON_VERSION
+  - conda install pybot --use-local -y
+
+script:
+  - python -c 'import pybot'

INSTALL.md

@@ -5,47 +5,25 @@ environment to work with. I prefer conda for my development
 environment, but you're free to use any alternative (as long as you do
 not globally install, in which case I can not provide much support).
 
-1) Install miniconda and setup path in `~/.bashrc`
-```sh
-wget --no-check-certificate https://repo.continuum.io/miniconda/Miniconda2-latest-Linux-x86_64.sh
-bash Miniconda2-latest-Linux-x86_64.sh -b -p $HOME/anaconda
-echo 'export PATH="$HOME/anaconda/bin:$PATH"' >> ~/.bashrc; source ~/.bashrc;
-conda install anaconda-client
-```
-
-2) Install dependencies into a new conda environment
+1) Install pybot and its dependencies into a new conda environment
 ```sh
 conda config --add channels menpo
-conda create --name pybot --file conda_requirements.txt
+conda create --name pybot-py35 python=3.5
+conda install --name pybot-py35 -c s_pillai pybot
 ```
 Alternatively, if you'd like to add **pybot** to an already existing
 environment,
 ```sh
 conda config --add channels menpo
-conda install --name pybot --file conda_requirements.txt
+conda install --name <existing_environment> -c s_pillai pybot
 ```
 
-3) (Optional) ROS dependencies (reading bag files etc) into the same
+2) (Optional) ROS dependencies (reading bag files etc) into the same
 environment. First ensure that you are within the **pybot** virtual
 environment.
 ```sh
 source activate pybot
 pip install catkin_pkg rospkg
 ```
 
-Dependencies
----
-1) OpenCV
-
-**pybot** heavily relies on OpenCV 2.4.11 for most of the computationally
-expensive computer vision procedures. We rely on the
-[menpo](https://anaconda.org/menpo/opencv) conda channel for the
-specific version of OpenCV (that is pre-compiled for your platform).
-```sh
-conda install -c https://conda.anaconda.org/menpo opencv=2.4.11 -y
-```
-
-2) LCM, Libbot, gtsam, isam, pygtsam
-```sh
-./install_externals.sh
-```
+ **Use at your own risk**

LICENSE

@@ -4,13 +4,6 @@ All contributions by Sudeep Pillai:
 Copyright (c) 2016 Sudeep Pillai
 All rights reserved.
 
-All other contributions:
-Copyright (c) 2016, the respective contributors.
-All rights reserved.
-
-Each contributor holds copyright over their respective contributions.
-The project versioning (Git) records all such contribution source information.
-
 MIT License
 
 Permission is hereby granted, free of charge, to any person obtaining a copy

Makefile

@@ -0,0 +1,40 @@
+all: clean build
+
+clean:
+	-$(RM) -rf dist
+	-$(RM) -rf build
+	-$(RM) -rf pybot.egg-info
+	-$(RM) -rf cmake_build
+	-$(RM) -f .env
+	find . | grep '\.so' | xargs echo
+
+clean-wheel:
+	-$(RM) -rf dist
+	-$(RM) -rf build
+	-$(RM) -rf pybot.egg-info
+
+develop:
+	python setup.py develop
+
+build:
+	python setup.py sdist
+	python setup.py bdist_wheel
+
+wheel:
+	python setup.py bdist_wheel
+
+conda-build:
+	conda build tools/conda.recipe
+
+anaconda-push:
+	./scripts/deploy_anaconda.sh
+
+dev-build:
+	python setup.py build_ext --inplace
+
+docker-build:
+	docker build docker/
+
+docker-push:
+	docker tag pybot:latest
+	docker push pybot:latest

README.md

@@ -1,12 +1,14 @@
 pybot
----
+=============
 
-Research tools for autonomous systems using Python  
+Research tools for autonomous systems using Python<br>
 Author: [Sudeep Pillai](http://people.csail.mit.edu/spillai) [(spillai@csail.mit.edu)](mailto:spillai@csail.mit.edu)  
 License: MIT
 
-Modules
----
+[![Build Status](https://travis-ci.org/spillai/pybot.svg?branch=py35)](https://travis-ci.org/spillai/pybot)
+
+## Modules
+
 **geometry:** General-purpose tools for computing rigid-body
 transformations. This is a preliminary version that currently deals
 mostly with **SE(3)** or 6-DOF (3-DoF Rotational + 3-DoF translation)
@@ -20,28 +22,28 @@ and some support for **Sim(3)** motions.
 **utils:** Basic tooling that includes attribute dictionaries,
 database-utils including incremental hdf5 tables, dataset readers
 [ImageDatasets, StereoDatasets, VelodyneDatasets etc], dataset helpers
-[[KITTI](http://www.cvlibs.net/datasets/kitti/),
-[NYU-RGBD](http://cs.nyu.edu/~silberman/datasets/nyu_depth_v2.html),
-[SUN3D](http://sun3d.cs.princeton.edu/),
-[Tsukuba Stereo](http://cvlab-home.blogspot.com/2012/05/h2fecha-2581457116665894170-displaynone.html),
-,
-[VaFRIC](https://www.doc.ic.ac.uk/~ahanda/VaFRIC/test_datasets.html),
-[UW-RGBD](https://rgbd-dataset.cs.washington.edu/)], itertools
+[[KITTI](http://www.cvlibs.net/datasets/kitti/), itertools
 recipes, timing/profiling tools, io utils
 [video/image writing, mkdirs, find_files, config parsers, joblib utils, stdout tee-ing, JSON],
 other misc tools including pretty prints, progressbars, colored
 prints, counters, accumulators (indexed deques), accumulators with
 periodic callbacks etc.
 
-**externals:** ROS/LCM drawing tools, ROS/LCM log readers, [Google
-  Project Tango](https://get.google.com/tango/) log reader
+**externals:** ROS/LCM drawing tools, ROS/LCM log readers log reader
 
-**New (upcoming) modules**: *mapping*, *nnet* with support for visual
-odometry, vSLAM, semi-dense reconstruction, and more recent
-developments in CNN-based object recognition, localization (ROI
-pooling), and SLAM-aware recognition. See [references](REFERENCES.md) for more details
-about specific implementations. 
+## Installation
 
-Installation
----
 See [INSTALL](INSTALL.md)
+
+### Quick install 
+
+Install pybot and its dependencies into a new conda environment.
+```sh
+conda config --add channels menpo
+conda create --name pybot-py35 python=3.5
+conda install --name pybot-py35 -c s_pillai pybot
+```
+## Contributing
+We appreciate all contributions. If you would like to contribute new
+features or fix existing bugs, please open an issue and discuss them
+with us first.