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Merge pull request #36 from ACFR-RPG/jm/orin
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‎README.md‎

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docker/Dockerfile renamed to docker/Dockerfile.amd64

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@@ -32,7 +32,8 @@ RUN apt-get update \
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# ROS installs
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RUN apt-get install -y \
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ros-kilted-ros2cli-common-extensions \
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ros-kilted-vision-opencv
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ros-kilted-vision-opencv \
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nlohmann-json3-dev
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# other deps
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RUN apt-get install libpng++-dev

‎docker/Dockerfile.l4t_jetpack6‎

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FROM rwthika/ros2-torch:jazzy-ros-base-torch2.5.0
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MAINTAINER Jesse Morris "jesse.morris@sydney.edu.au"
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# To avoid tzdata asking for geographic location...
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ENV DEBIAN_FRONTEND=noninteractive
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#Install build dependencies
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RUN apt-get update && apt-get upgrade -y --allow-downgrades --no-install-recommends apt-utils
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RUN apt-get update && apt-get install -y --allow-downgrades git cmake build-essential pkg-config
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# Install xvfb to provide a display to container for GUI realted testing.
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RUN apt-get update && apt-get install -y --allow-downgrades xvfb
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# In the arm64 version of the base image we do not have the nvidia-cuda-development toolkit
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# as explained https://github.com/ika-rwth-aachen/docker-ros-ml-images/issues/16
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# this contains nvcc (ie we dont have it)
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# we need nvcc to build opencv with cuda
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# add extra nvidia container apt repository (otherwise we cannot find nvidia-cuda-toolkit)
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RUN curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
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&& curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
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sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
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sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
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#NOTE: both nvidia-cuda-toolkit and cuda-toolkit are needed (particularly for header files)
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RUN apt-get update \
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&& apt-get install -y \
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python3-pip \
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openssh-client \
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software-properties-common \
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nano \
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vim \
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clang-format \
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nvidia-cuda-toolkit \
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cuda-toolkit \
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libnvinfer-dev \
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libnvonnxparsers-dev \
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tensorrt-dev \
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&& pip3 install black pre-commit \
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&& rm -rf /var/lib/apt/lists/*
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# # ROS installs
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RUN apt-get update && apt-get install -y \
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ros-jazzy-ros2cli-common-extensions \
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ros-jazzy-cv-bridge \
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ros-jazzy-vision-opencv \
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ros-jazzy-pcl-ros \
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ros-jazzy-rmw-fastrtps-cpp \
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ros-jazzy-rmw-zenoh-cpp \
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ros-jazzy-image-transport \
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libpcl-conversions-dev
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# other deps
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# RUN apt-get install libpng++-dev
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# is libpng-dev different from libpng++? I think not available as a apt for aarm64
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# RUN apt-get install libpng-dev
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RUN python3 -m pip install pylatex evo setuptools pre-commit scipy argcomplete black pre-commit
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# Install glog, gflags
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RUN apt-get update && apt-get install -y libgflags2.2 libgflags-dev libgoogle-glog-dev
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# Install xvfb to provide a display to container for GUI realted testing.
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# vtk is needed for OpenCV to build its viz module (from contrib!)
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RUN apt-get update && apt-get install -y xvfb python3-dev python3-setuptools libvtk9-dev
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RUN pip3 install setuptools pre-commit scipy matplotlib argcomplete
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# install CSparse
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RUN DEBIAN_FRONTEND=noninteractive apt install -y libsuitesparse-dev
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RUN python3 -m pip install "ultralytics==8.3.0" "numpy<2.0" "opencv-python<5.0"
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RUN python3 -m pip install https://github.com/ultralytics/assets/releases/download/v0.0.0/onnxruntime_gpu-1.23.0-cp310-cp310-linux_aarch64.whl
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# Parallelism C++ for CPU
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RUN apt-get update && apt-get install -y libboost-all-dev libtbb-dev
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WORKDIR /root/
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# Install OpenCV for Ubuntu
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RUN apt-get update && apt-get install -y \
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unzip \
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libjpeg-dev libpng-dev libpng++-dev libtiff-dev libgtk2.0-dev \
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libatlas-base-dev gfortran
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RUN git clone https://github.com/opencv/opencv.git
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RUN cd opencv && \
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git checkout tags/4.10.0 && \
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mkdir build
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RUN git clone https://github.com/opencv/opencv_contrib.git
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RUN cd opencv_contrib && \
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git checkout tags/4.10.0
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# on aarch64 there is no binary for nlohmann-json3
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RUN git clone https://github.com/nlohmann/json.git
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RUN cd json && mkdir build && \
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cd build && \
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cmake .. && make -j$(nproc) install
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# OpenCV looks for the cuDNN version in cudnn_version.h, but it's been renamed to cudnn_version_v8.h
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RUN ln -sfnv /usr/include/$(uname -i)-linux-gnu/cudnn_version_v*.h /usr/include/$(uname -i)-linux-gnu/cudnn_version.h
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# IMPORTANT: must specify CXX_17 version. Default is c++11 which will cause compilation issues
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# On aarch64 we can enable NEON for CPU level optimisations
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# It is vital we use gcc-11 as otheriwise we cannot compile the cuda level code (ie. CUDA 12.9)
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RUN cd opencv/build && \
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cmake -DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX=/usr/local \
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-DCMAKE_CXX_STANDARD=17 \
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-D BUILD_opencv_python=OFF \
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-D BUILD_opencv_python2=OFF \
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-D BUILD_opencv_python3=ON \
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-D WITH_CUDA=ON \
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-D WITH_CUDNN=ON \
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-D INSTALL_CUDA_LIBS=OFF \
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-D CUDA_ARCH_PTX= \
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-D CUDA_ARCH_BIN=8.7 \
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-D CUDNN_INCLUDE_DIR=/usr/include/$(uname -i)-linux-gnu \
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-D OPENCV_DNN_CUDA=ON \
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-D ENABLE_FAST_MATH=ON \
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-D CUDA_FAST_MATH=ON \
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-D WITH_VTK=ON \
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-D WITH_CUFFT=ON \
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-D WITH_CUBLAS=ON \
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-D WITH_TBB=ON \
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-DENABLE_NEON=ON \
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-D BUILD_TESTS=OFF \
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-D BUILD_PERF_TESTS=OFF \
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-D BUILD_opencv_ts=OFF \
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-D BUILD_opencv_sfm=OFF \
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-D BUILD_JAVA=OFF \
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-DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
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make -j$(nproc) install
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RUN git clone https://github.com/MIT-SPARK/config_utilities.git
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RUN cd config_utilities/config_utilities && mkdir build && \
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cd build && \
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cmake .. && make -j$(nproc) install
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# Install GTSAM
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RUN git clone https://github.com/borglab/gtsam.git
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RUN cd gtsam && \
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git fetch && \
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git checkout tags/4.2.0 && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_INSTALL_PREFIX=/usr/local \
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-DGTSAM_USE_SYSTEM_EIGEN=ON \
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-DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DGTSAM_BUILD_UNSTABLE=ON -DGTSAM_POSE3_EXPMAP=ON -DGTSAM_ROT3_EXPMAP=ON -DGTSAM_TANGENT_PREINTEGRATION=OFF .. && \
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make -j$(nproc) install
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# Install Open_GV
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RUN git clone https://github.com/MIT-SPARK/opengv
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RUN cd opengv && \
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mkdir build
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RUN cd opengv/build && \
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cmake -DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX=/usr/local \
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.. && make -j$(nproc) install
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RUN echo 'export RMW_IMPLEMENTATION=rmw_zenoh_cpp' >> ~/.bashrc
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RUN mkdir -p /home/user/dev_ws/src/core
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RUN mkdir -p /home/user/dev_ws/src/third_parties
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RUN mkdir -p /home/user/upstream_ws/src
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SHELL ["/bin/bash", "-c"]
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RUN source /opt/ros/jazzy/setup.bash
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WORKDIR /home/user/dev_ws

‎docker/README.md‎

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# Docker Files for DynoSAM
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Base images are pulled from [docker-ros-ml-images](https://github.com/ika-rwth-aachen/docker-ros-ml-images)
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- Dockerfile.amd64 is a linux/amd64 image tested on x86_64 desktop
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- Dockerfile.l4t_jetpack6 is build from linux/arm64 tested on an NVIDIA ORIN NX with Jetpack 6
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## Jetson Settings
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Architecture | aarch64
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Ubuntu | 22.04.5 LTS (Jammy Jellyfish)
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Jetson Linux | 36.4.7
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Python | 3.10.12
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ROS | jazzy
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CMake | 3.22.1
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CUDA | 12.6.77-1
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cuDNN | 9.3.0.75-1
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TensorRT | 10.7.0.23-1+cuda12.6
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PyTorch | 2.8.0
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GPUs | (Orin (nvgpu))
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OpenCV | 4.10.0
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> NOTE: The CUDA/Pytorch/TensorRT versions settings come with the base dockerfile but in practice we have been using CUDA 12.9.
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## Other versioning
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matplotlib=3.6.3
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numpy=1.26.4

‎docker/build_docker.sh‎

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‎docker/build_docker_amd64.sh‎

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#!/usr/bin/env bash
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bash build_docker_base.sh Dockerfile.amd64 acfr_rpg/dyno_sam_cuda

‎docker/build_docker_base.sh‎

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#!/usr/bin/env bash
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DOCKERFILE=$1
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TAG=$2
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if [[ -z $TAG ]] || [[ -z $DOCKERFILE ]]; then
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SCRIPT_NAME=$(basename "$0")
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echo "Usage: ./$SCRIPT_NAME DOCKERFILE TAG"
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exit -1
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fi
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# 2. Identify the directory where this script is located
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# This resolves the path even if called from a different location
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
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# 3. Temporarily change into the script's directory
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echo "Changing working directory to: $SCRIPT_DIR"
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cd "$SCRIPT_DIR" || { echo "Failed to change directory"; exit 1; }
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# 4. Verify the file exists in this directory
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if [ -f "$DOCKERFILE" ]; then
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echo "Building dockerfile $DOCKERFILE with tag $TAG"
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DOCKER_BUILDKIT=1 docker build --network=host -f $DOCKERFILE -t $TAG .
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# ----------------------------
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else
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echo "Error: File '$DOCKERFILE' not found in $SCRIPT_DIR"
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exit 1
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fi

‎docker/build_docker_l4t_jetpack6.sh‎

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#!/usr/bin/env bash
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bash build_docker_base.sh Dockerfile.l4t_jetpack6 acfr_rpg/dynosam_cuda_l4t

‎docker/create_container_amd64.sh‎

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#!/usr/bin/env bash
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### EDIT THIS TO WHEREVER YOU'RE STORING YOU DATA ###
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# folder should exist before you mount it
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LOCAL_DATA_FOLDER=/media/jmor6670/T7/datasets
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LOCAL_RESULTS_FOLDER=~/results/
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LOCAL_DYNO_SAM_FOLDER=~/Code/src/DynOSAM/
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LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER=~/Code/src/third_party_dynosam/
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bash create_container_base.sh acfr_rpg/dyno_sam_cuda dyno_sam $LOCAL_DATA_FOLDER $LOCAL_RESULTS_FOLDER $LOCAL_DYNO_SAM_FOLDER $LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER

docker/create_container.sh renamed to docker/create_container_base.sh

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#!/usr/bin/env bash
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CONTAINER_NAME=dyno_sam
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CONTAINER_IMAGE_NAME=acfr_rpg/dyno_sam_cuda
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CONTAINER_IMAGE_NAME=$1
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CONTAINER_NAME=$2
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### EDIT THIS TO WHEREVER YOU'RE STORING YOU DATA ###
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# folder should exist before you mount it
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LOCAL_DATA_FOLDER=/media/jmor6670/T7/datasets
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LOCAL_RESULTS_FOLDER=~/results/
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LOCAL_DYNO_SAM_FOLDER=~/Code/src/DynOSAM/
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LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER=~/Code/src/third_party_dynosam/
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LOCAL_DATA_FOLDER=$3
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LOCAL_RESULTS_FOLDER=$4
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LOCAL_DYNO_SAM_FOLDER=$5
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LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER=$6
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echo "Creating dynosam container ($CONTAINER_NAME) from image: $CONTAINER_IMAGE_NAME"
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echo "Local data folder: $LOCAL_DATA_FOLDER"
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echo "Local results folder: $LOCAL_RESULTS_FOLDER"
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echo "Local DynoSAM folder: $LOCAL_DYNO_SAM_FOLDER"
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echo "Local third party dynosam folder: $LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER"
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CONTAINER_DATA_FOLDER=/root/data
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CONTAINER_WORKSPACE_FOLDER_THIRD_PARTY=/home/user/dev_ws/src/third_parties/
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USE_NVIDIA=false
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# If we are running in a docker-in-docker scenario NVIDIA_SOS will be populated
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else
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TERMINAL_FLAGS='-t'
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fi
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echo "$@"
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# Create the container based on the launchfile it's launching (if any)
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# removes '.launch' from the last argument
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echo "Container name will be: $CONTAINER_NAME"
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# docker run $DOCKER_NVIDIA_SO_VOLUMES \
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docker run \
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# docker run \
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# --privileged \
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# --gpus all \
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# -i -d \
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# --volume $XSOCK:$XSOCK:rw \
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# -v $LOCAL_DATA_FOLDER:$CONTAINER_DATA_FOLDER \
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# -v $LOCAL_RESULTS_FOLDER:$CONTAINER_RESULTS_FOLDER \
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# -v $LOCAL_DYNO_SAM_FOLDER:$CONTAINER_WORKSPACE_FOLDER \
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# -v $LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER:$CONTAINER_WORKSPACE_FOLDER_THIRD_PARTY \
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# -v /var/run/docker.sock:/var/run/docker.sock \
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# --env DISPLAY=$DISPLAY \
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# --env XAUTHORITY=$XAUTH \
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# --env QT_X11_NO_MITSHM=0 \
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# --env QT_X11_NO_XRENDER=0 \
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# --volume $XAUTH:$XAUTH:rw \
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# --net host \
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# --pid host \
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# --ipc host \
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# -it \
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# --name=$CONTAINER_NAME \
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# $CONTAINER_IMAGE_NAME "$@"
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docker run \
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--privileged \
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--gpus all \
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-i -d \
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--ipc host \
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-it \
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--name=$CONTAINER_NAME \
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$CONTAINER_IMAGE_NAME "$@"
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$CONTAINER_IMAGE_NAME
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fi
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# FOR NOW?
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xhost +local:`docker inspect --format='{{ .Config.Hostname }}' $CONTAINER_NAME`

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