crosstyan/RapidPoseTriangulation
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Reimplemented wrapper in cpp.

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Daniel
2025-01-17 16:42:05 +01:00
parent 8a249a2f16
commit 99368e5216
21 changed files with 26448 additions and 10 deletions
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ros/dockerfile
+23 -2
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@@ -1,4 +1,22 @@
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
@@ -43,11 +61,13 @@ RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
# Copy modules
COPY ./ros/pose2D_visualizer /RapidPoseTriangulation/ros/pose2D_visualizer/
COPY ./ros/rpt2D_wrapper /RapidPoseTriangulation/ros/rpt2D_wrapper/
COPY ./ros/rpt2D_wrapper_py /RapidPoseTriangulation/ros/rpt2D_wrapper_py/
COPY ./ros/rpt2D_wrapper_cpp /RapidPoseTriangulation/ros/rpt2D_wrapper_cpp/
# Link and build as ros package
RUN ln -s /RapidPoseTriangulation/ros/pose2D_visualizer/ /project/dev_ws/src/pose2D_visualizer
RUN ln -s /RapidPoseTriangulation/ros/rpt2D_wrapper/ /project/dev_ws/src/rpt2D_wrapper
RUN ln -s /RapidPoseTriangulation/ros/rpt2D_wrapper_py/ /project/dev_ws/src/rpt2D_wrapper_py
RUN ln -s /RapidPoseTriangulation/ros/rpt2D_wrapper_cpp/ /project/dev_ws/src/rpt2D_wrapper_cpp
RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
# Update ros packages -> autocompletion and check
@@ -58,4 +78,5 @@ RUN apt-get autoremove -y \
&& apt-get clean \
&& rm -rf /var/lib/apt/lists/*
WORKDIR /RapidPoseTriangulation/
CMD ["/bin/bash"]