Revamp

.github/workflows/ci.yml

@@ -0,0 +1,61 @@
+name: CI
+
+on:
+  push:
+    branches: ["**"]
+  pull_request:
+    branches: ["**"]
+
+# CI installs only the classical dependency group. Torch/YOLO/XFeat testing
+# will land as a separate, non-blocking job once dependency weight and model
+# availability are settled.
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+
+      - name: Install dependencies
+        run: |
+          pip install -r requirements-classical.txt
+          pip install ruff black
+
+      - name: Lint (ruff)
+        run: ruff check .
+
+      - name: Format check (black)
+        run: black --check .
+
+  test-classical:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+
+      - name: Install system deps (OpenCV)
+        run: sudo apt-get install -y libgl1
+
+      - name: Install dependencies
+        run: |
+          pip install -r requirements-classical.txt
+          pip install -e .
+
+      - name: Build Cython extension
+        run: |
+          cd perception/tasks/segmentation/saliency_detection
+          python setup.py build_ext --inplace
+
+      - name: Run tests
+        run: pytest -v --tb=short

README.md

@@ -4,10 +4,11 @@ Code Quality [![CodeFactor](https://www.codefactor.io/repository/github/berkeley
 
 ## Installation
 
-We will use Conda for managing environments. We recommend installing Miniconda for Python 3.8 [here](https://docs.conda.io/en/latest/miniconda.html).
+We will use Conda for managing environments. We recommend installing Miniconda for Python 3.11 [here](https://docs.conda.io/en/latest/miniconda.html).
+Python 3.11 is required to support YOLO models.
 Then create an environment with
 
-    conda create -n urobotics python=3.8
+    conda create -n urobotics python=3.11
 
 activate it with
 
@@ -22,9 +23,13 @@ Change into the cloned repo directory and install it
     pip3 install -e ./
 
 
-Install all dependencies with
+Install dependencies with
 
-    pip3 install -r requirements.txt
+    pip3 install -r requirements-classical.txt
+
+If you also need YOLO/torch-based models, install the torch group instead (it includes everything in `requirements-classical.txt`, plus `torch`, `torchvision`, and `ultralytics`)
+
+    pip3 install -r requirements-torch.txt
 
 
 Also, our training data is stored here https://www.dropbox.com/sh/rrbfqfutrmifrxs/AAAfXxlcCtWZmUELp4wXyTIxa?dl=0 so download it and unzip it in the same folder as `perception`.

requirements-classical.txt

@@ -0,0 +1,10 @@
+numpy==2.3.0
+opencv-python==4.11.0.86
+scipy==1.17.1
+matplotlib==3.11.1
+imageio==2.37.4
+imageio-ffmpeg==0.6.0
+Cython==3.2.8
+scikit-image==0.26.0
+shapely==2.1.2
+pytest==9.1.1

requirements-torch.txt

@@ -0,0 +1,4 @@
+-r requirements-classical.txt
+torch==2.13.0
+torchvision==0.28.0
+ultralytics==8.4.104

setup.py

@@ -13,5 +13,5 @@
     long_description=long_description,
     long_description_content_type="text/markdown",
     packages=setuptools.find_packages(),
-    python_requires='>=3.7',
+    python_requires='>=3.11',
 )