ACFR-RPG · pupueys · Feb 25, 2026
diff --git a/README.md b/README.md
diff --git a/docker/Dockerfile → docker/Dockerfile.amd64 b/docker/Dockerfile → docker/Dockerfile.amd64
@@ -32,7 +32,8 @@ RUN apt-get update \
 # ROS installs
 RUN apt-get install -y \
       ros-kilted-ros2cli-common-extensions \
-      ros-kilted-vision-opencv
+      ros-kilted-vision-opencv \
+      nlohmann-json3-dev
 
 # other deps
 RUN apt-get install libpng++-dev

diff --git a/docker/Dockerfile.l4t_jetpack6 b/docker/Dockerfile.l4t_jetpack6
@@ -0,0 +1,182 @@
+FROM rwthika/ros2-torch:jazzy-ros-base-torch2.5.0
+
+MAINTAINER Jesse Morris "jesse.morris@sydney.edu.au"
+
+
+# To avoid tzdata asking for geographic location...
+ENV DEBIAN_FRONTEND=noninteractive
+
+#Install build dependencies
+RUN apt-get update && apt-get upgrade -y --allow-downgrades --no-install-recommends apt-utils
+RUN apt-get update && apt-get install -y --allow-downgrades git cmake build-essential pkg-config
+# Install xvfb to provide a display to container for GUI realted testing.
+RUN apt-get update && apt-get install -y --allow-downgrades xvfb
+
+# In the arm64 version of the base image we do not have the nvidia-cuda-development toolkit
+# as explained https://github.com/ika-rwth-aachen/docker-ros-ml-images/issues/16
+# this contains nvcc (ie we dont have it)
+# we need nvcc to build opencv with cuda
+# add extra nvidia container apt repository (otherwise we cannot find nvidia-cuda-toolkit)
+RUN curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
+  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
+    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
+    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
+
+
+#NOTE: both nvidia-cuda-toolkit and cuda-toolkit are needed (particularly for header files)
+RUN apt-get update \
+    && apt-get install -y \
+    python3-pip \
+    openssh-client \
+    software-properties-common \
+    nano \
+    vim \
+    clang-format \
+    nvidia-cuda-toolkit \
+    cuda-toolkit \
+    libnvinfer-dev \
+    libnvonnxparsers-dev \
+    tensorrt-dev \
+    && pip3 install black pre-commit \
+    && rm -rf /var/lib/apt/lists/*
+
+
+
+# # ROS installs
+RUN apt-get update && apt-get install -y \
+      ros-jazzy-ros2cli-common-extensions \
+      ros-jazzy-cv-bridge \
+      ros-jazzy-vision-opencv \
+      ros-jazzy-pcl-ros \
+      ros-jazzy-rmw-fastrtps-cpp \
+      ros-jazzy-rmw-zenoh-cpp \
+      ros-jazzy-image-transport \
+      libpcl-conversions-dev
+
+# other deps
+# RUN apt-get install libpng++-dev
+# is libpng-dev different from libpng++? I think not available as a apt for aarm64
+# RUN apt-get install libpng-dev
+
+RUN python3 -m pip install pylatex evo setuptools pre-commit scipy argcomplete black pre-commit
+
+# Install glog, gflags
+RUN apt-get update && apt-get install -y libgflags2.2 libgflags-dev libgoogle-glog-dev
+
+# Install xvfb to provide a display to container for GUI realted testing.
+# vtk is needed for OpenCV to build its viz module (from contrib!)
+RUN apt-get update && apt-get install -y xvfb python3-dev python3-setuptools libvtk9-dev
+
+RUN pip3 install setuptools pre-commit scipy matplotlib argcomplete
+
+# install CSparse
+RUN DEBIAN_FRONTEND=noninteractive apt install -y libsuitesparse-dev
+
+RUN python3 -m pip install "ultralytics==8.3.0" "numpy<2.0" "opencv-python<5.0"
+RUN python3 -m pip install https://github.com/ultralytics/assets/releases/download/v0.0.0/onnxruntime_gpu-1.23.0-cp310-cp310-linux_aarch64.whl
+
+# Parallelism C++ for CPU
+RUN apt-get update && apt-get install -y libboost-all-dev libtbb-dev
+
+WORKDIR /root/
+
+
+
+# Install OpenCV for Ubuntu
+RUN apt-get update && apt-get install -y \
+      unzip \
+      libjpeg-dev libpng-dev libpng++-dev libtiff-dev libgtk2.0-dev \
+      libatlas-base-dev gfortran
+
+
+RUN git clone https://github.com/opencv/opencv.git
+RUN cd opencv && \
+      git checkout tags/4.10.0 && \
+      mkdir build
+
+RUN git clone https://github.com/opencv/opencv_contrib.git
+RUN cd opencv_contrib && \
+      git checkout tags/4.10.0
+
+# on aarch64 there is no binary for nlohmann-json3
+RUN git clone https://github.com/nlohmann/json.git
+RUN cd json && mkdir build && \
+      cd build && \
+      cmake .. && make -j$(nproc) install
+
+# OpenCV looks for the cuDNN version in cudnn_version.h, but it's been renamed to cudnn_version_v8.h
+RUN ln -sfnv /usr/include/$(uname -i)-linux-gnu/cudnn_version_v*.h /usr/include/$(uname -i)-linux-gnu/cudnn_version.h
+
+# IMPORTANT: must specify CXX_17 version. Default is c++11 which will cause compilation issues
+# On aarch64 we can enable NEON for CPU level optimisations
+# It is vital we use gcc-11 as otheriwise we cannot compile the cuda level code (ie. CUDA 12.9)
+RUN cd opencv/build && \
+      cmake -DCMAKE_BUILD_TYPE=Release \
+      -DCMAKE_INSTALL_PREFIX=/usr/local \
+      -DCMAKE_CXX_STANDARD=17 \
+      -D BUILD_opencv_python=OFF \
+      -D BUILD_opencv_python2=OFF \
+      -D BUILD_opencv_python3=ON \
+      -D WITH_CUDA=ON \
+      -D WITH_CUDNN=ON \
+      -D INSTALL_CUDA_LIBS=OFF \
+      -D CUDA_ARCH_PTX= \
+      -D CUDA_ARCH_BIN=8.7 \
+      -D CUDNN_INCLUDE_DIR=/usr/include/$(uname -i)-linux-gnu \
+      -D OPENCV_DNN_CUDA=ON \
+      -D ENABLE_FAST_MATH=ON \
+      -D CUDA_FAST_MATH=ON \
+      -D WITH_VTK=ON \
+      -D WITH_CUFFT=ON \
+      -D WITH_CUBLAS=ON \
+      -D WITH_TBB=ON \
+      -DENABLE_NEON=ON \
+      -D BUILD_TESTS=OFF \
+      -D BUILD_PERF_TESTS=OFF \
+      -D BUILD_opencv_ts=OFF \
+      -D BUILD_opencv_sfm=OFF \
+      -D BUILD_JAVA=OFF \
+      -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+      make -j$(nproc) install
+
+RUN git clone https://github.com/MIT-SPARK/config_utilities.git
+RUN cd config_utilities/config_utilities && mkdir build && \
+      cd build && \
+      cmake .. && make -j$(nproc) install
+
+
+
+# Install GTSAM
+RUN git clone https://github.com/borglab/gtsam.git
+RUN cd gtsam && \
+    git fetch && \
+    git checkout tags/4.2.0 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_INSTALL_PREFIX=/usr/local \
+    -DGTSAM_USE_SYSTEM_EIGEN=ON \
+    -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DGTSAM_BUILD_UNSTABLE=ON -DGTSAM_POSE3_EXPMAP=ON -DGTSAM_ROT3_EXPMAP=ON -DGTSAM_TANGENT_PREINTEGRATION=OFF .. && \
+    make -j$(nproc) install
+
+
+# Install Open_GV
+RUN git clone https://github.com/MIT-SPARK/opengv
+RUN cd opengv && \
+      mkdir build
+RUN cd opengv/build && \
+      cmake -DCMAKE_BUILD_TYPE=Release \
+      -DCMAKE_INSTALL_PREFIX=/usr/local \
+      .. && make -j$(nproc) install
+
+
+RUN echo 'export RMW_IMPLEMENTATION=rmw_zenoh_cpp' >> ~/.bashrc
+
+RUN mkdir -p /home/user/dev_ws/src/core
+RUN mkdir -p /home/user/dev_ws/src/third_parties
+RUN mkdir -p /home/user/upstream_ws/src
+
+SHELL ["/bin/bash", "-c"]
+
+RUN source /opt/ros/jazzy/setup.bash
+
+WORKDIR /home/user/dev_ws
diff --git a/docker/README.md b/docker/README.md
@@ -0,0 +1,26 @@
+# Docker Files for DynoSAM
+
+Base images are pulled from [docker-ros-ml-images](https://github.com/ika-rwth-aachen/docker-ros-ml-images)
+
+- Dockerfile.amd64 is a linux/amd64 image tested on x86_64 desktop
+- Dockerfile.l4t_jetpack6 is build from linux/arm64 tested on an NVIDIA ORIN NX with Jetpack 6
+
+## Jetson Settings
+Architecture | aarch64
+Ubuntu | 22.04.5 LTS (Jammy Jellyfish)
+Jetson Linux | 36.4.7
+Python | 3.10.12
+ROS | jazzy
+CMake | 3.22.1
+CUDA | 12.6.77-1
+cuDNN | 9.3.0.75-1
+TensorRT | 10.7.0.23-1+cuda12.6
+PyTorch | 2.8.0
+GPUs | (Orin (nvgpu))
+OpenCV | 4.10.0
+
+> NOTE: The CUDA/Pytorch/TensorRT versions settings come with the base dockerfile but in practice we have been using CUDA 12.9. 
+
+## Other versioning
+matplotlib=3.6.3
+numpy=1.26.4
diff --git a/docker/build_docker.sh b/docker/build_docker.sh
diff --git a/docker/build_docker_amd64.sh b/docker/build_docker_amd64.sh
@@ -0,0 +1,2 @@
+#!/usr/bin/env bash
+bash build_docker_base.sh Dockerfile.amd64 acfr_rpg/dyno_sam_cuda
diff --git a/docker/build_docker_base.sh b/docker/build_docker_base.sh
@@ -0,0 +1,29 @@
+#!/usr/bin/env bash
+DOCKERFILE=$1
+TAG=$2
+
+if [[ -z $TAG ]] || [[ -z $DOCKERFILE ]]; then
+    SCRIPT_NAME=$(basename "$0")
+    echo "Usage: ./$SCRIPT_NAME DOCKERFILE TAG"
+    exit -1
+fi
+
+
+# 2. Identify the directory where this script is located
+#    This resolves the path even if called from a different location
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+
+# 3. Temporarily change into the script's directory
+echo "Changing working directory to: $SCRIPT_DIR"
+cd "$SCRIPT_DIR" || { echo "Failed to change directory"; exit 1; }
+
+# 4. Verify the file exists in this directory
+if [ -f "$DOCKERFILE" ]; then
+    echo "Building dockerfile $DOCKERFILE with tag $TAG"
+    DOCKER_BUILDKIT=1 docker build --network=host -f $DOCKERFILE -t $TAG .
+    # ----------------------------
+
+else
+    echo "Error: File '$DOCKERFILE' not found in $SCRIPT_DIR"
+    exit 1
+fi
diff --git a/docker/build_docker_l4t_jetpack6.sh b/docker/build_docker_l4t_jetpack6.sh
@@ -0,0 +1,2 @@
+#!/usr/bin/env bash
+bash build_docker_base.sh Dockerfile.l4t_jetpack6 acfr_rpg/dynosam_cuda_l4t
diff --git a/docker/create_container_amd64.sh b/docker/create_container_amd64.sh
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+### EDIT THIS TO WHEREVER YOU'RE STORING YOU DATA ###
+# folder should exist before you mount it
+LOCAL_DATA_FOLDER=/media/jmor6670/T7/datasets
+LOCAL_RESULTS_FOLDER=~/results/
+LOCAL_DYNO_SAM_FOLDER=~/Code/src/DynOSAM/
+LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER=~/Code/src/third_party_dynosam/
+
+bash create_container_base.sh acfr_rpg/dyno_sam_cuda dyno_sam $LOCAL_DATA_FOLDER $LOCAL_RESULTS_FOLDER $LOCAL_DYNO_SAM_FOLDER $LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER
diff --git a/docker/create_container.sh → docker/create_container_base.sh b/docker/create_container.sh → docker/create_container_base.sh
@@ -1,14 +1,18 @@
 #!/usr/bin/env bash
 
-CONTAINER_NAME=dyno_sam
-CONTAINER_IMAGE_NAME=acfr_rpg/dyno_sam_cuda
+CONTAINER_IMAGE_NAME=$1
+CONTAINER_NAME=$2
 
-### EDIT THIS TO WHEREVER YOU'RE STORING YOU DATA ###
-# folder should exist before you mount it
-LOCAL_DATA_FOLDER=/media/jmor6670/T7/datasets
-LOCAL_RESULTS_FOLDER=~/results/
-LOCAL_DYNO_SAM_FOLDER=~/Code/src/DynOSAM/
-LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER=~/Code/src/third_party_dynosam/
+LOCAL_DATA_FOLDER=$3
+LOCAL_RESULTS_FOLDER=$4
+LOCAL_DYNO_SAM_FOLDER=$5
+LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER=$6
+
+echo "Creating dynosam container ($CONTAINER_NAME) from image: $CONTAINER_IMAGE_NAME"
+echo "Local data folder: $LOCAL_DATA_FOLDER"
+echo "Local results folder: $LOCAL_RESULTS_FOLDER"
+echo "Local DynoSAM folder: $LOCAL_DYNO_SAM_FOLDER"
+echo "Local third party dynosam folder: $LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER"
 
 
 CONTAINER_DATA_FOLDER=/root/data
@@ -17,8 +21,6 @@ CONTAINER_WORKSPACE_FOLDER=/home/user/dev_ws/src/core/
 CONTAINER_WORKSPACE_FOLDER_THIRD_PARTY=/home/user/dev_ws/src/third_parties/
 
 
-
-
 USE_NVIDIA=false
 
 # If we are running in a docker-in-docker scenario NVIDIA_SOS will be populated
@@ -78,11 +80,34 @@ if "$USE_NVIDIA"; then
     else
         TERMINAL_FLAGS='-t'
     fi
+
+    echo "$@"
     # Create the container based on the launchfile it's launching (if any)
     # removes '.launch' from the last argument
     echo "Container name will be: $CONTAINER_NAME"
     # docker run $DOCKER_NVIDIA_SO_VOLUMES \
-     docker run \
+    #  docker run \
+    #     --privileged \
+    #     --gpus all \
+    #     -i -d \
+    #     --volume $XSOCK:$XSOCK:rw \
+    #     -v $LOCAL_DATA_FOLDER:$CONTAINER_DATA_FOLDER \
+    #     -v $LOCAL_RESULTS_FOLDER:$CONTAINER_RESULTS_FOLDER \
+    #     -v $LOCAL_DYNO_SAM_FOLDER:$CONTAINER_WORKSPACE_FOLDER \
+    #     -v $LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER:$CONTAINER_WORKSPACE_FOLDER_THIRD_PARTY \
+    #     -v /var/run/docker.sock:/var/run/docker.sock \
+    #     --env DISPLAY=$DISPLAY \
+    #     --env XAUTHORITY=$XAUTH \
+    #     --env QT_X11_NO_MITSHM=0 \
+    #     --env QT_X11_NO_XRENDER=0 \
+    #     --volume $XAUTH:$XAUTH:rw \
+    #     --net host \
+    #     --pid host \
+    #     --ipc host \
+    #     -it \
+    #     --name=$CONTAINER_NAME \
+    #     $CONTAINER_IMAGE_NAME "$@"
+    docker run \
         --privileged \
         --gpus all \
         -i -d \
@@ -102,7 +127,8 @@ if "$USE_NVIDIA"; then
         --ipc host \
         -it \
         --name=$CONTAINER_NAME \
-        $CONTAINER_IMAGE_NAME "$@"
+        $CONTAINER_IMAGE_NAME
 fi
 
+# FOR NOW?
 xhost +local:`docker inspect --format='{{ .Config.Hostname }}' $CONTAINER_NAME`
diff --git a/docker/create_container_l4t_jetpack6.sh b/docker/create_container_l4t_jetpack6.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+
+### EDIT THIS TO WHEREVER YOU'RE STORING YOU DATA ###
+# folder should exist before you mount it
+LOCAL_DATA_FOLDER=/media/jmor6670/T7/datasets/
+LOCAL_RESULTS_FOLDER=/home/usyd/dynosam/results/
+LOCAL_DYNO_SAM_FOLDER=/home/usyd/dynosam/DynOSAM/
+LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER=/home/usyd/dynosam/extra
+
+bash create_container_base.sh acfr_rpg/dynosam_cuda_l4t dyno_sam_l4t $LOCAL_DATA_FOLDER $LOCAL_RESULTS_FOLDER $LOCAL_DYNO_SAM_FOLDER $LOCAL_THIRD_PARTY_DYNO_SAM_FOLDER
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		#!/usr/bin/env bash
		bash build_docker_base.sh Dockerfile.amd64 acfr_rpg/dyno_sam_cuda
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		#!/usr/bin/env bash
		bash build_docker_base.sh Dockerfile.l4t_jetpack6 acfr_rpg/dynosam_cuda_l4t