Dockerfile.jetson-agx-orin-devkit

FROM balenalib/jetson-agx-orin-devkit-ubuntu:focal-run-20221215

WORKDIR /usr/src/app

#OpenDataCam 3.0.2

ENV DEBIAN_FRONTEND noninteractive

# Install CUDA, CUDA compiler and some utilities
RUN \
    apt-get update && apt-get install -y nvidia-l4t-cuda nvidia-cuda \
    nvidia-cuda-dev libcudnn8 libcudnn8-dev \
    lbzip2 git wget unzip jq \
    cmake build-essential wget unzip \
    libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev \
    libwebp-dev libtbb2 libtbb-dev \
    libgstreamer1.0-dev \
    libgstreamer-plugins-base1.0-dev \
    gstreamer1.0-plugins-good \
    libjpeg-dev \
    libpng-dev \
    libtiff-dev \
    libdc1394-22-dev -y --no-install-recommends && \
    echo "/usr/lib/aarch64-linux-gnu/tegra" > /etc/ld.so.conf.d/nvidia-tegra.conf && \
    ldconfig && \
    wget https://github.com/opencv/opencv/archive/4.5.1.zip && \
    unzip 4.5.1.zip && rm 4.5.1.zip

# Set paths
ENV CUDA_HOME=/usr/local/cuda-11.4
ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${CUDA_HOME}/lib64
ENV PATH=${CUDA_HOME}/bin:${PATH}
ENV PKG_CONFIG_PATH=/usr/local/lib/pkgconfig

# Download and install BSP binaries for L4T 35.1
RUN \
    apt-get update && apt-get install -y tar binutils xz-utils zstd && \
    cd /tmp/ && wget https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/release/jetson_linux_r35.1.0_aarch64.tbz2 && \
    tar xf jetson_linux_r35.1.0_aarch64.tbz2 && \
    cd Linux_for_Tegra && \
    sed -i 's/config.tbz2\"/config.tbz2\" --exclude=etc\/hosts --exclude=etc\/hostname/g' apply_binaries.sh && \
    sed -i 's/install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/#install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/g' nv_tegra/nv-apply-debs.sh && \
    sed -i 's/chroot . \//  /g' nv_tegra/nv-apply-debs.sh && \
    ./apply_binaries.sh -r / --target-overlay && cd .. \
    rm -rf Linux_for_Tegra && \
    echo "/usr/lib/aarch64-linux-gnu/tegra" > /etc/ld.so.conf.d/nvidia-tegra.conf && ldconfig

# Download and install OpenCV 4.5.1    
RUN \
    wget https://github.com/opencv/opencv_contrib/archive/4.5.1.zip -O opencv_modules.4.5.1.zip && \
    unzip opencv_modules.4.5.1.zip && rm opencv_modules.4.5.1.zip && \
    mkdir -p opencv-4.5.1/build && cd opencv-4.5.1/build && \
    cmake -D WITH_CUDA=ON -D CUDA_ARCH_BIN="5.3"  -D BUILD_LIST=cudev,highgui,videoio,cudaimgproc,ximgproc -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.5.1/modules -D CUDA_ARCH_PTX="" -D WITH_GSTREAMER=ON -D WITH_LIBV4L=ON -D BUILD_TESTS=ON -D BUILD_PERF_TESTS=ON -D BUILD_SAMPLES=ON -D BUILD_EXAMPLES=ON -D CMAKE_BUILD_TYPE=RELEASE -D WITH_GTK=on -D BUILD_DOCS=OFF -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_GENERATE_PKGCONFIG=YES .. && make -j32 && make install && \
    rm -rf /usr/src/app/opencv_contrib-4.5.1
  
WORKDIR /

# Download and build Darknet
RUN \
  git clone https://github.com/AlexeyAB/darknet.git

WORKDIR /darknet

COPY ./Makefile.jetson-agx-orin-devkit ./Makefile

RUN make && ldconfig

# get weights and cfg for yolov4/yolov4-tiny
RUN wget https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v4_pre/yolov4-tiny.weights --no-check-certificate > /dev/null 2>&1 && \
    wget https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights --no-check-certificate > /dev/null 2>&1
    
COPY ./yolov4-416x416.cfg /darknet/cfg/yolov4-416x416.cfg

# Download and install OpenDataCam
#  first install node.js
RUN \
  curl -sL https://deb.nodesource.com/setup_12.x | sudo -E bash - && \
  apt-get install -y nodejs

RUN \
  git clone --depth 1 https://github.com/opendatacam/opendatacam.git  /var/local/opendatacam

WORKDIR /var/local/opendatacam

RUN \
  npm install && \
  npm run build

EXPOSE 8080 8070 8090
COPY config.jetson-agx-orin-devkit config.bak

COPY launch.sh launch.sh
RUN chmod 777 launch.sh
CMD ["./launch.sh"]