Dockerfiles and docker dev environment

.gitignore

@@ -13,4 +13,5 @@ lab-designs/viewer
 doc/
 web-service/npm-debug.log
 web-service/server/npm-debug.log
-gmon.out
+gmon.out
\ No newline at end of file
+.devcontainer.json
\ No newline at end of file

.gitlab-ci.yml

@@ -25,12 +25,7 @@ build:
 #    - apt-get update -qq && apt-get install -y -qq g++ cmake git
 #    - apt-get install -y -qq libopencv-dev libgoogle-glog-dev liburiparser-dev libreadline-dev libmsgpack-dev uuid-dev
   script:
-    - mkdir build
-    - cd build
-    - /snap/bin/cmake .. -GNinja -DCMAKE_CXX_FLAGS="-fdiagnostics-color" -DWITH_OPTFLOW=TRUE -DUSE_CPPCHECK=FALSE -DBUILD_CALIBRATION=TRUE -DWITH_CERES=TRUE -DCMAKE_BUILD_TYPE=Release -DCPACK_GENERATOR=DEB
-    - ninja
-    - ninja package
-    - ctest --output-on-failure
+    - ./docker/CI/pipeline-script.sh
 #    - cd ../SDK/Python
 #    - python3 -m unittest discover test
 

CMakeLists.txt

@@ -49,7 +49,7 @@ MACRO( VERSION_STR_TO_INTS major minor patch version )
 ENDMACRO( VERSION_STR_TO_INTS )
 
 if (CMAKE_COMPILER_IS_GNUCXX)
-	set(CMAKE_CUDA_HOST_COMPILER gcc-7)
+	set(CMAKE_CUDA_HOST_COMPILER gcc)
 endif()
 
 find_package( OpenCV REQUIRED COMPONENTS core imgproc highgui cudaimgproc calib3d imgcodecs videoio aruco cudaarithm cudastereo cudaoptflow face tracking quality xfeatures2d)
@@ -290,6 +290,7 @@ enable_language(CUDA)
 
 if (NOT WIN32)
 	set(CMAKE_CUDA_FLAGS "-Xcompiler -fPIC")
+	set(CMAKE_CUDA_STANDARD 14)
 endif()
 set(CMAKE_CUDA_ARCHITECTURES 61)
 set(CMAKE_CUDA_FLAGS_DEBUG "--gpu-architecture=compute_61 -g -DDEBUG -D_DEBUG")

README.md

@@ -32,6 +32,37 @@ found in the `config` folder. The intention is that a web interface will
 eventually enable this configuration to take place online.
 
 ## Build
+
+### Container
+FTL can be built and developed inside a docker container. To do this, run the
+following sequence of commands and create a `.devcontainer.json` file as shown.
+
+Note: A ~3Gb image will be downloaded when running these commands, which
+contains all build dependencies and tools.
+
+```bash
+cd ./docker/devel
+docker build -t ftl-devel --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) .
+```
+
+And the `.devcontainer.json` looks similar to this and goes in the repository
+root:
+
+```json
+{
+	"image": "ftl-devel",
+	"runArgs": [
+		"--runtime=nvidia",
+		"--device=/dev/snd",
+		"--device=/dev/bus/usb",
+		"-e", "DISPLAY=:1",
+		"-v", "/tmp/.X11-unix:/tmp/.X11-unix",
+	],
+	"extensions": []
+}
+```
+
+### Local
 Use the following commands in the root repository directory to build:
 
 ```bash

SDK/CPP/public/CMakeLists.txt

@@ -23,7 +23,7 @@ if(WIN32)
 	set(OS_LIBS "")
 else()
 	add_definitions(-DUNIX)
-	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fPIC -march=native -mfpmath=sse -Wall -Werror=unused-result -Werror=return-type -pthread")
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -fPIC -march=native -mfpmath=sse -Wall -Werror=unused-result -Werror=return-type -pthread")
 	set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -pg")
 	set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
 	set(OS_LIBS "dl")

components/operators/src/analysis/tracking/detectandtrack.cpp

@@ -194,7 +194,9 @@ bool DetectAndTrack::track(const Mat &im) {
 		}
 		else { it++; }*/
 
-		if (it->fail_count >= max_fail_ || !it->tracker->update(im, it->object)) {
+		cv::Rect rect = it->object;
+
+		if (it->fail_count >= max_fail_ || !it->tracker->update(im, rect)) {
 			it = tracked_.erase(it);
 		} else {
 			++it;

components/operators/src/analysis/tracking/nvopticalflow.cpp

@@ -43,7 +43,7 @@ bool NVOpticalFlow::init() {
 		return false;
 	}
 	nvof_ = cv::cuda::NvidiaOpticalFlow_1_0::create(
-				size_.width, size_.height, 
+				size_, 
 				cv::cuda::NvidiaOpticalFlow_1_0::NV_OF_PERF_LEVEL_SLOW,
 				true, false, false, 0);
 	

components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp

@@ -254,7 +254,7 @@ void StereoVideoSource::updateParameters(ftl::rgbd::Frame &frame) {
 		return true;
 	});
 
-	if (lsrc_->isStereo()) {
+	if (lsrc_->isStereo() && calibration_.enabled) {
 		Eigen::Matrix4d pose;
 		// NOTE: pose update (new origin/rotation)
 		cv::cv2eigen(calibration_.origin * rectification_->getPose(Channel::Left), pose);

docker/CI/Dockerfile

+FROM ftlab/base:1.0-dev
+
+RUN mkdir /opt/ftl
+WORKDIR /opt/ftl
+COPY ./applications ./applications
+COPY ./cmake ./cmake
+COPY ./components ./components
+COPY ./lib ./lib
+COPY ./ext ./ext
+COPY ./SDK ./SDK
+
+CMD mkdir build &&\
+    cd build &&\
+    cmake .. -GNinja -DCMAKE_CXX_FLAGS="-fdiagnostics-color" -DWITH_OPTFLOW=TRUE -DUSE_CPPCHECK=FALSE -DBUILD_CALIBRATION=TRUE -DWITH_CERES=TRUE -DCMAKE_BUILD_TYPE=Release -DCPACK_GENERATOR=DEB &&\
+    ninja &&\
+    ninja package &&\
+    ctest --output-on-failure
+    
+

docker/CI/container-script.sh

+#!/bin/sh
+
+cd /opt/ftl
+mkdir build
+cd build
+cmake .. -DCMAKE_CXX_FLAGS="-fdiagnostics-color" -DWITH_OPTFLOW=TRUE -DUSE_CPPCHECK=FALSE -DBUILD_CALIBRATION=TRUE -DWITH_CERES=TRUE -DCMAKE_BUILD_TYPE=Release -DCPACK_GENERATOR=DEB &&
+make -j4 &&
+ctest --output-on-failure

docker/CI/pipeline-script.sh

+#!/bin/sh
+
+docker run \
+    --runtime=nvidia \
+    --device=/dev/snd \
+    --device=/dev/bus/usb \
+    -e NVIDIA_DRIVER_CAPABILITIES=graphics,compute,utility,video \
+    -v "${PWD}:/opt/ftl" \
+    -u $(id -u ${USER}):$(id -g ${USER}) \
+    ftlab/base:1.0-dev \
+    /opt/ftl/docker/CI/container-script.sh
+    
\ No newline at end of file

docker/base/Dockerfile

+FROM nvidia/cuda:11.4.0-devel-ubuntu20.04 AS devel
+
+ARG OPENCV_VERSION=4.5.3
+ARG DEBIAN_FRONTEND=noninteractive
+ENV TZ=Europe/London
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,compute,utility,video
+
+RUN apt-get update &&\
+    # Install build tools, build dependencies and python
+    apt-get install --no-install-recommends -y \
+        build-essential \
+        cmake \
+        git \
+        openssh-client \
+        wget \
+        unzip \
+        yasm \
+        cppcheck \
+        pkg-config \
+        libceres-dev \
+        libreadline-dev \
+        libopus-dev \
+        libxtst-dev \
+        libswscale-dev \
+        libtbb2 \
+        libtbb-dev \
+        libjpeg-dev \
+        libpng-dev \
+        libglew-dev \
+        zlib1g-dev \
+        libasound-dev \
+        libavcodec-dev \
+        libavformat-dev \
+        libavutil-dev \
+        libpostproc-dev \
+        libswscale-dev \
+        libeigen3-dev \
+        libgtk2.0-dev \
+        libxxf86vm-dev \
+        uuid-dev \
+        libmsgpack-dev \
+        liburiparser-dev \
+        software-properties-common \
+    && apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE && \
+    add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo focal main" -u && \
+    apt-get update && \
+    apt-get install --no-install-recommends -y \
+        librealsense2-dev \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY ./libnvcuvid.so ./libnvidia-encode.so /usr/lib/x86_64-linux-gnu/
+
+RUN cd /opt/ &&\
+    # Pylon
+    wget -O pylon.deb https://seafile.utu.fi/f/b4585f6c84f0462fac04/?dl=1 &&\
+    apt-get install ./pylon.deb &&\
+    rm ./pylon.deb &&\
+    rm -rf /var/lib/apt/lists/* &&\
+    # Portaudio
+    cd /opt/ &&\
+    wget http://files.portaudio.com/archives/pa_stable_v190700_20210406.tgz &&\
+    tar -xf ./pa_stable_v190700_20210406.tgz &&\
+    rm ./pa_stable_v190700_20210406.tgz &&\
+    cd ./portaudio &&\
+    ./configure && make && make install &&\
+    rm -rf ./portaudio &&\
+    # Download and unzip OpenCV and opencv_contrib and delte zip files
+    cd /opt/ &&\
+    wget https://github.com/opencv/opencv/archive/$OPENCV_VERSION.zip &&\
+    unzip $OPENCV_VERSION.zip &&\
+    rm $OPENCV_VERSION.zip &&\
+    wget https://github.com/opencv/opencv_contrib/archive/$OPENCV_VERSION.zip &&\
+    unzip ${OPENCV_VERSION}.zip &&\
+    rm ${OPENCV_VERSION}.zip &&\
+    # Create build folder and switch to it
+    mkdir /opt/opencv-${OPENCV_VERSION}/build && cd /opt/opencv-${OPENCV_VERSION}/build &&\
+    # Cmake configure
+    cmake \
+        -DOPENCV_EXTRA_MODULES_PATH=/opt/opencv_contrib-${OPENCV_VERSION}/modules \
+        -DWITH_CUDA=ON \
+        -DOPENCV_ENABLE_NONFREE=ON\
+        -DCUDA_ARCH_BIN="6.1 7.5" \
+        -DBUILD_TESTS=OFF\
+        -DBUILD_PERF_TESTS=OFF\
+        -DBUILD_EXAMPLES=OFF\
+        -DBUILD_opencv_bioinspired=OFF\
+        -DBUILD_opencv_cudaobjdetect=OFF\
+        -DBUILD_opencv_dnn=OFF\
+        -DBUILD_opencv_dnn_objdetect=OFF\
+        -DBUILD_opencv_dnn_superres=OFF\
+        -DBUILD_opencv_fuzzy=OFF\
+        -DBUILD_opencv_hdf=OFF\
+        -DBUILD_opencv_hfs=OFF\
+        -DBUILD_opencv_dpm=OFF\
+        -DBUILD_opencv_image_hash=OFF\
+        -DBUILD_opencv_java_bindings_generator=OFF\
+        -DBUILD_opencv_js=OFF\
+        -DBUILD_opencv_saliency=OFF\
+        -DBUILD_opencv_sfm=OFF\
+        -DBUILD_opencv_stitching=OFF\
+        -DBUILD_opencv_structured_light=OFF\
+        -DBUILD_opencv_superres=OFF\
+        -DBUILD_opencv_surface_matching=OFF\
+        -DBUILD_opencv_viz=OFF\
+        -DBUILD_opencv_xobjdetect=OFF\
+        -DBUILD_opencv_gapi=OFF\
+        -DBUILD_opencv_videostab=OFF\
+        -DBUILD_opencv_rgbd=OFF\
+        -DWITH_CUDNN=OFF\
+        -DWITH_TIFF=OFF\
+        -DWITH_WEBP=OFF\
+        -DWITH_OPENEXR=OFF\
+        -DWITH_OPENCL=OFF\
+        -DWITH_PROTOBUF=OFF\
+        -DCMAKE_BUILD_TYPE=RELEASE \
+        # Install path will be /usr/local/lib (lib is implicit)
+        -DCMAKE_INSTALL_PREFIX=/usr/local \
+        .. &&\
+    # Make
+    make -j"$(nproc)" && \
+    # Install to /usr/local/lib
+    make install && \
+    ldconfig &&\
+    # Remove OpenCV sources and build folder
+    rm -rf /opt/opencv-${OPENCV_VERSION} && rm -rf /opt/opencv_contrib-${OPENCV_VERSION} &&\
+    ln -s /usr/local/include/opencv4/opencv2 /usr/local/include/opencv2
+
+FROM nvidia/cuda:11.4.0-base-ubuntu20.04 AS runtime
+
+ARG OPENCV_VERSION=4.5.3
+ARG DEBIAN_FRONTEND=noninteractive
+ENV TZ=Europe/London
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,compute,utility,video
+
+RUN apt-get update && apt-get upgrade -y &&\
+    # Install build tools, build dependencies and python
+    apt-get install --no-install-recommends -y \
+        libceres1 \
+        libreadline8 \
+        libopus0 \
+        libxtst6 \
+        libtbb2 \
+        libjpeg8 \
+        libpng16-16 \
+        libtiff5 \
+        libavformat58 \
+        libpq5 \
+        libxine2 \
+        libglew2.1 \
+        zlib1g \
+        libasound2 \
+        libavcodec58 \
+        libavutil56 \
+        libpostproc55 \
+        libswscale5 \
+        libgtk2.0-0 \
+        libxxf86vm1 \
+        uuid \
+        libmsgpackc2 \
+        liburiparser1 \
+        software-properties-common \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY --from=devel /usr/local/share /usr/local/share
+COPY --from=devel /usr/local/lib /usr/local/lib
+COPY --from=devel /opt/pylon /opt/pylon
+COPY --from=devel /etc/udev/rules.d/69-basler-cameras.rules /etc/udev/rules.d/
+COPY --from=devel /etc/profile.d /etc/profile.d

docker/base/README.md

+# FTL Base Docker Image
+This image contains all dependencies and build tools for FTL.
+
+* CUDA 11.4.0
+* OpenCV 4.5.3
+* Pylon 6.1.1
+
+## Image Build
+An example build command is given below, just bump the version number.
+
+```
+docker build -t ftlab/base:1.0-dev --target=devel .
+```
\ No newline at end of file

docker/devel/Dockerfile

+FROM ftlab/base:1.0-dev
+
+ARG USER_ID
+ARG GROUP_ID
+RUN addgroup --gid $GROUP_ID user && adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID user
+USER user

docker/devel/README.md

+# FTL Developer Docker Image
+
+This is a small wrapper image that should be built locally by the developer. It adds correct user permissions to the image to ensure files are created correctly on the host if volumes are used.
+
+## Image Build
+
+```
+docker build -t ftl-devel --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) .
+```

lib/libstereo/CMakeLists.txt

@@ -16,17 +16,18 @@ find_package( Threads REQUIRED )
 check_language(CUDA)
 enable_language(CUDA)
 
-set(CMAKE_CXX_CPPCHECK "cppcheck")
+# set(CMAKE_CXX_CPPCHECK "cppcheck")
 set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CUDA_STANDARD 14)
 set(CMAKE_USE_RELATIVE_PATHS ON)
 set(CMAKE_CXX_FLAGS_RELEASE)
 
 if (CMAKE_COMPILER_IS_GNUCXX)
-	set(CMAKE_CUDA_HOST_COMPILER gcc-7)
-    set(CMAKE_CUDA_FLAGS "--gpu-architecture=compute_61 -std=c++14 -Xcompiler -fPIC -Xcompiler ${OpenMP_CXX_FLAGS} --expt-relaxed-constexpr")
+	set(CMAKE_CUDA_HOST_COMPILER gcc)
+    set(CMAKE_CUDA_FLAGS "--gpu-architecture=compute_61 -Xcompiler -fPIC -Xcompiler ${OpenMP_CXX_FLAGS} --expt-relaxed-constexpr")
     set(CMAKE_CUDA_FLAGS_RELEASE "-O3")
 else()
-    set(CMAKE_CUDA_FLAGS "--gpu-architecture=compute_61 -std=c++14 --expt-relaxed-constexpr")
+    set(CMAKE_CUDA_FLAGS "--gpu-architecture=compute_61 --expt-relaxed-constexpr")
     set(CMAKE_CUDA_FLAGS_RELEASE "-O3")
 endif()