Add build script and devcontainer configurations for VIO development
This commit is contained in:
EricX-Zhao
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#!/bin/bash
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set -x
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# ./build.sh -t DESKTOP -p "vins_estimator" -b RelWithDebInfo
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# ./build.sh -t RK3588 -p "depthai_examples" -b RelWithDebInfo
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# ./build.sh -t DESKTOP -p "device_manager" -b RelWithDebInfo
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# ./build.sh -t RK3588 -p "depthai_examples vins_estimator" -b Release
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# ./build.sh -t RK3588 -p "svo_ros" -b Release
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# ./build.sh -t DESKTOP -p "ov_core ov_init ov_msckf" -b RelWithDebInfo -l 1
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# export WORKSPACE="$(dirname "$(realpath "$BASH_SOURCE")")"
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# export WORKSPACE="$(realpath "$BASH_SOURCE")"
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export WORKSPACE="$(dirname "$0")"
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TARGET_PLATFORM=""
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BUILD_TYPE=Release
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PACKAGE_UP_TO=""
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TOOLCHAIN_FILE=""
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INSTALL_METHOD="--merge-install"
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CMAKE_FORCE_CONFIG=""
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CMAKE_ARGS='-DBUILD_TESTING=OFF
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-DDEPTHAI_ENABLE_CURL=OFF
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-DBUILD_SHARED_LIBS=ON
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-DCMAKE_POSITION_INDEPENDENT_CODE=ON'
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# if number of arguments is less than 2, add -h to list of args
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if [ $# -lt 2 ]; then
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set -- "$@" -h
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fi
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usage() {
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echo "Usage: build.bash [-h] [-b <build_type>] -t <target_platform> -p <package> [-c] "
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echo "Options:"
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echo " -h : show this help text"
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echo " -b <build_type> : build type to use (default is RelWithDebInfo for platform=PC and Release for others)"
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echo " -t <target> : platform to build for (DESKTOP/RK3588)"
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echo " -p : Build select package"
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echo " -c : Do a clean build"
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echo " -f : Force cmake configure"
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exit 0
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}
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# Parse the build options.
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while getopts ":hb:t:p:m:f:d:l:c" opt; do
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case $opt in
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h) usage;;
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b) BUILD_TYPE="$OPTARG";;
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t) TARGET_PLATFORM="$OPTARG";;
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p) PACKAGE_UP_TO="--packages-up-to $OPTARG";;
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d) PRODUCT="$OPTARG";;
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c) CLEAN_BUILD="true";;
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f) CMAKE_FORCE_CONFIG="--cmake-force-configure";;
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l) INSTALL_METHOD='--symlink-install';;
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?) usage;;
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esac
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done
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if [[ "${TARGET_PLATFORM}" = "" ]]; then
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echo "Please specify the platform to build for"
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exit 1
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fi
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CMAKE_ARGS+=" -DCMAKE_EXPORT_COMPILE_COMMANDS=ON "
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if [[ "${BUILD_TYPE}" = "" ]];then
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if [[ "${TARGET_PLATFORM}" = "PC" ]]; then
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BUILD_TYPE=RelWithDebInfo
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else
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BUILD_TYPE=Release
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fi
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fi
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CMAKE_ARGS+=" -DCMAKE_BUILD_TYPE=${BUILD_TYPE}"
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if [[ ${CLEAN_BUILD} = "true" ]]; then
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rm -rf ${WORKSPACE}/output/${TARGET_PLATFORM}
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fi
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if [[ "${TARGET_PLATFORM}" = "RK3588" ]]; then
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# in rk3588_dev container
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TOOLCHAIN_FILE=/opt/cmake/rk3588.toolchain.cmake
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CMAKE_ARGS+=" -DCMAKE_TOOLCHAIN_FILE=${TOOLCHAIN_FILE}"
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export ARM_ARCHITECTURE=arm64
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fi
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export TARGET=${TARGET_PLATFORM}
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INSTALL_DIR=${WORKSPACE}/output/${TARGET_PLATFORM}/install
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BUILD_DIR=${WORKSPACE}/output/${TARGET_PLATFORM}/build
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LOG_DIR=${WORKSPACE}/output/${TARGET_PLATFORM}/log
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# CMAKE_ARGS+=" -DCMAKE_FIND_USE_CMAKE_SYSTEM_PATH=OFF"
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CMAKE_ARGS+=" -DCMAKE_EXE_LINKER_FLAGS="-Wl,-rpath-link,/workspace/output/RK3588/install/lib""
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echo "TARGET: ${TARGET_PLATFORM}"
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echo "TOOLCHAIN_FILE: ${TOOLCHAIN_FILE}"
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echo "PACKAGE_UP_TO: ${PACKAGE_UP_TO}"
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MAKEFLAGS="-j8" colcon --log-base ${LOG_DIR} build \
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--build-base ${BUILD_DIR} \
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--install-base ${INSTALL_DIR} \
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--parallel-workers 8 \
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${INSTALL_METHOD} \
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${PACKAGE_UP_TO} \
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${CMAKE_FORCE_CONFIG} \
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--cmake-args \
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--no-warn-unused-cli \
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${CMAKE_ARGS}
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if [ $? -eq 0 ]; then
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mkdir -p "${INSTALL_DIR}"
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echo "Build: $(date "+%Y-%m-%d %H:%M:%S")" > "${INSTALL_DIR}/version"
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fi
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@@ -0,0 +1,33 @@
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services:
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pc-dev-base:
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# image: sim_dev:gz_harmonic
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# container_name: ${PROJECT}-pc-dev
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runtime: nvidia # 启用 NVIDIA GPU 支持
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stdin_open: true # 保持标准输入打开
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tty: true # 分配一个伪终端
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privileged: true # 特权模式，允许访问所有 /dev 设备
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extra_hosts:
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- "host.docker.internal:host-gateway"
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environment:
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- DISPLAY=${DISPLAY}
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- NVIDIA_DRIVER_CAPABILITIES=all
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volumes:
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- /dev/dri:/dev/dri
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# - ${WORKSPACE}:/workspace
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# - ${DATASET}:/dataset
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- /tmp/.X11-unix:/tmp/.X11-unix
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deploy:
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resources:
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reservations:
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devices:
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- driver: nvidia
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count: all
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capabilities: [gpu]
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rk3588-dev-base:
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image: rk3588_dev:jazzy
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# container_name: ${PROJECT}-rk3588-dev
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stdin_open: true # 保持标准输入打开
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tty: true # 分配一个伪终端
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# volumes:
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# - ${WORKSPACE}:/workspace
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@@ -0,0 +1,34 @@
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{
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"name": "VIO Dev Container",
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"dockerComposeFile": [
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"vio.yaml"
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],
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"service": "vio-dev",
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"runServices": [
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"vio-dev"
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],
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"workspaceFolder": "/workspace",
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"mounts": [
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"source=${localWorkspaceFolder},target=/workspace,type=bind",
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"source=/mnt/d/dataset,target=/dataset,type=bind"
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],
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"shutdownAction": "none",
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"containerEnv": {
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"http_proxy": "http://host.docker.internal:7897",
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"https_proxy": "http://host.docker.internal:7897",
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"no_proxy": "localhost,127.0.0.1"
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},
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"customizations": {
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"vscode": {
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"extensions": [
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"ms-python.python",
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"llvm-vs-code-extensions.vscode-clangd",
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"twxs.cmake"
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]
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}
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},
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"remoteUser": "root"
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}
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@@ -0,0 +1,8 @@
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name: vio-dev
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services:
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vio-dev:
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extends:
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file: ../common.yaml
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service: pc-dev-base
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image: sim_dev:gz_harmonic
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container_name: vio-dev-pc
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