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chore: upgrade to opencv 4 #98

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chore: upgrade to opencv 4 #98

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e77bf72
chore: upgrade to opencv 4
guhur Aug 5, 2021
294d1af
update Dockerfile
guhur Aug 5, 2021
66f2687
Update Dockerfile
guhur Jul 7, 2022
f2649f3
Merge branch 'peteanderson80:master' into pr-opencv4
guhur Jul 7, 2022
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21 changes: 10 additions & 11 deletions Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -2,24 +2,23 @@
# Requires nvidia gpu with driver 396.37 or higher


FROM nvidia/cudagl:9.2-devel-ubuntu18.04
FROM nvidia/cudagl:11.0-devel-ubuntu20.04

# Install cudnn
ENV CUDNN_VERSION 7.6.4.38
LABEL com.nvidia.cudnn.version="${CUDNN_VERSION}"

ENV NV_CUDNN_VERSION 8.0.5.39
ENV NV_CUDNN_PACKAGE "libcudnn8=$NV_CUDNN_VERSION-1+cuda11.0"
ENV NV_CUDNN_PACKAGE_DEV "libcudnn8-dev=$NV_CUDNN_VERSION-1+cuda11.0"
ENV NV_CUDNN_PACKAGE_NAME "libcudnn8"
RUN apt-get update && apt-get install -y --no-install-recommends \
libcudnn7=$CUDNN_VERSION-1+cuda9.2 \
libcudnn7-dev=$CUDNN_VERSION-1+cuda9.2 \
&& \
apt-mark hold libcudnn7 && \
${NV_CUDNN_PACKAGE} \
${NV_CUDNN_PACKAGE_DEV} \
&& apt-mark hold ${NV_CUDNN_PACKAGE_NAME} && \
rm -rf /var/lib/apt/lists/*


# Install a few libraries to support both EGL and OSMESA options
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y wget doxygen curl libjsoncpp-dev libepoxy-dev libglm-dev libosmesa6 libosmesa6-dev libglew-dev libopencv-dev python-opencv python3-setuptools python3-dev python3-pip
RUN pip3 install opencv-python==4.1.0.25 torch==1.1.0 torchvision==0.3.0 numpy==1.13.3 pandas==0.24.1 networkx==2.2
RUN apt-get update && apt-get install -y wget doxygen curl libjsoncpp-dev libepoxy-dev libglm-dev libosmesa6 libosmesa6-dev libglew-dev libopencv-dev python3-setuptools python3-dev python3-pip
RUN pip3 install opencv-python==4.5.3.56 torch==1.4.0 torchvision numpy==1.21.1 pandas==1.3.1 networkx==2.2

#install latest cmake
ADD https://cmake.org/files/v3.12/cmake-3.12.2-Linux-x86_64.sh /cmake-3.12.2-Linux-x86_64.sh
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2 changes: 1 addition & 1 deletion src/lib/NavGraph.cpp
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Expand Up @@ -56,7 +56,7 @@ void NavGraph::Location::loadCubemapImages() {
}
if (includeDepth) {
// 16 bit grayscale images
cv::Mat depth = cv::imread(skyboxDir + viewpointId + "_skybox_depth_small.png", CV_LOAD_IMAGE_ANYDEPTH);
cv::Mat depth = cv::imread(skyboxDir + viewpointId + "_skybox_depth_small.png", cv::IMREAD_ANYDEPTH);
w = depth.cols/6;
h = depth.rows;
xposD = depth(cv::Rect(2*w, 0, w, h));
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2 changes: 1 addition & 1 deletion src/test/main.cpp
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Expand Up @@ -376,7 +376,7 @@ TEST_CASE( "RGB Image", "[Rendering]" ) {
auto imgfile = testcase["reference_image"].asString();
auto reference_image = cv::imread("webgl_imgs/"+imgfile);
auto state = sim.getState().at(n);
double err = cv::norm(reference_image, state->rgb, CV_L2);
double err = cv::norm(reference_image, state->rgb, cv::NORM_L2);
err /= reference_image.rows * reference_image.cols;
CHECK(err < 0.15);
// save for later comparison, these images can also be inspected by hand
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