Docker overhaul (princeton-vl#65)

Co-authored-by: datashaman <[email protected]>
Co-authored-by: David Yan <[email protected]>

Dockerfile

@@ -0,0 +1,40 @@
+ARG APP_IMAGE=continuumio/miniconda3
+FROM ${APP_IMAGE}
+ARG APP_IMAGE
+ENV PATH="/root/miniconda3/bin:${PATH}"
+RUN if [ "$APP_IMAGE" = "nvidia/cuda:12.0.0-devel-ubuntu22.04" ]; then \
+    echo "Using CUDA image" && \
+    apt-get update && \
+    apt-get install -y unzip sudo git g++ libglm-dev libglew-dev libglfw3-dev libgles2-mesa-dev zlib1g-dev wget cmake vim libxi6 libgconf-2-4 && \
+    wget \
+    https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh \
+    && mkdir /root/.conda \
+    && bash Miniconda3-latest-Linux-x86_64.sh -b \
+    && rm -f Miniconda3-latest-Linux-x86_64.sh; \
+else \
+    echo "Using Conda image" && \
+    apt-get update -yq \
+    && apt-get install -yq \
+        cmake \
+        g++ \
+        libgconf-2-4 \
+        libgles2-mesa-dev \
+        libglew-dev \
+        libglfw3-dev \
+        libglm-dev \
+        libxi6 \
+        sudo \
+        unzip \
+        vim \
+        zlib1g-dev; \
+fi
+
+RUN mkdir /opt/infinigen
+WORKDIR /opt/infinigen
+COPY . .
+RUN chmod +x worldgen/tools/compile_opengl.sh
+RUN conda init bash \
+    && . ~/.bashrc \
+    && conda create --name infinigen python=3.10 \
+    && conda activate infinigen \
+    && ./install.sh

Makefile

@@ -0,0 +1,103 @@
+DOCKER_BUILD_PROGRESS ?= auto
+DOCKER_TAG ?= infinigen_docker_img
+
+PWD = $(shell pwd)
+
+XSOCK=/tmp/.X11-unix
+XAUTH=/tmp/.docker.xauth
+
+default:
+
+docker-build:
+	git submodule init
+	git submodule update
+	docker build \
+		--tag $(DOCKER_TAG) \
+		--progress $(DOCKER_BUILD_PROGRESS) .
+
+docker-build-cuda:
+	git submodule init
+	git submodule update
+	docker build \
+		--tag $(DOCKER_TAG) \
+		--progress $(DOCKER_BUILD_PROGRESS) \
+		--build-arg APP_IMAGE=nvidia/cuda:12.0.0-devel-ubuntu22.04 .
+
+docker-clean:
+	echo "Removing infinigen docker image if already exists..."
+	-docker rmi -f $(DOCKER_TAG)
+
+docker-setup:
+	sudo apt-get install x11-xserver-utils \
+		&& touch ~/.Xauthority \
+		&& xauth add $(HOST):0 . $(shell xxd -l 16 -p /dev/urandom) \
+		&& touch "$(XAUTH)" \
+		&& xauth nlist "$(DISPLAY)" | sed -e 's/^..../ffff/' | xauth -f "$(XAUTH)" nmerge - \
+		&& xhost +local:docker
+
+docker-run:
+	docker run -td --privileged --net=host --ipc=host \
+		--name="infinigen" \
+		--gpus=all \
+		--env NVIDIA_DISABLE_REQUIRE=1 \
+		-e "BLENDER=/opt/infinigen/blender/blender" \
+		-e "DISPLAY=$(DISPLAY)" \
+		-e "QT_X11_NO_MITSHM=1" \
+		-v "/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+		-v $(PWD)/worldgen/outputs:/opt/infinigen/worldgen/outputs \
+		-e "XAUTHORITY=$(XAUTH)" \
+		-e ROS_IP=127.0.0.1 \
+		--cap-add=SYS_PTRACE \
+		-v /etc/group:/etc/group:ro \
+		"$(DOCKER_TAG)" /bin/bash \
+	|| docker run -td --privileged --net=host --ipc=host \
+		--name="infinigen" \
+		--device /dev/dri \
+		-e "BLENDER=/opt/infinigen/blender/blender" \
+		-e "DISPLAY=$(DISPLAY)" \
+		-e "QT_X11_NO_MITSHM=1" \
+		-v "/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+		-v $(PWD)/worldgen/outputs:/opt/infinigen/worldgen/outputs \
+		-e "XAUTHORITY=$(XAUTH)" \
+		-e ROS_IP=127.0.0.1 \
+		--cap-add=SYS_PTRACE \
+		-v /etc/group:/etc/group:ro \
+		"$(DOCKER_TAG)" bash
+
+	docker exec infinigen /bin/bash -c worldgen/tools/compile_opengl.sh
+
+docker-run-no-opengl:
+	echo "Launching Docker image without OpenGL ground truth"
+	docker run -td --rm --privileged --net=host --ipc=host \
+		--name="infinigen" \
+		--gpus=all \
+		--env NVIDIA_DISABLE_REQUIRE=1 \
+		-e "BLENDER=/opt/infinigen/blender/blender" \
+		-v $(PWD)/worldgen/outputs:/opt/infinigen/worldgen/outputs \
+		"$(DOCKER_TAG)" /bin/bash
+
+docker-run-no-gpu:
+	echo "Launching Docker image without GPU passthrough"
+	docker run -td --privileged --net=host --ipc=host \
+		--name="infinigen" \
+		-e "BLENDER=/opt/infinigen/blender/blender" \
+		-e "DISPLAY=$(DISPLAY)" \
+		-e "QT_X11_NO_MITSHM=1" \
+		-v "/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+		-v $(PWD)/worldgen/outputs:/opt/infinigen/worldgen/outputs \
+		-e "XAUTHORITY=$(XAUTH)" \
+		-e ROS_IP=127.0.0.1 \
+		--cap-add=SYS_PTRACE \
+		-v /etc/group:/etc/group:ro \
+		"$(DOCKER_TAG)" /bin/bash \
+
+	docker exec infinigen /bin/bash -c worldgen/tools/compile_opengl.sh
+
+docker-run-no-gpu-opengl:
+	echo "Launching Docker image without GPU passthrough or OpenGL"
+	docker run -td --rm --privileged --net=host --ipc=host \
+		--name="infinigen" \
+		-e "BLENDER=/opt/infinigen/blender/blender" \
+		-v $(PWD)/worldgen/outputs:/opt/infinigen/worldgen/outputs \
+		"$(DOCKER_TAG)" /bin/bash
+

docs/Installation.md

@@ -42,6 +42,22 @@ export BLENDER="/PATH/TO/infinigen/Blender.app/Contents/MacOS/Blender"
 
 **Docker on Linux**
 
+In `/infinigen/`
+```
+make docker-build
+make docker-setup
+make docker-run
+```
+To enable CUDA compilation, use `make docker-build-cuda` instead of `make docker-build`
+
+To run without GPU passthrough use `make docker-run-no-gpu`
+To run without OpenGL ground truth use `docker-run-no-opengl` 
+To run without either, use `docker-run-no-gpu-opengl` 
+
+Note: `make docker-setup` can be skipped if not using OpenGL.
+
+Use `exit` to exit the container and `docker exec -it infinigen bash` to re-enter the container as needed. Remember to `conda activate infinigen` before running scenes.
+
 **Docker on Windows**
 
 Install [WSL2](https://infinigen.org/docs/installation/intro#setup-for-windows) and [Docker Desktop](https://www.docker.com/products/docker-desktop/), with "Use the WSL 2 based engine..." enabled in settings. Keep the Docker Desktop application open while running containers. Then follow instructions as above.

install.sh

@@ -116,5 +116,5 @@ rm -rf build
 cd -
 
 if [ "$1" = "opengl" ]; then
-
+    bash ./worldgen/tools/compile_opengl.sh
 fi

worldgen/tools/compile_opengl.sh

@@ -0,0 +1,12 @@
+#!/bin/bash
+# Compile process_mesh (i.e. OpenGL-based ground truth)
+cd ./process_mesh
+cmake -S . -Bbuild -DCMAKE_C_COMPILER=/usr/bin/gcc -DCMAKE_BUILD_TYPE=Release
+cmake --build build --target all
+./build/process_mesh -in x -out x --height 100 --width 10 --frame 0
+if [ $? -eq 174 ]; then
+	echo "OpenGL/EGL ground truth is working."
+else
+	echo "WARNING: OpenGL/EGL is not supported on this machine. If you are running from a cluster head-node, this is likely not an issue."
+fi
+cd -