bring back files we still need

Author: david-tingdahl-nvidia

docker/Dockerfile.lint

@@ -0,0 +1,23 @@
+# Use a lightweight Python image
+FROM python:3.12.3-slim
+
+# Set the working directory
+WORKDIR /nvblox
+
+# Copy over nvblox
+COPY . /nvblox
+
+# Install system packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    git \
+    clang-format \
+    wget \
+    curl \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install pre-commit
+RUN pip install --no-cache-dir --upgrade pip \
+    && pip install --no-cache-dir pre-commit
+
+# Set the entrypoint to bash
+ENTRYPOINT ["bash"]

docker/build_images.py

@@ -0,0 +1,174 @@
+#!/usr/bin/env python3
+"""Helper for building nvblox docker images
+
+"""
+
+import os
+import sys
+import subprocess
+from typing import Optional, List
+import argparse
+
+# Realsense lib needs ubuntu22, so that's our base image
+REALSENSE_BASE_IMAGE = 'nvcr.io/nvidia/cuda:12.6.1-devel-ubuntu22.04'
+REALSENSE_IMAGE_NAME_SUFFIX = '_cu12_u22'
+
+
+def build_image(dockerfile_path: str,
+                image_name: str,
+                base_image: Optional[str] = None,
+                extra_build_args: Optional[List[str]] = None) -> None:
+    """Build a docker image from a Dockerfile"""
+
+    print('=' * 80)
+    print(f'Building {image_name} from {dockerfile_path}')
+    print(f'with base image {base_image}')
+    print('=' * 80)
+
+    cmd = ['docker', 'build', '-f', dockerfile_path, '-t', image_name, '--network=host']
+
+    if base_image:
+        cmd += ['--build-arg', f'BASE_IMAGE={base_image}']
+
+    if extra_build_args:
+        cmd += extra_build_args
+
+    cmd += ['.']
+
+    print(cmd)
+    subprocess.run(cmd, check=True)
+
+
+def build_deps_image(base_image: Optional[str] = None, image_name_suffix: str = '') -> str:
+    """Build nvblox dependencies (deps) image"""
+    image_name = 'nvblox_deps' + image_name_suffix
+    build_image(dockerfile_path=os.path.join('docker', 'Dockerfile.deps'),
+                image_name=image_name,
+                base_image=base_image,
+                extra_build_args=[])
+    return image_name
+
+
+def build_binaries_image(base_image: Optional[str] = None,
+                         image_name_suffix: str = '',
+                         cuda_arch: Optional[str] = None,
+                         skip_build_binaries_docker: bool = False,
+                         max_num_build_jobs: Optional[int] = None) -> str:
+    """Build nvblox binaries (.build) image"""
+    image_name = 'nvblox_build' + image_name_suffix
+
+    if cuda_arch is None:
+        cuda_arch = get_cuda_arch()
+
+    extra_build_args = ['--build-arg', f"CMAKE_ARGS='-DCMAKE_CUDA_ARCHITECTURES={cuda_arch}'"]
+
+    if max_num_build_jobs is not None:
+        extra_build_args.extend(['--build-arg', f'MAX_NUM_JOBS={max_num_build_jobs}'])
+
+    if not skip_build_binaries_docker:
+        build_image(dockerfile_path=os.path.join('docker', 'Dockerfile.build'),
+                    image_name=image_name,
+                    base_image=base_image,
+                    extra_build_args=extra_build_args)
+
+    return image_name
+
+
+def build_realsense_example_image(base_image: Optional[str] = None,
+                                  image_name_suffix: str = '') -> str:
+    """Build nvblox realsense example image"""
+    image_name = 'nvblox_realsense_example' + image_name_suffix
+    build_image(dockerfile_path=os.path.join('docker', 'Dockerfile.realsense_example'),
+                image_name=image_name,
+                base_image=base_image,
+                extra_build_args=[])
+
+    return image_name
+
+
+def get_cuda_arch() -> str:
+    """Get the cuda architecture from nvidia-smi"""
+    try:
+        command_output = subprocess.check_output(
+            ['nvidia-smi', '--query-gpu=compute_cap', '--format=csv'])
+        arch = command_output.decode('utf-8').split()[1].replace('.', '')
+        return arch
+    except FileNotFoundError:
+        print('ERROR:nvidia-smi not found. If on aarch64, provide architecture from command line.')
+        raise
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--build-deps-image',
+                        '-d',
+                        action='store_true',
+                        help='Whether to build the dependencies (deps) image')
+    parser.add_argument('--build-binaries-image',
+                        '-b',
+                        action='store_true',
+                        help='Whether to build the binaries (build) image')
+    parser.add_argument('--build-realsense-example-image',
+                        '-r',
+                        action='store_true',
+                        help='Whether to build the realsense (realsense) image')
+    parser.add_argument(
+        '--skip-build-binaries-docker',
+        '-n',
+        action='store_true',
+        help='Whether to skip building the binary (build) image and rely a previously built image.')
+    parser.add_argument('--base-image',
+                        type=str,
+                        default=None,
+                        help='Base image. Will be taken from Dockerfile.deps if not given')
+    parser.add_argument('--image_name_suffix',
+                        type=str,
+                        default='',
+                        help='Suffix for created docker image name.')
+    parser.add_argument('--cuda-arch',
+                        type=str,
+                        help='Optionally input cuda architectures to build for as a '
+                        'semicolon separated list. e.g. "90;89" ')
+    parser.add_argument('--max-num-build-jobs',
+                        type=int,
+                        help='Max number of build jobs',
+                        default=None)
+    return parser.parse_args()
+
+
+def main() -> int:
+    args = parse_args()
+
+    if args.build_deps_image:
+        build_deps_image(base_image=args.base_image, image_name_suffix=args.image_name_suffix)
+
+    if args.build_binaries_image:
+        # need deps
+        deps_image = build_deps_image(base_image=args.base_image,
+                                      image_name_suffix=args.image_name_suffix)
+        build_binaries_image(base_image=deps_image,
+                             image_name_suffix=args.image_name_suffix,
+                             cuda_arch=args.cuda_arch,
+                             skip_build_binaries_docker=args.skip_build_binaries_docker,
+                             max_num_build_jobs=args.max_num_build_jobs)
+
+    if args.build_realsense_example_image:
+        # need deps + binaries
+        assert args.base_image is None, 'Cannot provide base image for realsense example'
+        deps_image = build_deps_image(base_image=REALSENSE_BASE_IMAGE,
+                                      image_name_suffix=REALSENSE_IMAGE_NAME_SUFFIX)
+        binaries_image = build_binaries_image(
+            base_image=deps_image,
+            image_name_suffix=REALSENSE_IMAGE_NAME_SUFFIX,
+            cuda_arch=args.cuda_arch,
+            skip_build_binaries_docker=args.skip_build_binaries_docker,
+            max_num_build_jobs=args.max_num_build_jobs)
+
+        build_realsense_example_image(base_image=binaries_image,
+                                      image_name_suffix=REALSENSE_IMAGE_NAME_SUFFIX)
+
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())