Dev/uv

.dockerignore

@@ -0,0 +1,3 @@
+.venv
+**/__pycache__
+**/*.pyc

.github/workflows/gui-build.yml

@@ -0,0 +1,30 @@
+name: GUI build
+
+on:
+  push:
+    paths:
+      - ".github/workflows/gui-build.yml"
+      - "docker/base/gui-deps.dockerfile"
+      - "docker/gui.dockerfile"
+      - "docker-compose.yml"
+      - "Makefile"
+  pull_request:
+    paths:
+      - ".github/workflows/gui-build.yml"
+      - "docker/base/gui-deps.dockerfile"
+      - "docker/gui.dockerfile"
+      - "docker-compose.yml"
+      - "Makefile"
+
+# NOTE: This is config validation only, not an image build. A real `make gui`
+# build requires the published Noetic core-deps image as a base and a display
+# for the wx smoke test. Upgrade this to an actual layer build (e.g. build
+# gui-deps against a published core-deps) when CI infrastructure allows.
+jobs:
+  validate-compose:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Validate gui compose config
+        run: docker compose --profile gui config

.gitignore

@@ -1,8 +1,10 @@
 **__pycache__
 **.swp
 **.pyc
+**.DS_Store
 artifacts
 build
 devel
 provision/ansible/.password
 .catkin_tools
+.venv

CHANGELOG.md

@@ -0,0 +1,106 @@
+# Changelog
+
+All notable changes to KAMERA are documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [Unreleased]
+
+## [0.5.0] - 2026-07-21
+
+### Added
+
+- Dropdown selectors for Phase One shutter speed, gain, and aperture, with proper
+  electronic/leaf shutter mapping.
+- The 'Set' button lights up whenever a camera parameter changes, making pending
+  changes obvious.
+- Optional GPU JPEG compression via nvJPEG, enabled with the `/sys/arch/use_nvjpeg` flag.
+- Power management (system startup/shutdown/reboot) as a simple stateful REST API,
+  managed by kamerad and supervisor.
+- kamerad runs on system startup and auto-restarts.
+- Default camera configuration JSONs ship with the repo; defaults load based on the
+  system name.
+- Additional color status indicators in the GUI, and a warning when no detector
+  pipefile is configured.
+- Ansible tasks for system stop/start and docker restarts.
+- Local docker registry on leader machines for distributing images to the rest of
+  the system; leader machines also build the core and VIAME images.
+- Tailscale installed with the system for remote access.
+- Desktop shortcuts installed during provisioning, including a convenience symlink
+  to the NAS.
+- Script to seed the redis configuration during provisioning.
+- nayak system support: tailored configuration (no IR/UV cameras) and a local
+  stratum-3 NTP server so systems stay synchronized offline.
+
+### Changed
+
+- GUI ported to ROS Noetic: all images now build on Ubuntu 20.04 with Python 3 and
+  wxPython 4.
+- Save is now a single button: it finalizes changes, writes camera configurations to
+  disk, and refreshes the main panel dropdown.
+- Shutter speed is displayed directly instead of exposure in milliseconds.
+- Flight number entry is more forgiving and no longer errors on every change.
+- Contrast control is greyed out when the server manages it; disabled controls now
+  show their values in a clearer disabled style.
+- GUI layout overhauled: INS data in two columns, wider camera dropdowns, working
+  About dialog, and many scaling fixes to eliminate clipped text and squished panels.
+- Icons refreshed and properly labeled.
+- `kamera_run` now just launches the GUI when the system is already up, so a
+  separate GUI desktop icon is no longer needed.
+- Hostnames follow a new center/left/right convention (hyphen-free for ROS
+  compatibility), and start/stop scripts use it uniformly.
+- Startup calls tmux directly, and environment/image-tag configuration is
+  consolidated into supervisord globals and a `.env` file.
+- Clear configuration boundaries: yaml files hold static, system-specific options;
+  `system_state.json` holds mutable, GUI-facing state.
+- Configuration conflict resolution reports what changed instead of failing silently.
+- redis configuration consolidated.
+- Docker build chain cleaned up: concrete makefile steps and explicit compose builds
+  that respect `depends_on` order.
+- NFS version pinned and NAS mount points created ahead of mounting, for more
+  reliable NAS access.
+- GUI relicensed under Apache 2.0; old license headers removed.
+
+### Fixed
+
+- INS panel incorrectly showing yellow (string vs. int comparison).
+- ~10-frame lag in the image counter display; the frame buffer is also flushed when
+  archiving stops, so counts stay accurate.
+- GUI no longer hangs during SSD / NAS health checks (moved to a background thread).
+- Race condition where the detector gauge started red.
+- Intermittent X Windows errors when launching the GUI (containers now use
+  `ipc: host`).
+- Phase One debayering failures: added error handling around queue writes and
+  removed a hardcoded output path.
+- The image-processing queue is recreated on each run, guaranteeing every file gets
+  processed.
+- Detector pipefile loading is more robust.
+
+### Removed
+
+- Legacy ROS Kinetic / Python 2 code paths and shims.
+- tmuxinator dependency.
+
+## [0.4.0] - 2025-07-28
+
+_Released before this changelog was introduced; see the git history for details._
+
+## [0.3.0] - 2025-03-25
+
+_Released before this changelog was introduced; see the git history for details._
+
+## [0.2.0] - 2025-01-12
+
+_Released before this changelog was introduced; see the git history for details._
+
+## [0.1.0] - 2024-11-23
+
+_Released before this changelog was introduced; see the git history for details._
+
+[Unreleased]: https://github.com/Kitware/kamera/compare/v0.5.0...develop
+[0.5.0]: https://github.com/Kitware/kamera/compare/v0.4.0...v0.5.0
+[0.4.0]: https://github.com/Kitware/kamera/compare/v0.3.0...v0.4.0
+[0.3.0]: https://github.com/Kitware/kamera/compare/v0.2.0...v0.3.0
+[0.2.0]: https://github.com/Kitware/kamera/compare/v0.1.0...v0.2.0
+[0.1.0]: https://github.com/Kitware/kamera/releases/tag/v0.1.0

Makefile

@@ -1,45 +1,61 @@
-CMD ?= bash
-runtime ?= runc
-network ?= host
-name ?= kamera
-DAQDEV ?= mcc_daq
-REPO_DIR ?= $(shell realpath ${PWD})
-REPO_DIR_BASEDIR ?= $(shell dirname $(REPO_DIR))
-ROS_MASTER_URI ?= not_set_your_config_is_bad
-## Docker buildkit - disable by setting to 0 if you have issues
-
-DAQPATH = $(shell readlink -f "/dev/$(DAQDEV)")
-PROJ_DIR=/root/kamera
-WS_DIR=/root/kamera
-ROS_DISTRO=noetic
-BRANCH=latest
-
-.PHONY: info
-info:
-	@echo REPO_DIR_BASEDIR=$(REPO_DIR_BASEDIR)
-	@echo ROS_MASTER_URI=$(ROS_MASTER_URI)
-	@echo REDIS_HOST=$(REDIS_HOST)
-
-.PHONY: build
+ROS_DISTRO ?= noetic
+PYTHON_VERSION ?= 3.10
+
+.PHONY: install build core viame gui postflight follower leader all clean
+
+# Build .venv on top of an activated conda env from environment.yml
+install:
+	@echo "🚀 Creating virtual environment using uv"
+	@uv venv --system-site-packages --python=$(PYTHON_VERSION)
+	@uv sync --frozen --no-cache
+
 build:
 	docker compose build
 
-.PHONY: nuvo
-nuvo:
-	docker compose --profile nuvo build
+## --- individual layer targets ---
+
+core:
+	docker compose --profile core build core-ros
+	docker compose --profile core build core-deps
+	docker compose --profile core build
 
-.PHONY: viame
 viame:
+	docker compose --profile viame build viame-base
 	docker compose --profile viame build
 
-.PHONY: gui
 gui:
-	ROS_DISTRO=kinetic docker compose --profile gui build
+	docker compose --profile gui build core-ros
+	docker compose --profile gui build core-deps
+	docker compose --profile gui build gui-deps
+	docker compose --profile gui build gui
 
-.PHONY: postflight
 postflight:
 	docker compose --profile pf build
 
-.PHONY: clean
+## --- deployment-target targets ---
+
+# Follower node: headless sensor node — core + VIAME + postproc
+follower:
+	docker compose --profile follower build core-ros
+	docker compose --profile follower build core-deps
+	docker compose --profile follower build viame-base
+	docker compose --profile follower build
+
+# Leader node: operator workstation — GUI + VIAME + postproc
+leader:
+	docker compose --profile leader build core-ros
+	docker compose --profile leader build core-deps
+	docker compose --profile leader build viame-base
+	docker compose --profile leader build gui-deps
+	docker compose --profile leader build
+
+# Everything
+all:
+	docker compose --profile all build core-ros
+	docker compose --profile all build core-deps
+	docker compose --profile all build viame-base
+	docker compose --profile all build gui-deps
+	docker compose --profile all build
+
 clean:
 	rm -rf .ros .catkin_tools .cmake .config build* devel* logs*

NOTICE

@@ -1,4 +1,4 @@
-Copyright 2024 Kitware, Inc.
+KAMERA
 =============================================================
 
 Licensed under the Apache License, Version 2.0 (the "License");

README.md

@@ -22,11 +22,41 @@ KAMERA, or the **K**nowledge-guided Image **A**cquisition **M**anag**ER** and **
 
 ## Installation
 
+### Post-processing (native, Windows or Linux)
+
+GDAL and pycolmap come from conda-forge; [uv](https://docs.astral.sh/uv/)
+installs the rest into `.venv`. Requires
+[conda](https://conda-forge.org/download/).
+
+Linux/macOS:
+
 ```bash
 git clone https://github.com/Kitware/kamera.git
 cd kamera
-# For the pure post-processing and generating flight summary, you can install
-# the requirements in requirements.txt, or use the provided dockerfile
+conda env create -f environment.yml
+conda activate kamera
+make install
+source .venv/bin/activate
+```
+
+Windows (PowerShell or Anaconda Prompt):
+
+```powershell
+git clone https://github.com/Kitware/kamera.git
+cd kamera
+conda env create -f environment.yml
+conda activate kamera
+pip install -e .
+```
+
+Afterwards, `conda activate kamera` is all you need. Conda installs the CUDA
+build of pycolmap automatically with NVIDIA driver 575+ (CUDA 12.9),
+otherwise the CPU build; GPU only matters for full camera model calibration.
+
+### Docker images
+
+```bash
+# post-processing / flight summary image
 make postflight
 # Builds the core docker images for use in the onboard sytems
 make nuvo

compose/.env

@@ -0,0 +1,5 @@
+KAMERA_CORE_IMAGE=kitware/kamera:core
+KAMERA_KAMERAD_IMAGE=kitware/kamera:kamerad
+KAMERA_VIAME_IMAGE=kitware/kamera:viame
+KAMERA_POSTPROC_IMAGE=kitware/kamera:postproc
+KAMERA_GUI_IMAGE=kitware/kamera:gui

compose/cam_ir.yml

@@ -1,10 +1,10 @@
 ---
 ## Auxiliary node to attach to master
-version: '3.7'
 services:
   cam_ir:
     container_name: "cam-ir-${CAM_FOV}"
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
+    init: true
     tty: true
     environment:
       ROS_MASTER_URI: "${ROS_MASTER_URI}"
@@ -23,5 +23,5 @@ services:
       - "/mnt:/mnt"
       - "${PWD}/src:${DOCKER_KAMERA_DIR}/src:ro"
     command: ["/entry/cam_ir.sh"]
-    restart: unless-stopped
+    restart: no
 ...

compose/cam_param_monitor.yml

@@ -1,10 +1,10 @@
 ---
 ## Core processes
-version: '3.7'
 services:
   cam_param_monitor:
     container_name: cam_param_monitor
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
+    init: true
     tty: true
     environment:
       ROS_MASTER_URI: "${ROS_MASTER_URI}"
@@ -20,5 +20,5 @@ services:
       - "/mnt:/mnt"
       - "${PWD}/src:${DOCKER_KAMERA_DIR}/src:ro"
     command: ["/entry/cam_param_monitor.sh"]
-    restart: unless-stopped
+    restart: no
 ...

compose/cam_rgb.yml

@@ -1,11 +1,11 @@
 ---
 ## Auxiliary node to attach to master
-version: '3.7'
 services:
   ## =========================== headless nodes =============================
   cam_rgb:
     container_name: "cam-rgb-${CAM_FOV}"
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
+    init: true
     tty: true
     environment:
       ROS_MASTER_URI: "${ROS_MASTER_URI}"
@@ -25,7 +25,7 @@ services:
       - "${PWD}/src:${DOCKER_KAMERA_DIR}/src:ro"
     command: ["/entry/cam_phaseone.sh"]
         #command: ["bash"]
-    restart: unless-stopped
+    restart: no
     deploy:
       resources:
         reservations:

compose/cam_uv.yml

@@ -1,11 +1,11 @@
 ---
 ## Auxiliary node to attach to master
-version: '3.7'
 services:
   ## =========================== headless nodes =============================
   cam_uv:
     container_name: "cam-uv-${CAM_FOV}"
-    image: kitware/kamera:core
+    image: ${KAMERA_CORE_IMAGE}
+    init: true
     tty: true
     environment:
       ROS_MASTER_URI: "${ROS_MASTER_URI}"
@@ -25,5 +25,5 @@ services:
       - "${PWD}/src:${DOCKER_KAMERA_DIR}/src:ro"
         #    command: ["bash"]
     command: ["/entry/cam_prosilica.sh", "uv"]
-    restart: unless-stopped
+    restart: no
 ...