Release of PULP-Dronet-v3 and Tiny-PULP-Dronet-v3 (#26)

* added tiny-pulp-dronet-v3
* added nemo
* added dory
* added pre-trained weights
* added onnx files
* added drone applications
* added dataset visualizer
* added dataset collection framework 
* added external modules
* update README.md
* update tiny-pulp-dronet-v3/README.md
* update LICENSE
* update LICENSE_README.md
* added dataset to README
* added gifs to README
* added images to imgs/
* tested all python scripts and c applications
* added conda envs
---------
Co-authored-by: Lorenzo Lamberti <[email protected]>

Author: LorenzoLamberti94

.gitignore

@@ -0,0 +1,113 @@
+# my folders
+*checkpoints/
+*nemo_output/
+*bin/
+runs/
+logs/
+tiny-pulp-dronet-v3/dataset/
+tiny-pulp-dronet-v3/training/
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/

.gitmodules

@@ -10,3 +10,15 @@
 [submodule "src/autotiler"]
 	path = pulp-dronet-v1/src/autotiler
 	url = https://github.com/pulp-platform/autotiler.git
+[submodule "tiny-pulp-dronet-v3/nemo-dory/nemo"]
+	path = tiny-pulp-dronet-v3/nemo-dory/nemo
+	url = [email protected]:LorenzoLamberti94/nemo.git
+[submodule "tiny-pulp-dronet-v3/nemo-dory/dory"]
+	path = tiny-pulp-dronet-v3/nemo-dory/dory
+	url = [email protected]:LorenzoLamberti94/dory_dronet.git
+[submodule "dataset_collection_framework/crazyflie_firmware_patches/crazyflie-firmware-modified-dataset"]
+	path = dataset_collection_framework/crazyflie_firmware_patches/crazyflie-firmware-modified-dataset
+	url = [email protected]:LorenzoLamberti94/crazyflie-firmware-modified-dataset.git
+[submodule "tiny-pulp-dronet-v3/drone-applications/gap8-dronet-app/viewer-pulp-dronet"]
+	path = tiny-pulp-dronet-v3/drone-applications/gap8-dronet-app/viewer-pulp-dronet
+	url = https://github.com/LorenzoLamberti94/viewer-pulp-dronet

LICENSE.apache.md renamed to LICENSE

@@ -0,0 +1,250 @@
+# LICENSE README
+this file describes the license of all the files in this repository, and the license of any external module
+
+
+## PULP-Dronet v1
+The project's structure is the following:
+
+```
+├── pulp-dronet-v1/
+│   ├── bin/
+│   │   ├── PULPDroNet_GAPuino
+│   │   ├── PULPDroNet_PULPShield
+│   ├── dataset/
+│   │   ├── Himax_Dataset/
+│   │   ├── Udacity_Dataset/
+│   │   ├── Zurich_Bicycle_Dataset/
+│   ├── imgs/
+│   │   ├── PULP_dataset.png
+│   │   ├── PULP_drone.png
+│   │   ├── PULP_proto.png
+│   │   ├── PULP_setup.png
+│   ├── PULP-Shield/
+│   │   ├── GAP8/
+│   │   ├── jtag-convboard/
+│   ├── src/
+│   │   ├── autotiler/
+│   │   ├── config.h
+│   │   ├── config.ini
+│   │   ├── PULPDronet.c
+│   │   ├── PULPDronetGenerator.c
+│   │   ├── PULPDronetKernels.c
+│   │   ├── PULPDronetKernels.h
+│   │   ├── PULPDronetKernelsInit.c
+│   │   ├── PULPDronetKernelsInit.h
+│   │   ├── Makefile
+│   │   ├── run_dataset.sh
+│   ├── weights/
+│   │   ├── binary/
+│   │   ├── WeightsPULPDroNet.raw
+│   ├── LICENSE.apache.md
+│   ├── LICENSE_README.md
+│   ├── README.md
+```
+
+All the folders, sub-folders and files in this project except for the content of the following two folders:
+
+* `pulp-dronet-v1/dataset/Udacity_Dataset`
+* `pulp-dronet-v1/dataset/Zurich_Bicycle_Dataset`
+
+are released open-source with the Apache 2.0 license.
+A copy of the Apache 2.0 license is included in `pulp-dronet/LICENSE.apache.md` and in `pulp-dronet-v1/dataset/Himax_Dataset/LICENSE.apache.md`.
+
+All the files in `pulp-dronet-v1/dataset/Udacity_Dataset` and  `pulp-dronet-v1/dataset/Zurich_Bicycle_Dataset` are released with the MIT License included in the same folder as `LICENSE.mit.md`.
+
+## PULP-Dronet v2
+The project's structure is the following:
+
+The project's structure is the following:
+
+```
+.
+└── pulp-dronet-v2/
+    ├── dataset/
+    │   ├── fine_tuning/
+    │   ├── himax/
+    │   ├── testing/
+    │   ├── training/
+    │   └── validation/
+    ├── gapflow/
+    ├── imgs/
+    │   └── PULP_drone.png
+    ├── model/
+    │   ├── dronet_v2_gapflow.py
+    │   ├── dronet_v2_nemo_dory.py
+    │   ├── dronet_v2_gapflow_original.pth
+    │   ├── dronet_v2_gapflow_original_himax.pth
+    │   ├── dronet_v2_nemo_dory_original.pth
+    │   └── dronet_v2_nemo_dory_original_himax.pth
+    ├── nemo-dory/
+    │   └── quantize.py
+    ├── conda_deps.yml
+    ├── config.py
+    ├── evaluation.py
+    ├── testing.py
+    ├── training.py
+    ├── utility.py
+    ├── LICENSE
+    └── README.md
+```
+All the folders, sub-folders and files in this project are released open-source with the Apache 2.0 license.
+
+A copy of the Apache 2.0 license is included in `pulp-dronet/LICENSE`.
+
+
+
+## Tiny-PULP-Dronet v3
+
+The project's structure is the following:
+
+```
+.
+└── tiny-pulp-dronet-v3/
+    ├── dataset/ # directory where you must put the PULP-Dronet v3 dataset
+    │   ├── training/ # put here the training dataset, dowloaded from Zenodo
+    │   └── testing/  # put here the testing dataset, dowloaded from Zenodo
+    ├── drone-applications/ # code running on the Bitcraze Crazyflie 2.1 nano-drone and the GAP8 SoC
+    │   ├── crazyflie-dronet-app/ # Crazyflie STM32 code (flight controller)
+    │   │   ├── inc/ ...
+    │   │   ├── src/ ...
+    │   │   └── Makefile
+    |   ├── external/
+    |   |    └── crazyflie-firmware # use tag 2022.01
+    │   └── gap8-dronet-app/ # AI-Deck GAP8 code (CNN processing + camera). Use gap-sdk 3.9.1
+    │       ├── pulp-dronet-v3/ # main running pulp-dronet v3 (19fps, 320kB)
+    │       │   ├── DORY_network/
+    │       │   │   ├── inc/ ...
+    │       │   │   └── src/ ...
+    │       │   └── Makefile
+    │       ├── tiny-pulp-dronet-v3/ # main running tiny-pulp-dronet v3 (139fps, 2.9kB)
+    │       │   ├── DORY_network/
+    │       |   │   ├── inc/ ...
+    │       |   │   └── src/ ...
+    │       |   └── Makefile
+    |       └── viewer-pulp-dronet/
+    |           └── viewer_custom.py
+    ├── imgs/ # images for readme
+    ├── model/
+    │   ├── dronet_v3.py # pytorch definition of the PULP-Dronet v3 CNN.
+    │   ├── pulp-dronet-v3-resblock-1.0.pth # pre-trained pytorch model of PULP-Dronet v3
+    │   └── tiny-pulp-dronet-v3-dw-pw-0.125.pth # pre-trained pytorch model of Tiny-PULP-Dronet v3
+    ├── nemo-dory/
+    │   ├── nemo/ # external: NEMO tool for quantization of CNNs
+    │   └── dory_dronet/  # external: DORY tool for deployment of CNNs on MCUs
+    ├── training/ # directory where all training checkpoints, logs, and tensorboard files are saved.
+    ├── classes.py # class definitions used in the project.
+    ├── conda_deps.yml # conda environment file.
+    ├── config.py # default args for .py files.
+    ├── README.md
+    ├── testing.py # Test a pre-trained model on the testing set in pytorch
+    ├── training.py # training and validation of a PULP-Dronet v3 CNN.
+    └── utility.py # utility for python scripts: dataset loader, loss functions, checkpoint loading
+```
+
+All the folders, sub-folders and files in this project are released open-source with the Apache 2.0 license.
+
+A copy of the Apache 2.0 license is included in `pulp-dronet/LICENSE`.
+
+External modules, which can be downloaded from external github repositories, are released under different licenses:
+* `pulp-dronet/tiny-pulp-dronet-v3/drone-applications/external/crazyflie-firmware` is released under GNU General Public License v3.0
+* `pulp-dronet/tiny-pulp-dronet-v3/drone-applications/gap8-dronet-app/viewer-pulp-dronet` is released under GNU General Public License v3.0
+
+
+## PULP-Dronet v3 Dataset
+
+We release the dataset ([zenodo.org/records/13348430](https://zenodo.org/records/13348430)) as open source under Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
+
+
+## Dataset collector framework
+
+The project's structure is the following:
+
+```
+dataset_collection_framework
+├── conda_deps.yml
+├── crazyflie_firmware_patches/
+│   ├── crazyflie-firmware-modified-dataset/
+│   └── dataset_collection_app/
+│       ├── current_platform.mk
+│       ├── datasetcollector.c
+│       ├── datasetcollector.h
+│       └── Makefile
+├── dataset_collector_python/
+│   ├── control_config.json
+│   ├── CrazyflieCameraStreamer.py
+│   ├── CrazyflieCommunicator.py
+│   ├── CrazyflieController.py
+│   ├── datasetcollector_main.py
+│   ├── DatasetLogger.py
+│   ├── dataset_tools/
+│   │   ├── count_images_dataset.sh
+│   │   ├── dataset_partitioning.py
+│   │   ├── dataset_post_processing.py
+│   │   ├── image_viewer_cv.py
+│   │   ├── image_viewer.py
+│   │   ├── save_all_videos.sh
+│   │   └── UI/
+│   │       ├── create_ui_python_code.sh*
+│   │       ├── imageViewer.ui
+│   │       └── imageViewerUI.py
+│   ├── default_config.json
+│   ├── draw_binary_digits.py
+│   ├── ds_logger.py
+│   ├── logger_app.py
+│   └── UI/
+│       ├── controlConfigDialog.py
+│       ├── controlConfigDialog.ui
+│       ├── coordinate_system.jpg
+│       ├── create_ui_python_code.sh*
+│       ├── datasetcollector.ui
+│       ├── datasetcollector_ui.py
+│       ├── logConfigDialog.py
+│       └── logConfigDialog.ui
+├── external/
+├── GAP8_streamer/
+│   ├── inc/
+│   │   └── frame_streamer.h
+│   └── wifi_jpeg_streamer/
+│       ├── config.ini
+│       ├── Makefile
+│       └── wifi_frame_streamer.c
+├── gap_sdk_setup.md
+├── images/
+└── README.md
+```
+
+
+All the folders, sub-folders and files in this project are released open-source with the Apache 2.0 license.
+
+A copy of the Apache 2.0 license is included in `pulp-dronet/LICENSE`.
+
+External modules, which can be downloaded from external github repositories, are released under different licenses:
+* `/pulp-dronet/dataset_collection_framework/crazyflie_firmware_patches/crazyflie-firmware-modified-dataset` is released under GNU General Public License v3.0
+* `/pulp-dronet/dataset_collection_framework/external/crazyflie-firmware` is released under GNU General Public License v3.0.
+
+## Dataset visualizer
+
+The project's structure is the following:
+
+```
+dataset_visualizer
+├── dataset_visualizer/
+│   ├── acquisition_visualizer.py
+│   ├── classes.py
+│   ├── dataset_partitioning.py
+│   ├── dataset_post_processing.py
+│   ├── image_visualizer.py
+│   ├── main.py
+│   ├── metadata_visualizer.py
+│   ├── plot_statistics.py
+│   ├── stats_config.json
+│   └── video.py
+├── imgs/
+│   ├── dataset_visualizer_grid_view.png
+│   └── dataset_visualizer.png
+├── README.md
+└── setup.py
+```
+
+All the folders, sub-folders and files in this project are released open-source with the Apache 2.0 license.
+A copy of the Apache 2.0 license is included in `pulp-dronet/LICENSE`.