Merge pull request #3 from ethz-asl/pr-container-readme

Devcontainer + README + learning models / interface

.devcontainer/Dockerfile

@@ -0,0 +1,67 @@
+# Base Stage: ROS and CUDA Installation
+FROM ros:noetic-ros-core AS base
+
+ARG TZ=Europe/Zurich
+ENV DEBIAN_FRONTEND=noninteractive
+ENV PATH="${PATH}:/opt/hpcx/ompi/bin"
+
+# All apt packages
+COPY .devcontainer/devcontainer_all_packages.sh /tmp/devcontainer_all_packages.sh
+RUN /tmp/devcontainer_all_packages.sh && rm -f /tmp/devcontainer_all_packages.sh
+
+ENV LANG="en_US.UTF-8" \
+    LANGUAGE="en_US:en" \
+    LC_ALL="en_US.UTF-8"
+
+# Add user "asl" with sudo rights
+RUN groupadd -r asl && \
+    useradd --create-home --gid asl --groups dialout,plugdev --shell /bin/bash asl && \
+    mkdir -p /etc/sudoers.d && \
+    echo 'asl ALL=NOPASSWD: ALL' > /etc/sudoers.d/asl
+
+# CUDA: Install
+RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-keyring_1.1-1_all.deb && \
+    sudo dpkg -i cuda-keyring_1.1-1_all.deb && \
+    sudo apt update && \
+    sudo apt -y install cuda-toolkit-12-6 cudnn9-cuda-12
+
+# CUDA: Add PATH and LD_LIBRARY_PATH to .bash_aliases
+RUN echo 'export PATH=$PATH:/usr/local/cuda/bin' >> /home/asl/.bash_aliases && \
+    echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64' >> /home/asl/.bash_aliases
+
+# TensorRT: Install from .deb file
+COPY resources/nv-tensorrt-repo-ubuntu2004-cuda11.6-trt8.4.3.1-ga-20220813_1-1_amd64.deb /tmp/
+RUN sudo dpkg -i /tmp/resources/nv-tensorrt-repo-ubuntu2004-cuda11.6-trt8.4.3.1-ga-20220813_1-1_amd64.deb || sudo apt-get install -f -y
+# RUN sudo cp /var/nv-tensorrt-repo-ubuntu2004-cuda11.6-trt8.4.3.1-ga-20220813/*-keyring.gpg /usr/share/keyrings/ && sudo apt update && sudo apt install -y tensorrt
+RUN sudo apt update && sudo apt install -y tensorrt
+
+# OpenCV Build Stage
+FROM base AS opencv_build
+
+# OpenCV 4.10.0 install
+COPY .devcontainer/build_opencv.sh /tmp/build_opencv.sh
+RUN bash /tmp/build_opencv.sh && rm -rf /tmp/build_opencv.sh
+
+# Final Stage: Combine ROS, CUDA, and OpenCV
+FROM base AS final
+
+# Copy OpenCV installation from the build stage
+COPY --from=opencv_build /usr/local /usr/local
+
+# Git-prompt: Source
+RUN echo 'if [ -f "$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 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"]

.devcontainer/build_and_push_images.sh

@@ -0,0 +1 @@
+docker buildx build --tag omavteam/v4l2_camera:latest -f .devcontainer/Dockerfile --push .

scripts/build_opencv.sh → .devcontainer/build_opencv.sh

@@ -7,7 +7,7 @@ set -e
 readonly PREFIX=/usr/local  # install prefix, (can be ~/.local for a user install)
 readonly DEFAULT_VERSION=4.10.0  # controls the default version (gets reset by the first argument)
 readonly CPUS=$(nproc)  # controls the number of jobs
-readonly BUILD_DIR="/home/asl/Downloads"
+readonly BUILD_DIR="/tmp"
 
 # better board detection. if it has 6 or more cpus, it probably has a ton of ram too
 if [[ $CPUS -gt 5 ]]; then
@@ -26,7 +26,7 @@ cleanup () {
             echo "(Doing so may make running tests on the build later impossible)"
         fi
         # read -p "Y/N " yn
-	yn="n"
+    yn="n"
         case ${yn} in
             [Yy]* ) rm -rf $BUILD_DIR/build_opencv ; break;;
             [Nn]* ) break ;;
@@ -102,19 +102,62 @@ install_dependencies () {
         zlib1g-dev
 }
 
-configure () {
+# Automatically detect installed CUDA version
+detect_cuda_version() {
+    if command -v /usr/local/cuda/bin/nvcc &> /dev/null; then
+        CUDA_VERSION=$(/usr/local/cuda/bin/nvcc --version | grep -oP 'release \K[0-9]+\.[0-9]+')
+    else
+        echo "CUDA not found. Please install CUDA before running this script."
+        exit 1
+    fi
+}
+
+# Automatically detect installed cuDNN version
+detect_cudnn_version() {
+    if [[ -f "/usr/include/cudnn_version.h" ]]; then
+        CUDNN_MAJOR=$(grep -oP '(?<=#define CUDNN_MAJOR )\d+' /usr/include/cudnn_version.h)
+        CUDNN_MINOR=$(grep -oP '(?<=#define CUDNN_MINOR )\d+' /usr/include/cudnn_version.h)
+        CUDNN_PATCHLEVEL=$(grep -oP '(?<=#define CUDNN_PATCHLEVEL )\d+' /usr/include/cudnn_version.h)
+        CUDNN_VERSION="${CUDNN_MAJOR}.${CUDNN_MINOR}.${CUDNN_PATCHLEVEL}"
+    else
+        echo "cuDNN not found. Please install cuDNN before running this script."
+        exit 1
+    fi
+}
+
+# Set CUDA compute capabilities based on detected CUDA version
+set_cuda_arch_bin() {
+    case "$CUDA_VERSION" in
+        11.*)
+            CUDA_ARCH_BIN="5.3,6.1,6.2,7.0,7.5,8.0"
+            ;;
+        12.*)
+            CUDA_ARCH_BIN="6.1,6.2,7.5,8.0,8.6,8.7"
+            ;;
+        *)
+            echo "Unsupported CUDA version detected: $CUDA_VERSION"
+            exit 1
+            ;;
+    esac
+}
+
+# Update the configure function to use dynamic CUDA and cuDNN version detection
+configure() {
+    detect_cuda_version
+    detect_cudnn_version
+    set_cuda_arch_bin
+
     local CMAKEFLAGS="
         -D BUILD_EXAMPLES=OFF
-        -D BUILD_opencv_python2=ON
-        -D BUILD_opencv_python3=ON
+        -D BUILD_opencv_python2=OFF
+        -D BUILD_opencv_python3=OFF
         -D CMAKE_BUILD_TYPE=RELEASE
         -D CMAKE_INSTALL_PREFIX=${PREFIX}
-        -D CUDA_ARCH_BIN=5.3,6.2,7.2,8.7
-        -D CUDA_ARCH_PTX=
+        -D CUDA_ARCH_BIN=${CUDA_ARCH_BIN}
         -D CUDA_FAST_MATH=ON
-        -D CUDNN_VERSION='8.4.1'
-        -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 
-        -D ENABLE_NEON=ON
+        -D CUDNN_VERSION='${CUDNN_VERSION}'
+        -D EIGEN_INCLUDE_PATH=/usr/include/eigen3
+        -D ENABLE_NEON=OFF
         -D OPENCV_DNN_CUDA=ON
         -D OPENCV_ENABLE_NONFREE=ON
         -D OPENCV_EXTRA_MODULES_PATH=$BUILD_DIR/build_opencv/opencv_contrib/modules
@@ -133,9 +176,11 @@ configure () {
         -D BUILD_TESTS=OFF"
     fi
 
+    echo "CUDA version: $CUDA_VERSION"
+    echo "cuDNN version: $CUDNN_VERSION"
+    echo "CUDA_ARCH_BIN: $CUDA_ARCH_BIN"
     echo "cmake flags: ${CMAKEFLAGS}"
-
-    cd opencv
+    cd $BUILD_DIR/build_opencv/opencv
     mkdir -p build
     cd build
     cmake ${CMAKEFLAGS} .. 2>&1 | tee -a configure.log
@@ -156,10 +201,10 @@ main () {
 
     # prepare for the build:
     setup
-    install_dependencies
-    if [[ ! -d "$BUILD_DIR/build_opencv" ]] ; then
-    	git_source ${VER}
-    fi
+    # install_dependencies
+    # if [[ ! -d "$BUILD_DIR/build_opencv" ]] ; then
+    git_source ${VER}
+    # fi
 
     if [[ ${DO_TEST} ]] ; then
         configure test

.devcontainer/devcontainer.json

@@ -0,0 +1,43 @@
+{
+    "image": "omavteam/v4l2_camera:latest",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-python.python"
+            ],
+            "settings": {
+                "files.hotExit": "off",
+                "window.restoreWindows": "none",
+                "workbench.startupEditor": "none"
+            }
+        }
+    },
+    "remoteEnv": {
+        "DISPLAY": "${localEnv:DISPLAY}"
+    },
+    "remoteUser": "asl",
+    "initializeCommand": ".devcontainer/devcontainer_optional_mounts.sh",
+    "mounts": [
+        {
+            "source": "${localEnv:HOME}/.bash-git-prompt",
+            "target": "/home/asl/.bash-git-prompt",
+            "type": "bind"
+        },
+        {
+            "source": "${localEnv:HOME}/.cache",
+            "target": "/home/asl/.cache",
+            "type": "bind"
+        }
+    ],
+    "runArgs": [
+        "--gpus",
+        "all",
+        "--privileged",
+        "--device=/dev/dri:/dev/dri",
+        "-v",
+        "/tmp/.X11-unix:/tmp/.X11-unix",
+        "-v",
+        "/dev/bus/usb:/dev/bus/usb",
+        "--net=host"
+    ]
+}

.devcontainer/devcontainer_all_packages.sh

@@ -0,0 +1,87 @@
+#!/bin/bash
+
+set -eux
+export DEBIAN_FRONTEND=noninteractive
+
+main() {
+    local pkgs=(
+        apt-transport-https
+        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
+        udev
+        unzip
+        v4l-utils
+        vim
+        wget
+        zlib1g
+        zlib1g-dev
+    )
+
+    apt-get update
+    apt-get upgrade -y
+    apt-get -y --quiet --no-install-recommends install "${pkgs[@]}"
+
+    mkdir -p /root/.ssh \
+        && chmod 0700 /root/.ssh \
+        && ssh-keyscan github.com > /root/.ssh/known_hosts
+
+    ln -snf /usr/share/zoneinfo/${TZ} /etc/localtime && echo ${TZ} > /etc/timezone
+    sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen
+    locale-gen en_US.UTF-8
+    dpkg-reconfigure locales
+
+    apt-get -y autoremove
+    apt-get clean autoclean
+    rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+}
+
+main "$@"

.devcontainer/devcontainer_optional_mounts.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+if [ ! -d "$HOME/.bash-git-prompt" ]; then
+    mkdir "$HOME/.bash-git-prompt"
+fi
+
+if [ ! -d "$HOME/.cache" ]; then
+    mkdir "$HOME/.cache"
+fi