CUDA tracking support (FastTrack)

.gitignore

@@ -31,3 +31,4 @@ container_root/profilers/**
 **container_root/trav_ws/**
 **traversability_mapping**
 container_root/ros_env_vars.sh
+container_root/.nv/

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "ORB_SLAM3"]
 	path = ORB_SLAM3
 	url = https://github.com/suchetanrs/ORB_SLAM3
+[submodule "FastTrack"]
+	path = FastTrack
+	url = https://github.com/suchetanrs/FastTrack

Dockerfile

@@ -1,5 +1,13 @@
 # Image taken from https://github.com/turlucode/ros-docker-gui
-FROM osrf/ros:humble-desktop-full-jammy
+# ===============================================================================
+# Default to cpu build. Cuda kernels are built only if `--target nvidia` is specified.
+# ===============================================================================
+ARG TARGET=cpu
+
+# ===============================================================================
+# Base stage (Common dependencies for CPU and NVIDIA GPU builds)
+# ===============================================================================
+FROM osrf/ros:humble-desktop-full-jammy AS base
 ARG USE_CI
 
 RUN apt-get update
@@ -28,7 +36,6 @@ RUN apt-get install -y \
 
 RUN apt update
 
-
 # Build OpenCV
 RUN apt-get install -y python3-dev python3-numpy python2-dev
 RUN apt-get install -y libavcodec-dev libavformat-dev libswscale-dev
@@ -42,13 +49,6 @@ RUN cd /tmp && git clone https://github.com/opencv/opencv.git && \
     make -j8 && make install && \
     cd / && rm -rf /tmp/opencv
 
-# Build Pangolin
-RUN cd /tmp && git clone https://github.com/stevenlovegrove/Pangolin && \
-    cd Pangolin && git checkout v0.9.1 && mkdir build && cd build && \
-    cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-std=c++14 -DCMAKE_INSTALL_PREFIX=/usr/local .. && \
-    make -j8 && make install && \
-    cd / && rm -rf /tmp/Pangolin
-
 # Build vscode (can be removed later for deployment)
 COPY ./container_root/shell_scripts/vscode_install.sh /root/
 RUN cd /root/ && sudo chmod +x * && ./vscode_install.sh && rm -rf vscode_install.sh
@@ -57,6 +57,74 @@ RUN apt-get update && apt-get install ros-humble-pcl-ros tmux -y
 RUN apt-get install ros-humble-nav2-common x11-apps nano -y
 RUN apt-get install -y gdb gdbserver ros-humble-rmw-cyclonedds-cpp ros-humble-cv-bridge ros-humble-image-transport ros-humble-image-common ros-humble-vision-opencv
 
+
+# ===============================================================================
+# NVIDIA GPU image stage (built if `--target nvidia_gpu` is specified)
+# ===============================================================================
+FROM nvidia/opengl:1.0-glvnd-devel-ubuntu18.04 AS glvnd
+FROM base AS nvidia_gpu
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    libgles2 
+COPY --from=glvnd /usr/share/glvnd/egl_vendor.d/10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:-all}
+
+# Basic deps for adding NVIDIA apt repo
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    wget ca-certificates gnupg
+
+# Add NVIDIA CUDA repo keyring (Ubuntu 22.04 repo)
+RUN wget -q https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb \
+ && dpkg -i cuda-keyring_1.1-1_all.deb && rm -rf cuda-keyring_1.1-1_all.deb
+
+# Install CUDA Toolkit 12.2 (no driver)
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    cuda-toolkit-12-2
+
+# make CUDA visible on PATH
+ENV PATH=/usr/local/cuda-12.2/bin:${PATH}
+ENV LD_LIBRARY_PATH=/usr/local/cuda-12.2/lib64:${LD_LIBRARY_PATH}
+ENV CUDA_CACHE_PATH=/tmp/cuda_cache
+
+COPY FastTrack/Thirdparty/Pangolin /tmp/Pangolin
+RUN cd /tmp/Pangolin && mkdir build && cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-std=c++14 -DCMAKE_INSTALL_PREFIX=/usr/local .. && \
+    make -j8 && \
+    make install && \
+    cd / && rm -rf /tmp/Pangolin && ldconfig
+
+COPY FastTrack /home/orb/ORB_SLAM3
+COPY orb_slam3_ros2_wrapper /root/colcon_ws/src/orb_slam3_ros2_wrapper
+COPY orb_slam3_map_generator /root/colcon_ws/src/orb_slam3_map_generator
+COPY slam_msgs /root/colcon_ws/src/slam_msgs
+
+# Build ORB-SLAM3 with its dependencies.
+RUN if [ "$USE_CI" = "true" ]; then \
+    . /opt/ros/humble/setup.sh && cd /home/orb/ORB_SLAM3 && mkdir -p build && ./build.sh && \
+    . /opt/ros/humble/setup.sh && cd /root/colcon_ws/ && colcon build --symlink-install; \
+    fi
+
+RUN rm -rf /home/orb/ORB_SLAM3 /root/colcon_ws
+
+# ===============================================================================
+# CPU image stage (Default) (ignored if `--target nvidia_gpu` is specified)
+# ===============================================================================
+
+FROM base AS cpu
+
+# Build Pangolin
+RUN cd /tmp && git clone https://github.com/stevenlovegrove/Pangolin && \
+    cd Pangolin && git checkout v0.9.1 && mkdir build && cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-std=c++14 -DCMAKE_INSTALL_PREFIX=/usr/local .. && \
+    make -j8 && \
+    make install && \
+    cd / && rm -rf /tmp/Pangolin && ldconfig
+
 COPY ORB_SLAM3 /home/orb/ORB_SLAM3
 COPY orb_slam3_ros2_wrapper /root/colcon_ws/src/orb_slam3_ros2_wrapper
 COPY orb_slam3_map_generator /root/colcon_ws/src/orb_slam3_map_generator
@@ -68,4 +136,9 @@ RUN if [ "$USE_CI" = "true" ]; then \
     . /opt/ros/humble/setup.sh && cd /root/colcon_ws/ && colcon build --symlink-install; \
     fi
 
-RUN rm -rf /home/orb/ORB_SLAM3 /root/colcon_ws
+RUN rm -rf /home/orb/ORB_SLAM3 /root/colcon_ws
+
+# ===============================================================================
+# Final stage (Either CPU or NVIDIA GPU based on `--target` flag)
+# ===============================================================================
+FROM ${TARGET} AS final

README.md

@@ -36,12 +36,20 @@ sudo chmod +x container_root/shell_scripts/docker_install.sh
 3. ```source ~/.bashrc```
 4. You can see the built images on your machine by running ```sudo docker images```.
 
+### To build NVIDIA CUDA version:
+
+Replace step 1. with ```sudo docker build --build-arg USE_CI=false --build-arg TARGET=nvidia_gpu -t orb-slam3-humble-nvidia:22.04 .```
+
 ## 4. Running the container
 
 1. ```cd ORB-SLAM3-ROS2-Docker``` (ignore if you are already in the folder)
 2. ```sudo docker compose run orb_slam3_22_humble```
 3. This should take you inside the container. Once you are inside, run the command ```xeyes``` and a pair of eyes should pop-up. If they do, x11 forwarding has correctly been setup on your computer.
 
+### To run the NVIDIA CUDA version:
+
+Replace step 2. with ```sudo docker compose run orb_slam3_22_nvidia```
+
 ## 5. Building the ORB-SLAM3 Wrapper
 
 Launch the container using steps in (4).
@@ -50,6 +58,14 @@ cd /home/orb/ORB_SLAM3/ && sudo chmod +x build.sh && ./build.sh
 cd /root/colcon_ws/ && colcon build --symlink-install && source install/setup.bash
 ```
 
+### To build with CUDA:
+
+Launch the container using steps in (4).
+```bash
+cd /home/orb/ORB_SLAM3/ && sudo chmod +x build.sh && ./build.sh
+cd /root/colcon_ws/ && rm -rf build && colcon build --symlink-install --cmake-args -DORB_SLAM3_ROS2_WRAPPER_ENABLE_CUDA=ON && source install/setup.bash
+```
+
 ## Launching ORB-SLAM3
 
 Launch the container using steps in (4).