cristhian
f40e697b2a
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.
76 lines
3.4 KiB
Docker
76 lines
3.4 KiB
Docker
# Reproducible build environment for dora-zed.
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#
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# Compiles only — no camera is needed. Requires an NVIDIA driver and the NVIDIA
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# Container Toolkit on the host, as the ZED SDK does anyway.
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#
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# NVIDIA_DRIVER_CAPABILITIES below includes `video` because libsl_zed.so links
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# against NVDEC (libnvcuvid) and NVENC (libnvidia-encode); the container runtime
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# mounts those from the host only when `video` is in the list.
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#
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# Ubuntu 24.04 is the newest release Stereolabs ships a ZED SDK for.
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#
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# docker build -t dora-zed-build .
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# docker run --rm --gpus all --user "$(id -u):$(id -g)" \
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# -v "$PWD:/src" -v dora-zed-cargo:/usr/local/cargo/registry dora-zed-build
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#
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# --user keeps build/ and bin/ owned by you instead of root.
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#
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# The first run clones dora-rs and compiles it with Cargo, which takes a while;
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# the named volume keeps the registry cache across runs.
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FROM nvidia/cuda:12.8.1-devel-ubuntu24.04
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ARG ZED_VERSION=5.2
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ARG ORT_VERSION=1.24.4
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ENV DEBIAN_FRONTEND=noninteractive
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RUN apt-get update && apt-get install -y --no-install-recommends \
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build-essential cmake git curl ca-certificates pkg-config \
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libopencv-dev zstd udev sudo \
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&& rm -rf /var/lib/apt/lists/*
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# The toolchain lives outside /root so the container can run as the invoking
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# user (--user) and still write the cargo caches. registry/ is created here so
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# that a named volume mounted over it inherits these permissions rather than
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# being created root-owned.
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ENV RUSTUP_HOME=/usr/local/rustup \
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CARGO_HOME=/usr/local/cargo \
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PATH=/usr/local/cargo/bin:${PATH}
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RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs \
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| sh -s -- -y --profile minimal --default-toolchain stable \
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&& mkdir -p ${CARGO_HOME}/registry \
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&& chmod -R a+w ${RUSTUP_HOME} ${CARGO_HOME}
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# The installer leaves /usr/local/zed as drwxrwx--- root:zed, which an arbitrary
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# --user uid cannot read, so relax it to make find_package(zed) work for one.
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RUN curl -fSL -o /tmp/ZED_SDK.run \
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"https://download.stereolabs.com/zedsdk/${ZED_VERSION}/cu12/ubuntu24" \
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&& chmod +x /tmp/ZED_SDK.run \
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&& /tmp/ZED_SDK.run -- silent skip_python skip_tools skip_drivers skip_cuda \
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&& chmod -R a+rX /usr/local/zed \
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&& rm -f /tmp/ZED_SDK.run
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# The tarball puts its CMake package files under lib/, but onnxruntimeTargets.cmake
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# resolves the library as <prefix>/lib64. Ubuntu is multiarch, so CMake does not
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# search lib64 for packages and ld.so does not search /usr/local/lib64 at all:
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# keep the libraries in lib64, move only the package files to lib/cmake, and add
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# lib64 to the linker path.
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RUN curl -fSL -o /tmp/ort.tgz \
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"https://github.com/microsoft/onnxruntime/releases/download/v${ORT_VERSION}/onnxruntime-linux-x64-gpu-${ORT_VERSION}.tgz" \
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&& tar -xzf /tmp/ort.tgz -C /tmp \
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&& mkdir -p /usr/local/include/onnxruntime /usr/local/lib64 \
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&& cp -r /tmp/onnxruntime-linux-x64-gpu-${ORT_VERSION}/include/* /usr/local/include/onnxruntime/ \
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&& cp -r /tmp/onnxruntime-linux-x64-gpu-${ORT_VERSION}/lib/* /usr/local/lib64/ \
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&& mkdir -p /usr/local/lib/cmake \
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&& mv /usr/local/lib64/cmake/onnxruntime /usr/local/lib/cmake/ \
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&& rmdir /usr/local/lib64/cmake \
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&& echo /usr/local/lib64 > /etc/ld.so.conf.d/onnxruntime.conf \
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&& ldconfig \
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&& rm -rf /tmp/ort.tgz /tmp/onnxruntime-linux-x64-gpu-${ORT_VERSION}
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ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility,video
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WORKDIR /src
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CMD ["bash", "-lc", "mkdir -p build && cd build && cmake .. && make -j$(nproc) install"]
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