Moved onnx build to main dockerfile.

README.md

@@ -21,6 +21,24 @@ Fast triangulation of multiple persons from multiple camera views.
     cd RapidPoseTriangulation/
     ```
 
+- Enable gpu-access while building docker images:
+  ```bash
+  # Open file:
+  sudo nano /etc/docker/daemon.json
+  # Add:
+  {
+    "default-runtime": "nvidia",
+    "runtimes": {
+      "nvidia": {
+        "path": "nvidia-container-runtime",
+        "runtimeArgs": []
+      }
+    }
+  }
+  # Restart docker
+  sudo systemctl restart docker
+  ```
+
 - Build docker container:
   ```bash
   docker build --progress=plain -t rapidposetriangulation .

dockerfile

@@ -21,7 +21,21 @@ RUN apt-get update && apt-get install -y --no-install-recommends swig
 RUN apt-get update && apt-get install -y --no-install-recommends libopencv-dev
 
 # Install ONNX runtime
-RUN pip3 install --upgrade --no-cache-dir onnxruntime-gpu
+# See: https://github.com/microsoft/onnxruntime/blob/main/dockerfiles/Dockerfile.tensorrt
+RUN pip3 uninstall -y onnxruntime-gpu
+RUN git clone --recursive --depth=1 --branch=v1.20.1 https://github.com/Microsoft/onnxruntime.git
+ENV PATH=/usr/local/nvidia/bin:/usr/local/cuda/bin:/cmake-3.30.1-linux-x86_64/bin:${PATH}
+ARG CMAKE_CUDA_ARCHITECTURES=75;80;90
+ENV TRT_VERSION=10.5.0.18
+RUN /bin/sh onnxruntime/dockerfiles/scripts/install_common_deps.sh
+RUN /bin/sh onnxruntime/dockerfiles/scripts/checkout_submodules.sh ${trt_version}
+RUN ls
+RUN cd onnxruntime && \
+    /bin/sh build.sh --allow_running_as_root --parallel --build_shared_lib \
+      --cuda_home /usr/local/cuda --cudnn_home /usr/lib/x86_64-linux-gnu/ --use_tensorrt \
+      --tensorrt_home /usr/lib/x86_64-linux-gnu/ --config Release --build_wheel --skip_tests \
+      --skip_submodule_sync --cmake_extra_defines '"CMAKE_CUDA_ARCHITECTURES='${CMAKE_CUDA_ARCHITECTURES}'"'
+RUN cd onnxruntime && pip install build/Linux/Release/dist/*.whl
 
 # Install skelda
 RUN pip3 install --upgrade --no-cache-dir scipy

extras/ros/dockerfile

@@ -1,23 +1,6 @@
 FROM rapidposetriangulation
 WORKDIR /
 
-# Install ONNX runtime
-# See: https://github.com/microsoft/onnxruntime/blob/main/dockerfiles/Dockerfile.tensorrt
-RUN pip3 uninstall -y onnxruntime-gpu
-RUN git clone --recursive --depth=1 --branch=v1.20.1 https://github.com/Microsoft/onnxruntime.git
-ENV PATH=/usr/local/nvidia/bin:/usr/local/cuda/bin:/cmake-3.30.1-linux-x86_64/bin:${PATH}
-ARG CMAKE_CUDA_ARCHITECTURES=75;80;90
-ENV TRT_VERSION=10.5.0.18
-RUN /bin/sh onnxruntime/dockerfiles/scripts/install_common_deps.sh
-RUN /bin/sh onnxruntime/dockerfiles/scripts/checkout_submodules.sh ${trt_version}
-RUN ls
-RUN cd onnxruntime && \
-    /bin/sh build.sh --allow_running_as_root --parallel --build_shared_lib \
-      --cuda_home /usr/local/cuda --cudnn_home /usr/lib/x86_64-linux-gnu/ --use_tensorrt \
-      --tensorrt_home /usr/lib/x86_64-linux-gnu/ --config Release --build_wheel --skip_tests \
-      --skip_submodule_sync --cmake_extra_defines '"CMAKE_CUDA_ARCHITECTURES='${CMAKE_CUDA_ARCHITECTURES}'"'
-RUN cd onnxruntime && pip install build/Linux/Release/dist/*.whl
-
 # Install ROS2
 # https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
 RUN apt-get update && apt-get install -y --no-install-recommends locales