Building ROS node with OpenCV

[Chad Sweet]

You can actually build an ARM docker on your Linux desktop. The build process uses tons of space, so tough to say exactly what you're running in to. But, you can definitely try offline and then load it on target. (it will build MUCH faster too!)

[sarahl]

@Chad-Sweet oh thanks! I'll try that you! I actually want to try to use Ubuntu 18.04 / ROS melodic to be more aligned with our other systems. Do you know if the modalai opencl deb would still be compatible?

Also, it seems aarch64 is deprecated: https://hub.docker.com/r/aarch64/ubuntu
for this: https://hub.docker.com/r/arm64v8/ubuntu

For the base docker image, would it be correct to just change:
FROM aarch64/ubuntu:xenial
to:
FROM arm64v8/ubuntu:bionic

(Apologies for all the questions, it's actually my first time building a docker image from scratch.)

[Chad Sweet]

All of those seem likely to work, though we haven't tried them so there could be some debugging required.

[sarahl]

is there something specific I need to enable in docker (on the amd64 machine side) to be able to build the arm64 docker images? I'm getting this error:

scripts/build-docker.sh 4.2.0
Building OpenCV 4.2.0
Sending build context to Docker daemon 11.16MB
Step 1/48 : FROM aarch64/ubuntu:xenial
---> a7d1ddc47ced
Step 2/48 : RUN apt-get update
---> Running in 23be03a5aa45
standard_init_linux.go:211: exec user process caused "no such file or directory"
The command '/bin/sh -c apt-get update' returned a non-zero code: 1

[sarahl]

@Chad-Sweet any advice on the above message? it doesn't seem to like trying to build an arm64 docker image on an amd64 ubuntu machine.

[modaltb]

@sarahl ,

I've been messing with another project in a similar area, this link helped:

GitHub - multiarch/qemu-user-static: :earth_africa: `/usr/bin/qemu-*-static`

:earth_africa: `/usr/bin/qemu-*-static`. Contribute to multiarch/qemu-user-static development by creating an account on GitHub.

GitHub (github.com)

Namely, needing to run this 'magic command' before running my arm64 docker on x86 host (to be honest I'm not fully sure what it's doing)

docker run --rm --privileged multiarch/qemu-user-static --reset -p yes

Another thing that's helped is adding this to my docker file:

# required for ARM emulation
COPY ./bin/qemu-arm-static /usr/bin/qemu-arm-static

Where in my project, I've copied qemu-arm-static into a bin dir in my repo.

Hope this helps!

[A Former User]

Hi @modaltb ,

As I had also storage problems like posted here, I wanted to go with the way suggested by @Chad-Sweet. I am doing the same kind of project. Merging two Docker files(Ros Kinetic and Open CV).

I am building the images in Raspi aarch64 Ubuntu 20.04.2.
I was able to build ROS Kinetic image without Open CV and send to VOXL m500 to load and run.

However, when I merged two files and built I got the following error but am not sure if it is the same error with @sarahl and qemu-arm-static will help me.

What might be the problem or solution?
Thank you in advance,

I pasted the output message and two relevant docker files I merged:
I used all the docker files for ros kinetic and adapted Open CV files into that.

General configuration for OpenCV 3.4.6 =====================================
--   Version control:               unknown
--
--   Platform:
--     Timestamp:                   2021-04-22T21:24:55Z
--     Host:                        Linux 5.4.0-1034-raspi aarch64
--     CMake:                       3.5.1
--     CMake generator:             Unix Makefiles
--     CMake build tool:            /usr/bin/make
--     Configuration:               Release
--
--   CPU/HW features:
--     Baseline:                    NEON FP16
--       required:                  NEON
--       disabled:                  VFPV3
--
--   C/C++:
--     Built as dynamic libs?:      YES
--     C++11:                       YES
--     C++ Compiler:                /usr/bin/c++  (ver 5.4.0)
--     C++ flags (Release):         -std=c++11 -march=armv8-a+simd   -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -fopenmp -O3 -DNDEBUG  -DNDEBUG
--     C++ flags (Debug):           -std=c++11 -march=armv8-a+simd   -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -fopenmp -g  -O0 -DDEBUG -D_DEBUG
--     C Compiler:                  /usr/bin/cc
--     C flags (Release):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -fopenmp -O3 -DNDEBUG  -DNDEBUG
--     C flags (Debug):             -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -fopenmp -g  -O0 -DDEBUG -D_DEBUG
--     Linker flags (Release):      -Wl,--gc-sections
--     Linker flags (Debug):        -Wl,--gc-sections
--     ccache:                      NO
--     Precompiled headers:         YES
--     Extra dependencies:          dl m pthread rt
--     3rdparty dependencies:
--
--   OpenCV modules:
--     To be built:                 calib3d core dnn features2d flann highgui imgcodecs imgproc ml objdetect photo python2 stitching ts video videoio
--     Disabled:                    shape superres videostab world
--     Disabled by dependency:      -
--     Unavailable:                 cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev java js python3 viz
--     Applications:                tests perf_tests apps
--     Documentation:               NO
--     Non-free algorithms:         NO
--
--   GUI:
--     GTK+:                        YES (ver 2.24.30)
--       GThread :                  YES (ver 2.48.2)
--       GtkGlExt:                  NO
--     VTK support:                 NO
--
--   Media I/O:
--     ZLib:                        /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.8)
--     JPEG:                        /usr/lib/aarch64-linux-gnu/libjpeg.so (ver 80)
--     WEBP:                        build (ver encoder: 0x020e)
--     PNG:                         /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.2.54)
--     TIFF:                        /usr/lib/aarch64-linux-gnu/libtiff.so (ver 42 / 4.0.6)
--     JPEG 2000:                   build (ver 1.900.1)
--     OpenEXR:                     build (ver 1.7.1)
--     HDR:                         YES
--     SUNRASTER:                   YES
--     PXM:                         YES
--
--   Video I/O:
--     DC1394:                      YES (ver 2.2.4)
--     FFMPEG:                      YES
--       avcodec:                   YES (ver 56.60.100)
--       avformat:                  YES (ver 56.40.101)
--       avutil:                    YES (ver 54.31.100)
--       swscale:                   YES (ver 3.1.101)
--       avresample:                NO
--     GStreamer:                   NO
--     libv4l/libv4l2:              NO
--     v4l/v4l2:                    linux/videodev2.h
--
--   Parallel framework:            OpenMP
--
--   Trace:                         YES (built-in)
--
--   Other third-party libraries:
--     Lapack:                      NO
--     Eigen:                       NO
--     Custom HAL:                  YES (carotene (ver 0.0.1))
--     Protobuf:                    build (3.5.1)
--
--   OpenCL:                        YES (no extra features)
--     Include path:                /home/root/opencv-opencl/opencv-3.4.6/3rdparty/include/opencl/1.2
--     Link libraries:              Dynamic load
--
--   Python 2:
--     Interpreter:                 /usr/bin/python2.7 (ver 2.7.12)
--     Libraries:                   /usr/lib/aarch64-linux-gnu/libpython2.7.so (ver 2.7.12)
--     numpy:                       /usr/lib/python2.7/dist-packages/numpy/core/include (ver 1.11.0)
--     install path:                lib/python2.7/dist-packages/cv2/python-2.7
--
--   Python (for build):            /usr/bin/python2.7
--
--   Java:
--     ant:                         NO
--     JNI:                         NO
--     Java wrappers:               NO
--     Java tests:                  NO
--
--   Install to:                    /usr
-- -----------------------------------------------------------------
--
-- Configuring incomplete, errors occurred!

See also "/home/root/opencv-opencl/opencv-3.4.6/build/CMakeFiles/CMakeOutput.log".
See also "/home/root/opencv-opencl/opencv-3.4.6/build/CMakeFiles/CMakeError.log".
The command '/bin/sh -c cmake -DCMAKE_BUILD_TYPE=Release           -DCMAKE_INSTALL_PREFIX=/usr           -DWITH_OPENMP=ON           -DWITH_OPENCL=ON           -DHAVE_OPENCL=1           -DOPENCV_EXTRA_MODULES_PATH=/home/opencv-opencl/opencv_contrib-$opencv_version/modules           -DBUILD_opencv_aruco=ON           -DBUILD_opencv_bgsegm=OFF           -DBUILD_opencv_bioinspired=OFF           -DBUILD_opencv_ccalib=OFF           -DBUILD_opencv_cnn_3dobj=OFF           -DBUILD_opencv_cudaarithm=OFF           -DBUILD_opencv_cudabgsegm=OFF           -DBUILD_opencv_cudacodec=OFF           -DBUILD_opencv_cudafeatures2d=OFF           -DBUILD_opencv_cudafilters=OFF           -DBUILD_opencv_cudaimgproc=OFF           -DBUILD_opencv_cudalegacy=OFF           -DBUILD_opencv_cudaobjdetect=OFF           -DBUILD_opencv_cudaoptflow=OFF           -DBUILD_opencv_cudastereo=OFF           -DBUILD_opencv_cudawarping=OFF           -DBUILD_opencv_cudev=OFF           -DBUILD_opencv_cvv=OFF           -DBUILD_opencv_datasets=OFF           -DBUILD_opencv_dnn_objdetect=ON           -DBUILD_opencv_dnns_easily_fooled=OFF           -DBUILD_opencv_dnn_superres=OFF           -DBUILD_opencv_dpm=OFF           -DBUILD_opencv_face=OFF           -DBUILD_opencv_freetype=OFF           -DBUILD_opencv_fuzzy=OFF           -DBUILD_opencv_hdf=OFF           -DBUILD_opencv_hfs=OFF           -DBUILD_opencv_img_hash=OFF           -DBUILD_opencv_line_descriptor=OFF           -DBUILD_opencv_matlab=OFF           -DBUILD_opencv_optflow=OFF           -DBUILD_opencv_ovis=OFF           -DBUILD_opencv_phase_unwrapping=OFF           -DBUILD_opencv_plot=OFF           -DBUILD_opencv_quality=OFF           -DBUILD_opencv_reg=OFF           -DBUILD_opencv_rgbd=OFF           -DBUILD_opencv_saliency=OFF           -DBUILD_opencv_sfm=OFF           -DBUILD_opencv_shape=OFF           -DBUILD_opencv_stereo=OFF           -DBUILD_opencv_structured_light=OFF           -DBUILD_opencv_superres=OFF           -DBUILD_opencv_surface_matching=OFF           -DBUILD_opencv_text=OFF           -DBUILD_opencv_tracking=OFF           -DBUILD_opencv_videostab=OFF           -DBUILD_opencv_viz=OFF           -DBUILD_opencv_xfeatures2d=OFF           -DBUILD_opencv_ximgproc=OFF           -DBUILD_opencv_xobjdetect=OFF           -DBUILD_opencv_xphoto=OFF           -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -std=c++11 -march=armv8-a+simd" ..' returned a non-zero code: 1

Dockerfile.xenial-base

FROM aarch64/ubuntu:xenial

RUN apt-get update
RUN apt-get -y upgrade
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN apt-get update && apt-get install -y python-rosdep \
  python-pip \
  python-rosinstall-generator \
  python-wstool \
  python-rosinstall \
  python-pandas \
  python-numpy \
  python-dev \
  python-defusedxml \
  build-essential \
  libboost-all-dev \
  libconsole-bridge-dev \
  libtinyxml-dev \
  sbcl-source \
  sbcl-doc \
  vim \
  sudo \
  nano \
  strace \
  libglib2.0-0 \
  libgtk2.0-dev \
  pkg-config \
  libavcodec-dev \
  libavformat-dev \
  libswscale-dev \
  libtbb2 \
  libtbb-dev \
  libjpeg-dev \
  libpng-dev \
  libtiff-dev \
  libdc1394-22-dev \
  wget \
  unzip \
  cmake \
  git

RUN mkdir -p /home/root/opencv-opencl

WORKDIR /home/root/opencv-opencl

COPY modalai-opencl-dev_1.0-1.deb .

RUN dpkg -i modalai-opencl-dev_1.0-1.deb


CMD /bin/bash

Dockerfile.opencv

FROM roskinetic-xenial:base

ARG opencv_version=4.2.0

WORKDIR /home/root/opencv-opencl

RUN wget https://github.com/opencv/opencv/archive/$opencv_version.zip

RUN unzip $opencv_version.zip
RUN rm $opencv_version.zip

RUN wget https://github.com/opencv/opencv_contrib/archive/$opencv_version.zip

RUN unzip $opencv_version.zip
RUN rm $opencv_version.zip

WORKDIR opencv-$opencv_version/build

RUN cmake -DCMAKE_BUILD_TYPE=Release \
          -DCMAKE_INSTALL_PREFIX=/usr \
          -DWITH_OPENMP=ON \
          -DWITH_OPENCL=ON \
          -DHAVE_OPENCL=1 \
          -DOPENCV_EXTRA_MODULES_PATH=/home/opencv-opencl/opencv_contrib-$opencv_version/modules \
          -DBUILD_opencv_aruco=ON \
          -DBUILD_opencv_bgsegm=OFF \a
          -DBUILD_opencv_bioinspired=OFF \
          -DBUILD_opencv_ccalib=OFF \
          -DBUILD_opencv_cnn_3dobj=OFF \
          -DBUILD_opencv_cudaarithm=OFF \
          -DBUILD_opencv_cudabgsegm=OFF \
          -DBUILD_opencv_cudacodec=OFF \
          -DBUILD_opencv_cudafeatures2d=OFF \
          -DBUILD_opencv_cudafilters=OFF \
          -DBUILD_opencv_cudaimgproc=OFF \
          -DBUILD_opencv_cudalegacy=OFF \
          -DBUILD_opencv_cudaobjdetect=OFF \
          -DBUILD_opencv_cudaoptflow=OFF \
          -DBUILD_opencv_cudastereo=OFF \
          -DBUILD_opencv_cudawarping=OFF \
          -DBUILD_opencv_cudev=OFF \
          -DBUILD_opencv_cvv=OFF \
          -DBUILD_opencv_datasets=OFF \
          -DBUILD_opencv_dnn_objdetect=ON \
          -DBUILD_opencv_dnns_easily_fooled=OFF \
          -DBUILD_opencv_dnn_superres=OFF \
          -DBUILD_opencv_dpm=OFF \
          -DBUILD_opencv_face=OFF \
          -DBUILD_opencv_freetype=OFF \
          -DBUILD_opencv_fuzzy=OFF \
          -DBUILD_opencv_hdf=OFF \
          -DBUILD_opencv_hfs=OFF \
          -DBUILD_opencv_img_hash=OFF \
          -DBUILD_opencv_line_descriptor=OFF \
          -DBUILD_opencv_matlab=OFF \
          -DBUILD_opencv_optflow=OFF \
          -DBUILD_opencv_ovis=OFF \
          -DBUILD_opencv_phase_unwrapping=OFF \
          -DBUILD_opencv_plot=OFF \
          -DBUILD_opencv_quality=OFF \
          -DBUILD_opencv_reg=OFF \
          -DBUILD_opencv_rgbd=OFF \
          -DBUILD_opencv_saliency=OFF \
          -DBUILD_opencv_sfm=OFF \
          -DBUILD_opencv_shape=OFF \
          -DBUILD_opencv_stereo=OFF \
          -DBUILD_opencv_structured_light=OFF \
          -DBUILD_opencv_superres=OFF \
          -DBUILD_opencv_surface_matching=OFF \
          -DBUILD_opencv_text=OFF \
          -DBUILD_opencv_tracking=OFF \
          -DBUILD_opencv_videostab=OFF \
          -DBUILD_opencv_viz=OFF \
          -DBUILD_opencv_xfeatures2d=OFF \
          -DBUILD_opencv_ximgproc=OFF \
          -DBUILD_opencv_xobjdetect=OFF \
          -DBUILD_opencv_xphoto=OFF \
          -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -std=c++11 -march=armv8-a+simd" ..

RUN make -j4
RUN make install

WORKDIR /home/root/opencv-opencl

CMD ["/bin/bash"]

[A Former User]

I overcame that problem by adjusting the WORKDIR and PATH. Moreover adding sudo apt-update.

However, I always come back to the same problem no matter what i do.
I decided to build in my host computer and load in target to head off "No Space Problem" in the target but the problem also occurred in the host as well. I cannot proceed any how.

Any suggestions from your side?

/home/opencv-opencl/opencv-3.4.6/build/modules/calib3d/test_precomp.hpp:20:1: fatal error: can't write PCH file: No space left on device
 } // namespace
 ^
compilation terminated.
In file included from /home/opencv-opencl/opencv-3.4.6/build/modules/features2d/perf_precomp.hpp:5:0:
/home/opencv-opencl/opencv-3.4.6/modules/features2d/include/opencv2/features2d.hpp:1426:1: fatal error: can't write PCH file: No space left on device
 } /* namespace cv */
 ^

make: *** [all] Error 2
The command '/bin/sh -c make -j4' returned a non-zero code: 2

REPOSITORY                   TAG       IMAGE ID       CREATED             SIZE
<none>                       <none>    f1a9b038119e   18 minutes ago      1.81GB
roskinetic-xenial            v1.0      e76c6e4f806e   About an hour ago   1.98GB
roskinetic-xenial            minimal   fcdda3d30808   3 hours ago         1.56GB
roskinetic-xenial            base      d22679ae8e50   3 hours ago         1.37GB
multiarch/qemu-user-static   latest    a217e72a8293   3 months ago        280MB
hello-world                  latest    a29f45ccde2a   15 months ago       9.14kB
aarch64/ubuntu               xenial    a7d1ddc47ced   3 years ago         110MB

Could you @sarahl solve your issue?

[modaltb]

Hi @Voxlady ,

I'm scratching my head on this one, I don't have anything helpful yet but will keep an eye out!

[sarahl]

@modaltb thanks so much! I was actually wondering if I needed something like buildx for the multi-arch building, but I couldn't get it to work with the Ubuntu version of docker. But this seemed to fix my previous issue, so I'll see how this goes. Just trying the first command for now without the COPY line.

@Voxlady I'll let you know if this fixes my issue. Haven't gotten to the OpenCV portion yet. I don't know what your disk storage constraints are on the raspberry pi, but I'm running on an amd64 Ubuntu 18.04 machine which hopefully will not run into storage issues. I noticed on the Voxl that what was taking up a lot of space was the docker overlays. I wonder if condensing all the dockerfiles into a single one would help (if you don't need all the intermediate images)?

[A Former User]

Hi @modaltb and @sarahl ,

Thank you for your messages. It took me some trial-and-error time but I finally solved the problem by reducing the number of Docker Files as well as images. Now, everything seems working again.

BR,
Ayberk

[modaltb]

Thanks for the update. We really appreciate the feedback and community response!

[sarahl]

@modaltb okay it finally built, but when I tried to load it onto the Voxl, it ran out of space. So now I'm trying to build a new version with fewer intermediate images and with opencl removed. Are there any other ways to make more space for docker?

@Voxlady were you able to load your roskinetic+opencv image to the Voxl? Did you use 4.2.0 or 3.4.6 or another opencv version?

[A Former User]

@sarahl,

Yes, I was able to load the image and even download additional packages in the container.

1. I merged two base files from Opencv/cl and kinetic. Moreover, I put everything that's in Dockerfile.opencv into Dockerfile.xenial-packages. So, in the end I didn't have any extra Opencv-cl file. I also disabled Opencl.

2. Most importantly, after I built roskinetic-xenial:v1.0, I deleted other two images base and minimal. I think that's okay to delete since no error or failure has occurred so far.

3. Last, I used some best practices suggested by Docker. Especially, for Dockerfile.xenial-base. See sorting multi-line arguments .

4. I think 3.4.6 version doesn't have a corresponding release in GitHub. So, ARG opencv_version=4.2.0 in Dockerfile.opencv assigns automatically. Therefore, I went with 4.2.0.

Hopefully it helps.
All the best

[sarahl]

@modaltb So I finally got the docker loaded, and also built cv_bridge and the camera ros driver. However, it doesn't seem to be reading in the camera (a FLIR). When I'm outside the docker, plugging in the device adds /dev/ttyACM0 and /dev/video2, the latter of which is used by the ros node. Is there something I need to do when running the docker to have access to the usb devices?

[modaltb]

@sarahl , here's an example of how we map and HDMI adapter into docker, not exactly the same but shows the usage:

Page not found

ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA

ModalAI Technical Docs (docs.modalai.com)

[sarahl]

@modaltb thanks, I actually tried something similar by mapping /dev to /dev, and also passing it in with the --device parameter, but I'll try this out! is there a reason it's mapped as /dev to /opt in here? Should the /dev directory not be used in the docker contained? I did notice when I plugged and unplugged the device and ran ls /dev, that the device list did not update.

[sarahl]

@modaltb actually I think it's working now, and I somehow didn't actually have to map the /dev port. Turns out I just had a typo in my launch file. Thanks again for all the help!

[sarahl]

@modaltb I wanted to send an update, I was able to build and run an Ubuntu 18.04 + ROS Melodic docker + OpenCV 4.2.0 (because some of my nodes weren't working on the ROS Kinetic docker), but did require using multi-line arguments as @Voxlady suggested to reduce the size enough to fit. It seems like the size constraints are somewhere around 2.7 GB virtual docker size, and stem from too many docker overlays. Is there anyway around that in case there is a need for larger docker images?

[modaltb]

Hi @sarahl , unfortunately I don't have a quick answer for this