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add a container build environment

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Dockerfile provisions CUDA 12.8, ZED SDK 5.2, ONNX Runtime and Rust on
Ubuntu 24.04, the newest release Stereolabs ships a ZED SDK for, so the
node can be compiled and the build verified without installing the SDK
stack on the host.

The compile needs --gpus all: libsl_zed.so links against the CUDA driver
API, NVDEC and NVENC, which ship with the display driver rather than the
CUDA toolkit and so exist in no image. The container runtime mounts them
from the host, and only includes NVDEC/NVENC when the video capability
is requested.

Runs as the invoking user so build/ and bin/ are not left root-owned,
which needs the toolchain outside /root and the ZED SDK directory
readable to an arbitrary uid.
This commit is contained in:
cristhian
2026-09-07 14:33:58 -03:00
parent b4144dfba5
commit f40e697b2a
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@@ -56,6 +56,29 @@ mkdir -p build && cd build && cmake .. && make install
Binary installed to `bin/dora_zed`.
### Containerized build
[`Dockerfile`](Dockerfile) provides the full toolchain — CUDA, ZED SDK, ONNX Runtime and Rust — on Ubuntu 24.04, the newest release Stereolabs ships a ZED SDK for. No camera is needed.
```bash
docker build -t dora-zed-build .
docker run --rm --gpus all --user "$(id -u):$(id -g)" \
-v "$PWD:/src" -v dora-zed-cargo:/usr/local/cargo/registry dora-zed-build
```
The first run clones dora-rs and compiles it with Cargo; the named volume keeps that cache across runs.
`--user` keeps `build/` and `bin/` owned by you rather than root.
x86-64 only. On Jetson, run [`scripts/install_linux_arm.sh`](scripts/install_linux_arm.sh) on the
device and build natively — there is no ARM64 image here.
Needs an NVIDIA driver and the
[NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
on the host, as the ZED SDK does anyway. The image sets
`NVIDIA_DRIVER_CAPABILITIES=compute,utility,video`: `libsl_zed.so` links against NVDEC
(`libnvcuvid`) and NVENC (`libnvidia-encode`), which the container runtime mounts from the host
only when `video` is in the capability list.
## Configuration
All behavior is controlled via environment variables.