Migrate to pure cmake project (#2)

* refactor: remove ROS-related code

* build: use general cmake template

* build: fix colcon building

- use general cmake template
- remove ros related code
- add config files for linters and formatters

* feat(base): add implementation of object and geometry classes

- impl Object, BBox2D, Point2D and PointCloud
- store detection results in Object

* refactor(tracker): use Object for tracker results

* feat: migrate SyncedMemory and Blob from BVLC/caffe

* feat(base): add Image8U and DataProvider

colorspace conversion is only supported when USE_GPU=1

* feat(frame): add CameraFrame

* feat(util): add utility functions for CameraFrame

* feat(base): add type and runtime classes

- InferenceFrondendType and InferenceBackendType
- InferenceRuntime

* feat(base): add Tensor class

- Blob will be merged into Tensor class later
- Tensor class will be based on SyncedMemory later

* refactor(base): update comments of Tensor class

* refactor(base): update Runtime class

add Infer() method, just passthrough the results from backend

* feat(backend): support creating TensorRT backend

in InferenceRuntime

* refactor(base): update ToString method for InferenceFrontendType

* feat(interface): add BaseInferenceModel

* feat(vision): add Mat class based on Tensor

* feat(vision): add BaseTransform for image preprocessing

* feat(vision): add basic vision transform ops for preprocessing

* feat(vision): add transform ops: Interpolate and Pad

* docs(vision): add desc for YOLOv7-End2End model conversion

* feat(interface): support perf in BaseInferenceModel

* refactor(interface): fix typos

* refactor(base): use 'onnx' as default model frontend

* refactor: remove dependencies of yolo-tensorrt library

* refactor: remove legacy code

* feat(vision): add Visualization class

* docs(base): add docstrings

* docs: add docstrings for interface and util

* docs: add docstrings for vision module

* docs(vision): add desc for YOLOv5-End2End models

* docs(vision): add desc for YOLOX-End2End models

* feat(vision): add ReIDReuslt for FastReID model

* feat(vision): add TrackingResult

* docs(vision): add desc for FastReID models

* refactor(vision): add utility functions for tracking

* feat(vision): add DeepSORT tracker

* refactor(vision): update deepsort::KalmanFIlter::StateType

* fix(vision): use bboxes in TLBR format in detection/tracking results

i.e., the output from DeepSORT tracker should be in TLBR format, no matter what format used inside

* docs(vision): add docstring for DeepSORTTracker

* feat(vision): add prototype of ByteTrack tracker

* docs(vision): add docstring for ByteTrack tracker

* refactor(vision): unify the interface of vision trackers

- two Update() functions for det-trk, and det-feat-trk
- GetParams() functions to get or modify parameters
- Name() for model name

* fix(vision): correct bbox formats in ByteTrack

- input/output of ByteTracker is TLBR
- input/output of STrack is TLWH
- input/output of kalman filter is XYAH

.clang-format

@@ -0,0 +1,156 @@
+---
+Language:        Cpp
+# BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: WithoutElse
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: true
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Regroup
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+  - Regex:           '^<.*'
+    Priority:        2
+  - Regex:           '.*'
+    Priority:        3
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IndentCaseLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats:
+  - Language:        Cpp
+    Delimiters:
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions:
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Auto
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseTab:          Never
+...

.clangd

@@ -0,0 +1,12 @@
+Diagnostics:
+  ClangTidy:
+    Add:
+      [
+        performance-*,
+        bugprone-*,
+        portability-*,
+        modernize-*,
+      ]
+    Remove: modernize-use-trailing-return-type
+    CheckOptions:
+      WarnOnFloatingPointNarrowingConversion: false

.flake8

@@ -0,0 +1,24 @@
+[flake8]
+# B = bugbear
+# E = pycodestyle errors
+# F = flake8 pyflakes
+# W = pycodestyle warnings
+# B9 = bugbear opinions
+# ISC = implicit-str-concat
+select = B, E, F, W, B9, ISC
+ignore =
+    # slice notation whitespace, invalid
+    E203
+    # import at top, too many circular import fixes
+    E402
+    # line length, handled by bugbear B950
+    E501
+    # bare except, handled by bugbear B001
+    E722
+    # bin op line break, invalid
+    W503
+# up to 88 allowed by bugbear B950
+max-line-length = 88
+extend-ignore = E203
+per-file-ignores = __init__.py: F401
+exclude = docs

.gitignore

@@ -31,3 +31,6 @@
 *.out
 *.app
 .vscode/
+
+COLCON_IGNORE
+CATKIN_IGNORE

.pre-commit-config.yaml

@@ -0,0 +1,67 @@
+repos:
+  - repo: https://github.com/pocc/pre-commit-hooks
+    rev: v1.3.5
+    hooks:
+      - id: clang-format
+        args: ["--style=Google"]
+      # - id: clang-tidy
+  # - repo: https://github.com/asottile/reorder_python_imports
+  #   rev: v2.6.0
+  #   hooks:
+  #     - id: reorder-python-imports
+  #       name: Reorder Python imports (src, tests)
+  #       exclude: ^(src/zetton-common/|src/zetton-inference/)
+  #       args:
+  #         [
+  #           "--application-directories",
+  #           "src",
+  #           "--unclassifiable-application-module",
+  #           "usfs_common",
+  #           "--unclassifiable-application-module",
+  #           "usfs_inference",
+  #           "--unclassifiable-application-module",
+  #           "zetton_common",
+  #           "--unclassifiable-application-module",
+  #           "zetton_inference",
+  #           "--unclassifiable-application-module",
+  #           "rospy",
+  #           "--unclassifiable-application-module",
+  #           "rospy",
+  #           "--unclassifiable-application-module",
+  #           "rosbag",
+  #           "--unclassifiable-application-module",
+  #           "message_filters",
+  #           "--unclassifiable-application-module",
+  #           "cv_bridge",
+  #           "--unclassifiable-application-module",
+  #           "sensor_msgs",
+  #           "--unclassifiable-application-module",
+  #           "sppe_vision",
+  #           "--unclassifiable-application-module",
+  #           "catkin_pkg",
+  #         ]
+  - repo: https://github.com/psf/black
+    rev: 21.12b0
+    hooks:
+      - id: black
+  - repo: https://github.com/PyCQA/flake8
+    rev: 4.0.1
+    hooks:
+      - id: flake8
+        additional_dependencies:
+          - flake8-bugbear
+          - flake8-implicit-str-concat
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.1.0
+    hooks:
+      - id: check-added-large-files
+        args: ["--maxkb=10240"]
+      - id: check-executables-have-shebangs
+      - id: check-shebang-scripts-are-executable
+      - id: check-json
+      - id: check-symlinks
+      - id: check-merge-conflict
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: mixed-line-ending
+      - id: trailing-whitespace