devcontainer: Install rosdeps

.devcontainer/Dockerfile

@@ -1,11 +1,12 @@
-FROM ros:noetic-ros-core
+# Base Stage: ROS and CUDA Installation
+FROM ros:noetic-ros-core AS base
 
 ARG TZ=Europe/Zurich
 ENV DEBIAN_FRONTEND=noninteractive
 ENV PATH="${PATH}:/opt/hpcx/ompi/bin"
 
 # All apt packages
-COPY devcontainer_all_packages.sh /tmp/devcontainer_all_packages.sh
+COPY .devcontainer/devcontainer_all_packages.sh /tmp/devcontainer_all_packages.sh
 RUN /tmp/devcontainer_all_packages.sh && rm -f /tmp/devcontainer_all_packages.sh
 
 ENV LANG="en_US.UTF-8" \
@@ -24,22 +25,34 @@ RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86
     sudo apt update && \
     sudo apt -y install cuda-toolkit-12-6 cudnn9-cuda-12
 
+# OpenCV Build Stage
+FROM base AS opencv_build
+
 # OpenCV 4.10.0 install
-COPY build_opencv.sh /tmp/build_opencv.sh
-RUN bash /tmp/build_opencv.sh
+COPY .devcontainer/build_opencv.sh /tmp/build_opencv.sh
+RUN bash /tmp/build_opencv.sh && rm -rf /tmp/build_opencv.sh
+
+# Final Stage: Combine ROS, CUDA, and OpenCV
+FROM base AS final
+
+# Copy OpenCV installation from the build stage
+COPY --from=opencv_build /usr/local /usr/local
 
 # Git-prompt: Source
 RUN echo 'if [ -f "$HOME/.bash-git-prompt/gitprompt.sh" ]; then GIT_PROMPT_ONLY_IN_REPO=1; source "$HOME/.bash-git-prompt/gitprompt.sh"; fi' >> /home/asl/.bash_aliases
 
 # ROS: Source
 RUN echo "source /opt/ros/noetic/setup.bash" >> /home/asl/.bash_aliases
 
-# ROS: rosdep init
-RUN sudo rosdep init && \
-    rosdep update && \
-    rosdep install --from-paths . --ignore-src -r -y
+# ROS: rosdep install (TODO: maybe not so clean?)
+RUN sudo rosdep init
+USER asl
+RUN rosdep update
+COPY package.xml /tmp/
+RUN rosdep install --from-paths /tmp/ --ignore-src -r -y -v
+USER root
 
 # Clean up
 RUN rm -rf /tmp/* /var/lib/apt/lists/* /var/tmp/* /var/cache/apt/archives/*
 
-ENTRYPOINT ["/bin/bash"]
+ENTRYPOINT ["/bin/bash"]

.devcontainer/build_and_push_images.sh

@@ -1 +1 @@
-docker buildx build -t omavteam/v4l2_camera:latest -f .devcontainer/Dockerfile --push
+docker buildx build -t omavteam/v4l2_camera:latest -f .devcontainer/Dockerfile --push .

.devcontainer/build_opencv.sh

@@ -149,15 +149,14 @@ configure() {
 
     local CMAKEFLAGS="
         -D BUILD_EXAMPLES=OFF
-        -D BUILD_opencv_python2=ON
-        -D BUILD_opencv_python3=ON
+        -D BUILD_opencv_python2=OFF
+        -D BUILD_opencv_python3=OFF
         -D CMAKE_BUILD_TYPE=RELEASE
         -D CMAKE_INSTALL_PREFIX=${PREFIX}
         -D CUDA_ARCH_BIN=${CUDA_ARCH_BIN}
-        -D CUDA_ARCH_PTX=
         -D CUDA_FAST_MATH=ON
         -D CUDNN_VERSION='${CUDNN_VERSION}'
-        -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 
+        -D EIGEN_INCLUDE_PATH=/usr/include/eigen3
         -D ENABLE_NEON=OFF
         -D OPENCV_DNN_CUDA=ON
         -D OPENCV_ENABLE_NONFREE=ON
@@ -202,7 +201,7 @@ main () {
 
     # prepare for the build:
     setup
-    install_dependencies
+    # install_dependencies
     # if [[ ! -d "$BUILD_DIR/build_opencv" ]] ; then
     git_source ${VER}
     # fi

.devcontainer/devcontainer_all_packages.sh

@@ -9,12 +9,51 @@ main() {
         build-essential
         ca-certificates
         ccache
+        cmake
         curl
+        gfortran
+        git
         gnupg
         htop
+        libatlas-base-dev
+        libavcodec-dev
+        libavformat-dev
+        libavresample-dev
+        libcanberra-gtk3-module
+        libdc1394-22-dev
+        libeigen3-dev
+        libglew-dev
+        libgstreamer-plugins-base1.0-dev
+        libgstreamer-plugins-good1.0-dev
+        libgstreamer1.0-dev
+        libgtk-3-dev
+        libjpeg-dev
+        libjpeg-turbo8-dev
+        libjpeg8-dev
+        liblapack-dev
+        liblapacke-dev
+        libopenblas-dev
+        libpng-dev
+        libpostproc-dev
+        libswscale-dev
+        libtbb-dev
+        libtbb2
+        libtesseract-dev
+        libtiff-dev
+        libv4l-dev
+        libx264-dev
+        libxine2-dev
+        libxvidcore-dev
         locales
         net-tools
+        pkg-config
+        python-dev
+        python-numpy
+        python3-dev
+        python3-matplotlib
+        python3-numpy
         python3-rosdep
+        qv4l2
         software-properties-common
         ssh
         sudo
@@ -24,6 +63,7 @@ main() {
         vim
         wget
         zlib1g
+        zlib1g-dev
     )
 
     apt-get update