search

dusty-nv / jetson-containers

Machine Learning Containers for NVIDIA Jetson and JetPack-L4T
MIT License
2.25k stars 459 forks source link

opencv is not working with foxy-base image #276

Closed JuanCarlos-TiqueRangel closed 1 year ago

JuanCarlos-TiqueRangel commented 1 year ago

Hello @dusty-nv I am working right now with a Jetson nano using the foxy-ros-base-l4t-r35.4.1 after the upgrade I got some issues and I saw that it is recommended to remove old versions with sudo apt-get purge -y '*opencv'. After doing this I got the next error

cv2.error: OpenCV(4.5.0) /opt/opencv/modules/highgui/src/window_gtk.cpp:624: error: (-2:Unspecified error) Can't initialize GTK backend in function 'cvInitSystem'

I tried to reinstall opencv and that wasn't work. This is my command to run the docker container sudo docker run --runtime nvidia -it --privileged -v /dev/bus/usb:/dev/bus/usb --network host --name windrobo --device-cgroup-rule='c 189:* rmw' -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix dustynv/ros:foxy-ros-base-l4t-r35.4.1 Do you know what my problem could be?

Thanks.

dusty-nv commented 1 year ago

@JuanCarlos-TiqueRangel are you on the original Jetson Nano, or Jetson Orin Nano? The original Jetson Nano uses JetPack 4 and doesn't run JetPack 5 containers (so you would use an r32.x.x container on the original Nano, depending on your version of L4T)

What does your cv2.getBuildInformation() show? This is mine, and it appears to be built with GTK enabled:

General configuration for OpenCV 4.5.0 =====================================
  Version control:               4.5.0

  Extra modules:
    Location (extra):            /opt/opencv_contrib/modules
    Version control (extra):     4.5.0

  Platform:
    Timestamp:                   2021-10-23T16:52:07Z
    Host:                        Linux 5.10.59-tegra aarch64
    CMake:                       3.16.3
    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++ standard:                11
    C++ Compiler:                /usr/bin/c++  (ver 9.3.0)
    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 -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -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 -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
    C Compiler:                  /usr/bin/cc
    C flags (Release):           -fsigned-char -W -Wall -Werror=return-type -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 -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -O3 -DNDEBUG  -DNDEBUG
    C flags (Debug):             -fsigned-char -W -Wall -Werror=return-type -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 -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
    Linker flags (Release):      -Wl,--gc-sections -Wl,--as-needed
    Linker flags (Debug):        -Wl,--gc-sections -Wl,--as-needed
    ccache:                      NO
    Precompiled headers:         NO
    Extra dependencies:          m pthread cudart_static dl rt nppc nppial nppicc nppidei nppif nppig nppim nppist nppisu nppitc npps cublas cudnn cufft -L/usr/local/cuda/lib64 -L/usr/lib/aarch64-linux-gnu
    3rdparty dependencies:

  OpenCV modules:
    To be built:                 alphamat aruco bgsegm bioinspired calib3d ccalib core cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev datasets dnn dnn_objdetect dnn_superres dpm face features2d flann freetype fuzzy gapi hfs highgui img_hash imgcodecs imgproc intensity_transform line_descriptor mcc ml objdetect optflow phase_unwrapping photo plot python3 quality rapid reg rgbd saliency shape stereo stitching structured_light superres surface_matching text tracking video videoio videostab xfeatures2d ximgproc xobjdetect xphoto
    Disabled:                    world
    Disabled by dependency:      -
    Unavailable:                 cnn_3dobj cvv hdf java js julia matlab ovis python2 sfm ts viz
    Applications:                apps
    Documentation:               NO
    Non-free algorithms:         YES

  GUI:
    GTK+:                        YES (ver 3.24.20)
      GThread :                  YES (ver 2.64.6)
      GtkGlExt:                  NO
    OpenGL support:              NO
    VTK support:                 NO

  Media I/O:
    ZLib:                        /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.11)
    JPEG:                        /usr/lib/aarch64-linux-gnu/libjpeg.so (ver 80)
    WEBP:                        build (ver encoder: 0x020f)
    PNG:                         /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.6.37)
    TIFF:                        build (ver 42 - 4.0.10)
    JPEG 2000:                   build (ver 2.3.1)
    OpenEXR:                     build (ver 2.3.0)
    HDR:                         YES
    SUNRASTER:                   YES
    PXM:                         YES
    PFM:                         YES

  Video I/O:
    DC1394:                      YES (2.2.5)
    FFMPEG:                      YES
      avcodec:                   YES (58.54.100)
      avformat:                  YES (58.29.100)
      avutil:                    YES (56.31.100)
      swscale:                   YES (5.5.100)
      avresample:                YES (4.0.0)
    GStreamer:                   YES (1.16.2)
    v4l/v4l2:                    YES (linux/videodev2.h)

  Parallel framework:            TBB (ver 2020.1 interface 11101)

  Trace:                         YES (with Intel ITT)

  Other third-party libraries:
    Lapack:                      YES (/usr/lib/aarch64-linux-gnu/liblapack.so /usr/lib/aarch64-linux-gnu/libcblas.so /usr/lib/aarch64-linux-gnu/libatlas.so)
    Eigen:                       YES (ver 3.3.7)
    Custom HAL:                  YES (carotene (ver 0.0.1))
    Protobuf:                    build (3.5.1)

  NVIDIA CUDA:                   YES (ver 11.4, CUFFT CUBLAS FAST_MATH)
    NVIDIA GPU arch:             72 87
    NVIDIA PTX archs:

  cuDNN:                         YES (ver 8.2.6)

  Python 3:
    Interpreter:                 /usr/bin/python3 (ver 3.8.10)
    Libraries:                   /usr/lib/aarch64-linux-gnu/libpython3.8.so (ver 3.8.10)
    numpy:                       /usr/lib/python3/dist-packages/numpy/core/include (ver 1.17.4)
    install path:                lib/python3.8/dist-packages/cv2/python-3.8

  Python (for build):            /usr/bin/python2.7

  Java:
    ant:                         NO
    JNI:                         NO
    Java wrappers:               NO
    Java tests:                  NO

  Install to:                    /usr/local
-----------------------------------------------------------------

Are you able to view any GUI window or GTK window from your container?

JuanCarlos-TiqueRangel commented 1 year ago

Hi @dusty-nv I am using the original Jetson Nano, so according to your last comment I pulled the container foxy-ros-base-l4t-r32.7.1 but unfortunately I got the same error.

This is what cv2.getBuildInformation() shows.

General configuration for OpenCV 4.5.0 =====================================
  Version control:               4.5.0

  Extra modules:
    Location (extra):            /opt/opencv_contrib/modules
    Version control (extra):     4.5.0

  Platform:
    Timestamp:                   2021-07-19T21:05:54Z
    Host:                        Linux 4.9.201-tegra aarch64
    CMake:                       3.10.2
    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++ standard:                11
    C++ Compiler:                /usr/bin/c++  (ver 7.5.0)
    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 -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -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 -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
    C Compiler:                  /usr/bin/cc
    C flags (Release):           -fsigned-char -W -Wall -Werror=return-type -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 -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -O3 -DNDEBUG  -DNDEBUG
    C flags (Debug):             -fsigned-char -W -Wall -Werror=return-type -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 -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
    Linker flags (Release):      -Wl,--gc-sections -Wl,--as-needed  
    Linker flags (Debug):        -Wl,--gc-sections -Wl,--as-needed  
    ccache:                      NO
    Precompiled headers:         NO
    Extra dependencies:          m pthread cudart_static dl rt nppc nppial nppicc nppicom nppidei nppif nppig nppim nppist nppisu nppitc npps cublas cudnn cufft -L/usr/local/cuda/lib64 -L/usr/lib/aarch64-linux-gnu
    3rdparty dependencies:

  OpenCV modules:
    To be built:                 alphamat aruco bgsegm bioinspired calib3d ccalib core cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev datasets dnn dnn_objdetect dnn_superres dpm face features2d flann freetype fuzzy gapi hfs highgui img_hash imgcodecs imgproc intensity_transform line_descriptor mcc ml objdetect optflow phase_unwrapping photo plot python3 quality rapid reg rgbd saliency shape stereo stitching structured_light superres surface_matching text tracking video videoio videostab xfeatures2d ximgproc xobjdetect xphoto
    Disabled:                    world
    Disabled by dependency:      -
    Unavailable:                 cnn_3dobj cvv hdf java js julia matlab ovis python2 sfm ts viz
    Applications:                apps
    Documentation:               NO
    Non-free algorithms:         YES

  GUI: 
    GTK+:                        YES (ver 3.22.30)
      GThread :                  YES (ver 2.56.4)
      GtkGlExt:                  NO
    OpenGL support:              NO
    VTK support:                 NO

  Media I/O: 
    ZLib:                        /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.11)
    JPEG:                        /usr/lib/aarch64-linux-gnu/libjpeg.so (ver 80)
    WEBP:                        build (ver encoder: 0x020f)
    PNG:                         /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.6.34)
    TIFF:                        build (ver 42 - 4.0.10)
    JPEG 2000:                   build (ver 2.3.1)
    OpenEXR:                     build (ver 2.3.0)
    HDR:                         YES
    SUNRASTER:                   YES
    PXM:                         YES
    PFM:                         YES

  Video I/O:
    DC1394:                      YES (2.2.5)
    FFMPEG:                      YES
      avcodec:                   YES (57.107.100)
      avformat:                  YES (57.83.100)
      avutil:                    YES (55.78.100)
      swscale:                   YES (4.8.100)
      avresample:                YES (3.7.0)
    GStreamer:                   YES (1.14.5)
    v4l/v4l2:                    YES (linux/videodev2.h)

  Parallel framework:            TBB (ver 2017.0 interface 9107)

  Trace:                         YES (with Intel ITT)

  Other third-party libraries:
    Lapack:                      YES (/usr/lib/aarch64-linux-gnu/liblapack.so /usr/lib/aarch64-linux-gnu/libcblas.so /usr/lib/aarch64-linux-gnu/libatlas.so)
    Eigen:                       YES (ver 3.3.4)
    Custom HAL:                  YES (carotene (ver 0.0.1))
    Protobuf:                    build (3.5.1)

  NVIDIA CUDA:                   YES (ver 10.2, CUFFT CUBLAS FAST_MATH)
    NVIDIA GPU arch:             53 62 72
    NVIDIA PTX archs:

  cuDNN:                         YES (ver 8.0.0)

  Python 3:
    Interpreter:                 /usr/bin/python3 (ver 3.6.9)
    Libraries:                   /usr/lib/aarch64-linux-gnu/libpython3.6m.so (ver 3.6.9)
    numpy:                       /usr/lib/python3/dist-packages/numpy/core/include (ver 1.13.3)
    install path:                lib/python3.6/dist-packages/cv2/python-3.6

  Python (for build):            /usr/bin/python2.7

  Java:                          
    ant:                         NO
    JNI:                         NO
    Java wrappers:               NO
    Java tests:                  NO

  Install to:                    /usr/local
-----------------------------------------------------------------

As well as you I have the GTK enabled but I am still with the error. Also when I tried to display a picture with imagemagick I got display-im6.q16: unable to open X server 'localhost:11.0' @ error/display.c/DisplayImageCommand/432. but I added the $DISPLAY and the other commands when I ran the container.

dusty-nv commented 1 year ago

@JuanCarlos-TiqueRangel did you try running sudo xhost +si:localuser:root first before you launched the container?

Here are the flags I run/add when enabling display in container:

https://github.com/dusty-nv/jetson-containers/blob/e46bea804ae31a95485e4ff97e10ea7ba0cd8dc7/run.sh#L16

JuanCarlos-TiqueRangel commented 1 year ago

@dusty-nv after follow your instructions about the sudo xhost +si:localuser:root and I added the flags so, the run command is the next:

sudo docker run --runtime nvidia -it \
    --privileged \
    -v /dev/bus/usb:/dev/bus/usb \
    --network host --name windrobo \
    --device-cgroup-rule='c 189:* rmw' \
    -e DISPLAY=$DISPLAY \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -v $XAUTH:$XAUTH \
    -e XAUTHORITY=$XAUTH \
    --env="QT_X11_NO_MITSHM=1" \
    dustynv/ros:foxy-ros-base-l4t-r32.7.1 \

I was into the container and I updated and upgraded it then I restarted the container and when I tried to start the container I got the next error:

Error response from daemon: failed to create shim task: OCI runtime create failed: runc create failed: unable to start container process: error during container init: error mounting "/tmp/.docker.xauth" to rootfs at "/tmp/.docker.xauth": mount /tmp/.docker.xauth:/tmp/.docker.xauth (via /proc/self/fd/7), flags: 0x5000: not a directory: unknown: Are you trying to mount a directory onto a file (or vice-versa)? Check if the specified host path exists and is the expected type

Do you know what I did wrong ?

JuanCarlos-TiqueRangel commented 1 year ago

@dusty-nv update about this issue. After doing research about the problem I got that to fix it is necessary to remove the old Xauthority data. However, I used your run.sh file and now I got this error

Error response from daemon: failed to create shim task: OCI runtime create failed: runc create failed: unable to start container process: error during container init: error mounting "/tmp/nv_jetson_model" to rootfs at "/tmp/nv_jetson_model": mount /tmp/nv_jetson_model:/tmp/nv_jetson_model (via /proc/self/fd/7), flags: 0x5000: not a directory: unknown: Are you trying to mount a directory onto a file (or vice-versa)? Check if the specified host path exists and is the expected type

Maybe Do you know what is the problem ? Thank you for your time and help in this matter. Sorry to bother you with this case.

dusty-nv commented 1 year ago

@JuanCarlos-TiqueRangel cat /proc/device-tree/model > /tmp/nv_jetson_model should have been run by run.sh here:

https://github.com/dusty-nv/jetson-containers/blob/02fa7dcb3cc97efb5818ab5789aaa1a6a999829b/run.sh#L45C2-L45C52

Can you try running that?

It's done like that because /proc files can't be mounted

JuanCarlos-TiqueRangel commented 1 year ago

@dusty-nv hi, Thanks for your asnwer. This is my run.sh

#!/usr/bin/env bash
# pass-through commands to 'docker run' with some defaults
# https://docs.docker.com/engine/reference/commandline/run/
ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"

# check for V4L2 devices
V4L2_DEVICES=""

for i in {0..9}
do
    if [ -a "/dev/video$i" ]; then
        V4L2_DEVICES="$V4L2_DEVICES --device /dev/video$i "
    fi
done

# check for display
DISPLAY_DEVICE=""

if [ -n "$DISPLAY" ]; then
    # give docker root user X11 permissions
    sudo xhost +si:localuser:root

    # enable SSH X11 forwarding inside container (https://stackoverflow.com/q/48235040)
    XAUTH=/tmp/.docker.xauth
    xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
    chmod 777 $XAUTH

    DISPLAY_DEVICE="-e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix -v $XAUTH:$XAUTH -e XAUTHORITY=$XAUTH"
fi

# check if sudo is needed
if id -nG "$USER" | grep -qw "docker"; then
    SUDO=""
else
    SUDO="sudo"
fi

# run the container
ARCH=$(uname -i)

if [ $ARCH = "aarch64" ]; then

    # this file shows what Jetson board is running
    # /proc or /sys files aren't mountable into docker
    cat /proc/device-tree/model > /tmp/nv_jetson_model

    set -x

    $SUDO docker run --runtime nvidia -it --rm --network host \
        --volume /tmp/argus_socket:/tmp/argus_socket \
        --volume /etc/enctune.conf:/etc/enctune.conf \
        --volume /etc/nv_tegra_release:/etc/nv_tegra_release \
        --volume /tmp/nv_jetson_model:/tmp/nv_jetson_model \
        --volume $ROOT/data:/data \
        --device /dev/snd \
        --device /dev/bus/usb \
        $DATA_VOLUME $DISPLAY_DEVICE $V4L2_DEVICES \
        "$@"

elif [ $ARCH = "x86_64" ]; then

    set -x

    $SUDO docker run --gpus all -it --rm --network=host \
        --shm-size=8g \
        --ulimit memlock=-1 \
        --ulimit stack=67108864 \
        --env NVIDIA_DRIVER_CAPABILITIES=all \
        --volume $ROOT/data:/data \
        $DATA_VOLUME $DISPLAY_DEVICE $V4L2_DEVICES \
        "$@"    
fi

As you see, I deleted the --rm flag because I want to continue using the container. But when I ran sudo docker start <container_name> I got the error 

Error response from daemon: failed to create shim task: OCI runtime create failed: runc create failed: unable to start container process: error during container init: error mounting "/tmp/nv_jetson_model" to rootfs at "/tmp/nv_jetson_model": mount /tmp/nv_jetson_model:/tmp/nv_jetson_model (via /proc/self/fd/7), flags: 0x5000: not a directory: unknown: Are you trying to mount a directory onto a file (or vice-versa)? Check if the specified host path exists and is the expected type

So having that in mind, What can I do to avoid this error and still have my container ?

dusty-nv commented 1 year ago

@JuanCarlos-TiqueRangel remove the --volume /tmp/nv_jetson_model:/tmp/nv_jetson_model line from run.sh

JuanCarlos-TiqueRangel commented 1 year ago

Hi @dusty-nv I followed some of your advices in this issue #212. However, after the reboot I got the next error again:

cv2.imshow(window_name, image)
cv2.error: OpenCV(4.5.0) /opt/opencv/modules/highgui/src/window_gtk.cpp:624: error: (-2:Unspecified error) Can't initialize GTK backend in function 'cvInitSystem'

this is my run.sh file


#!/usr/bin/env bash
# pass-through commands to 'docker run' with some defaults
# https://docs.docker.com/engine/reference/commandline/run/
ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"

# check for V4L2 devices
V4L2_DEVICES=""

for i in {0..9}
do
        if [ -a "/dev/video$i" ]; then
                V4L2_DEVICES="$V4L2_DEVICES --device /dev/video$i "
        fi
done

# check for display
DISPLAY_DEVICE=""

if [ -n "$DISPLAY" ]; then
        # give docker root user X11 permissions
        sudo xhost +si:localuser:root

        # enable SSH X11 forwarding inside container (https://stackoverflow.com/q/48235040)
        XAUTH=/home/windrobo/Documents/docker_xauth/.docker.xauth
        xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
        chmod 777 $XAUTH

        DISPLAY_DEVICE="-e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix -v $XAUTH:$XAUTH -e XAUTHORITY=$XAUTH"
fi

# check if sudo is needed
if id -nG "$USER" | grep -qw "docker"; then
        SUDO=""
else
        SUDO="sudo"
fi

# run the container
ARCH=$(uname -i)

if [ $ARCH = "aarch64" ]; then

        # this file shows what Jetson board is running
        # /proc or /sys files aren't mountable into docker
        cat /proc/device-tree/model > /tmp/nv_jetson_model

        set -x

        $SUDO docker run --runtime nvidia -it --name windrobo --network host \
                --env="QT_X11_NO_MITSHM=1" \
                --volume /tmp/argus_socket:/tmp/argus_socket \
                --volume /etc/enctune.conf:/etc/enctune.conf \
                --volume /etc/nv_tegra_release:/etc/nv_tegra_release \
                --volume $ROOT/data:/data \
                --device /dev/snd \
                --device /dev/bus/usb \
                $DATA_VOLUME $DISPLAY_DEVICE $V4L2_DEVICES \
                "$@"

elif [ $ARCH = "x86_64" ]; then

        set -x

        $SUDO docker run --gpus all -it --network=host \
                --shm-size=8g \
                --ulimit memlock=-1 \
                --ulimit stack=67108864 \
                --env NVIDIA_DRIVER_CAPABILITIES=all \
                --volume $ROOT/data:/data \
                $DATA_VOLUME $DISPLAY_DEVICE $V4L2_DEVICES \
                "$@"    
fi

At this point I do not know what I am doing wrong. Do yow know what could be the problem ?

dusty-nv commented 1 year ago

@JuanCarlos-TiqueRangel at this point, are you able to display other GUI windows within container, like other GTK GUI apps, GEdit, XTerm, imagemagik, ect?

JuanCarlos-TiqueRangel commented 1 year ago

@dusty-nv No I cannot. After reboot the system, if I want to use OpenCV I got this:

cv2.imshow(window_name, image)
cv2.error: OpenCV(4.5.0) /opt/opencv/modules/highgui/src/window_gtk.cpp:624: error: (-2:Unspecified error) Can't initialize GTK backend in function 'cvInitSystem'

And if I want to use imagemagik, I got the next error after run display image.jpg:

X11 connection rejected because of wrong authentication.
display-im6.q16: unable to open X server `localhost:10.0' @ error/display.c/DisplayImageCommand/432.

Maybe you know what is the problem ? I think is something with the flags but to be honest I do not know exactly what to do in this case.

dusty-nv commented 1 year ago

Honestly the X11-in-container troubleshooting always baffled me too. Try it with nvcr.io/nvidia/l4t-jetpack:r35.4.1 too

JuanCarlos-TiqueRangel commented 1 year ago

Hi @dusty-nv the same problem. This first time works good but after reboot the system I got the error 

cv2.imshow(window_name, image)
cv2.error: OpenCV(4.5.0) /opt/opencv/modules/highgui/src/window_gtk.cpp:624: error: (-2:Unspecified error) Can't initialize GTK backend in function 'cvInitSystem'

Maybe do you have some advice about how to fix this ? It is taking me more time that I thought

dusty-nv commented 1 year ago

This first time works good but after reboot the system I got the error

Ahh okay, my guess is this is related to you removing the --rm and wanting to restart the same container, and potentially the -v /tmp/.X11-unix/:/tmp/.X11-unix file changing after reboot since it's in /tmp. I see you already changed the XAUTH file to not be in /tmp anymore.

It doesn't seem possible/supported to add a mount dynamically after the container is started: https://stackoverflow.com/questions/28302178/how-can-i-add-a-volume-to-an-existing-docker-container

TBH, I'm not sure how to fix it without starting new container after reboot, I'm sorry :/

JuanCarlos-TiqueRangel commented 1 year ago

Hello @dusty-nv After doing research about the containers with docker I realize that creating a container for a long term is bad practice. The solution for this issue is first install the necessary packages in the Dockerfile and then mount a volume that has the file that I need in my local and host. Is basically add the next line in the docker run command:

--volume $ROOT/ros2_ws/src:/root/ros2_ws/src \

Thank you for your time and help here.

dusty-nv commented 1 year ago

Yea, making your own Dockerfile is preferred because then you can re-build in an automated way whenever necessary. Otherwise you can save changes that you made by hand using docker commit