Merge branch 'jetson' into 'master'

Run on Jetson

See merge request Percipiote/RapidPoseTriangulation!6

extras/jetson/README.md

@@ -0,0 +1,129 @@
+# Setup with Nvidia-Jetson-Orin
+
+Initial setup and installation of _RapidPoseTriangulation_ on a _Nvidia Jetson_ device. \
+Tested with a _Jetson AGX Orin Developer Kit_ module.
+
+<br>
+
+## Base installation
+
+- Install newest software image: \
+  (https://developer.nvidia.com/sdk-manager)
+
+- Initialize system: \
+  (https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit)
+
+- Install basic tools:
+
+  ```bash
+  sudo apt install -y curl nano wget git
+  ```
+
+- Test docker is working:
+
+  ```bash
+  sudo docker run --rm hello-world
+  ```
+
+- Enable _docker_ without _sudo_: \
+  (https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user)
+
+- Enable GPU-access for docker building:
+
+  Run `sudo nano /etc/docker/daemon.json` and add:
+
+  ```json
+  {
+    "runtimes": {
+      "nvidia": {
+        "args": [],
+        "path": "nvidia-container-runtime"
+      }
+    },
+    "default-runtime": "nvidia"
+  }
+  ```
+
+  Restart docker: `sudo systemctl restart docker`
+
+- Test docker is working:
+
+  ```bash
+  docker run --rm hello-world
+  docker run -it --rm --runtime=nvidia --network=host -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix nvcr.io/nvidia/l4t-base:r36.2.0
+  docker run -it --rm --runtime=nvidia --network=host dustynv/onnxruntime:1.20-r36.4.0
+  ```
+
+- Enable maximum performance mode:
+
+  ```bash
+  sudo nvpmodel -m 0
+  sudo jetson_clocks
+  ```
+
+<br>
+
+## RPT installation
+
+- Build docker container:
+
+  ```bash
+  docker build --progress=plain -f extras/jetson/dockerfile -t rapidposetriangulation .
+  ./run_container.sh
+  ```
+
+- Build _rpt_ package inside container:
+
+  ```bash
+  cd /RapidPoseTriangulation/swig/ && make all && cd ../tests/ && python3 test_interface.py && cd ..
+
+  cd /RapidPoseTriangulation/scripts/ && \
+  g++ -std=c++2a -fPIC -O3 -march=native -Wall -Werror -flto=auto -fopenmp -fopenmp-simd \
+    -I /RapidPoseTriangulation/rpt/ \
+    -isystem /usr/include/opencv4/ \
+    -isystem /usr/local/include/onnxruntime/ \
+    -L /usr/local/lib/ \
+    test_skelda_dataset.cpp \
+    /RapidPoseTriangulation/rpt/*.cpp \
+    -o test_skelda_dataset.bin \
+    -Wl,--start-group \
+      -lonnxruntime_providers_tensorrt \
+      -lonnxruntime_providers_shared \
+      -lonnxruntime_providers_cuda \
+      -lonnxruntime \
+    -Wl,--end-group \
+    $(pkg-config --libs opencv4) \
+    -Wl,-rpath,/onnxruntime/build/Linux/Release/ \
+  && cd ..
+  ```
+
+- Test with samples:
+
+  ```bash
+  python3 /RapidPoseTriangulation/scripts/test_triangulate.py
+  ```
+
+- Evaluate datasets:
+
+  ```bash
+  python3 /RapidPoseTriangulation/scripts/test_skelda_dataset.py
+  ```
+
+<br>
+
+## ROS interface
+
+- Build docker container:
+
+  ```bash
+  docker build --progress=plain -f extras/jetson/dockerfile_ros -t rapidposetriangulation_ros .
+  ./run_container.sh
+  ```
+
+- Run and test:
+  ```bash
+  xhost +; docker compose -f extras/jetson/docker-compose.yml up
+
+  docker exec -it ros-test_node-1 bash
+  export ROS_DOMAIN_ID=18
+  ```

extras/jetson/docker-compose.yml

@@ -0,0 +1,38 @@
+version: "2.3"
+# runtime: nvidia needs version 2 else change standard runtime at host pc
+
+services:
+
+    test_node:
+        image: rapidposetriangulation_ros
+        network_mode: "host"
+        ipc: "host"
+        runtime: nvidia
+        privileged: true
+        volumes:
+            - ../../:/RapidPoseTriangulation/
+            - ../../skelda/:/skelda/
+            - /tmp/.X11-unix:/tmp/.X11-unix
+            - /dev/shm:/dev/shm
+        environment:
+            - DISPLAY
+            - QT_X11_NO_MITSHM=1
+            - "PYTHONUNBUFFERED=1"
+        command: /bin/bash -i -c 'sleep infinity'
+
+    estimator:
+        image: rapidposetriangulation_ros
+        network_mode: "host"
+        ipc: "host"
+        runtime: nvidia
+        privileged: true
+        volumes:
+            - ../../:/RapidPoseTriangulation/
+            - ../../skelda/:/skelda/
+            - /tmp/.X11-unix:/tmp/.X11-unix
+            - /dev/shm:/dev/shm
+        environment:
+            - DISPLAY
+            - QT_X11_NO_MITSHM=1
+            - "PYTHONUNBUFFERED=1"
+        command: /bin/bash -i -c 'export ROS_DOMAIN_ID=18 && ros2 run rpt2d_wrapper_cpp rpt2d_wrapper'

extras/jetson/dockerfile

@@ -0,0 +1,25 @@
+FROM dustynv/onnxruntime:1.20-r36.4.0
+
+ARG DEBIAN_FRONTEND=noninteractive
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+WORKDIR /
+
+RUN apt-get update && apt-get install -y --no-install-recommends feh
+RUN apt-get update && apt-get install -y --no-install-recommends python3-opencv
+RUN apt-get update && apt-get install -y --no-install-recommends libatlas-base-dev
+
+# Show matplotlib images
+RUN apt-get update && apt-get install -y --no-install-recommends python3-tk
+
+# Install swig and later dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends build-essential
+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
+
+RUN pip3 install --no-cache-dir scipy
+COPY ./skelda/ /skelda/
+RUN pip3 install --no-cache-dir -e /skelda/
+
+WORKDIR /RapidPoseTriangulation/
+CMD ["/bin/bash"]

extras/jetson/dockerfile_ros

@@ -0,0 +1,60 @@
+FROM rapidposetriangulation
+WORKDIR /
+
+ARG DEBIAN_FRONTEND=noninteractive
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+WORKDIR /
+
+# 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
+RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+RUN apt-get update && apt-get install -y --no-install-recommends software-properties-common
+RUN add-apt-repository universe
+RUN apt-get update && apt-get install -y --no-install-recommends curl
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list
+RUN apt-get update && apt-get install -y --no-install-recommends ros-humble-ros-base python3-argcomplete
+RUN apt-get update && apt-get install -y --no-install-recommends ros-dev-tools
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+# Create ROS2 workspace for basic packages
+RUN mkdir -p /project/base/src/
+RUN cd /project/base/; colcon build
+RUN echo "source /project/base/install/setup.bash" >> ~/.bashrc
+
+# Fix ros package building error
+RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
+
+# Install opencv and cv_bridge
+RUN apt-get update && apt-get install -y --no-install-recommends libboost-dev
+RUN apt-get update && apt-get install -y --no-install-recommends libboost-python-dev
+RUN apt-get update && apt-get install -y --no-install-recommends libopencv-dev
+RUN cd /project/base/src/; git clone --branch humble --depth=1 https://github.com/ros-perception/vision_opencv.git
+RUN /bin/bash -i -c 'cd /project/base/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# Create ROS2 workspace for project packages
+RUN mkdir -p /project/dev_ws/src/
+RUN cd /project/dev_ws/; colcon build
+RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
+
+# Copy modules
+COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
+COPY ./scripts/ /RapidPoseTriangulation/scripts/
+COPY ./extras/ros/rpt2d_wrapper_cpp /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/
+
+# Link and build as ros package
+RUN ln -s  /RapidPoseTriangulation/extras/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
+RUN /bin/bash -i -c 'ros2 pkg list'
+
+# Clear cache to save space, only has an effect if image is squashed
+RUN apt-get autoremove -y \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /RapidPoseTriangulation/
+CMD ["/bin/bash"]

extras/ros/rpt2d_wrapper_cpp/CMakeLists.txt

@@ -24,10 +24,14 @@ find_package(cv_bridge REQUIRED)
 find_package(OpenCV REQUIRED)
 
 ### 3) ONNX Runtime
+# for desktop
 include_directories(/onnxruntime/include/
                     /onnxruntime/include/onnxruntime/core/session/
                     /onnxruntime/include/onnxruntime/core/providers/tensorrt/)
 link_directories(/onnxruntime/build/Linux/Release/)
+# for jetson
+include_directories(/usr/local/include/onnxruntime/)
+link_directories(/usr/local/lib/)
 
 add_executable(rpt2d_wrapper src/rpt2d_wrapper.cpp)
 ament_target_dependencies(rpt2d_wrapper rclcpp std_msgs sensor_msgs cv_bridge)

run_container.sh

@@ -2,7 +2,7 @@
 
 xhost +
 docker run --privileged --rm --network host -it \
-  --gpus all --shm-size=16g --ulimit memlock=-1 --ulimit stack=67108864 \
+  --runtime nvidia --shm-size=16g --ulimit memlock=-1 --ulimit stack=67108864 \
   --volume "$(pwd)"/:/RapidPoseTriangulation/ \
   --volume "$(pwd)"/../datasets/:/datasets/ \
   --volume "$(pwd)"/skelda/:/skelda/ \