Improvements for better portability

Dockerfile_noetic_3dmr

@@ -36,6 +36,7 @@ RUN touch ~/.gitconfig && touch ~/.ssh/known_hosts
 RUN git config --global user.name "${user}"
 RUN git config --global user.email "${user}@${user}.com"
 RUN git config --global http.proxy ""
+RUN sudo git config --system --add safe.directory '*' # to avoid "detected dubious ownership" error
 
 # Install 3dmr
 WORKDIR /tmp

Dockerfile_pyslam

@@ -47,6 +47,7 @@ libudev-dev
 # pyslam stuff 
 RUN apt-get install -y rsync python3-sdl2 python3-tk \
     libprotobuf-dev libeigen3-dev libopencv-dev libsuitesparse-dev libglew-dev
+RUN apt-get install -y libhdf5-dev    # needed when building h5py wheel from src is required (arm64)
 
 ################################
 
@@ -103,6 +104,7 @@ RUN touch ~/.gitconfig && touch ~/.ssh/known_hosts
 RUN git config --global user.name "${user}"
 RUN git config --global user.email "${user}@${user}.com"
 RUN git config --global http.proxy ""
+RUN sudo git config --system --add safe.directory '*' # to avoid "detected dubious ownership" error
 
 # Install pyslam
 WORKDIR ${home}

Dockerfile_pyslam_cuda

@@ -48,6 +48,7 @@ libudev-dev
 # pyslam stuff 
 RUN apt-get install -y rsync python3-sdl2 python3-tk \
     libprotobuf-dev libeigen3-dev libopencv-dev libsuitesparse-dev libglew-dev
+RUN apt-get install -y libhdf5-dev   # needed when building h5py wheel from src is required (arm64)
 
 ################################
 
@@ -104,6 +105,7 @@ RUN touch ~/.gitconfig && touch ~/.ssh/known_hosts
 RUN git config --global user.name "${user}"
 RUN git config --global user.email "${user}@${user}.com"
 RUN git config --global http.proxy ""
+RUN sudo git config --system --add safe.directory '*' # to avoid "detected dubious ownership" error
 
 # Install pyslam
 WORKDIR ${home}

bash_utils.sh

@@ -26,6 +26,13 @@ function extract_version(){
 }
 
 function get_current_nvidia_driver_version(){
+    # check if nvidia-smi is installed
+    if ! command -v nvidia-smi &> /dev/null
+    then
+        echo ""
+        return
+    fi
+
     NVIDIA_DRIVER_STRING=$(nvidia-smi --query-gpu=driver_version --format=csv,noheader)
     NVIDIA_DRIVER_VERSION=$(extract_version "$NVIDIA_DRIVER_STRING")
     echo "$NVIDIA_DRIVER_VERSION"

build.sh

@@ -18,6 +18,19 @@ source config.sh
 echo building container $CONTAINER_NAME with $DOCKER_FILE
 sleep 1
 
+TIMEZONE=""
+case "$OSTYPE" in
+  darwin*)
+    TIMEZONE=$(sudo systemsetup -gettimezone | sed 's/^Time Zone: //')
+    ;;
+  linux*)
+    TIMEZONE=$(cat /etc/timezone)
+    ;;
+  *)
+    echo "";
+    ;;
+esac
+
 # Build the docker image (update the nvidia driver version if needed)
 docker build -f "$DOCKER_FILE" --rm\
   --build-arg user=$USER\
@@ -27,5 +40,5 @@ docker build -f "$DOCKER_FILE" --rm\
   --build-arg shell=$SHELL\
   --build-arg nvidia_driver_version="$NVIDIA_DRIVER_VERSION"\
   --build-arg container_name=$CONTAINER_NAME\
-  --build-arg timezone=$(cat /etc/timezone)\
+  --build-arg timezone=$TIMEZONE\
   -t $CONTAINER_NAME .

config.sh

@@ -26,7 +26,9 @@ echo USE_LOCAL_HOME_FOLDER: $USE_LOCAL_HOME_FOLDER
 # $ nvidia-smi --query-gpu=driver_version --format=csv,noheader
 # The following variable is automatically set and must correctly reflect the currently used nvidia driver
 export NVIDIA_DRIVER_VERSION=$(get_current_nvidia_driver_version)
-echo Using NVIDIA DRIVER: $NVIDIA_DRIVER_VERSION
+if [[ "${NVIDIA_DRIVER_VERSION}" != "" ]]; then
+    echo Using NVIDIA DRIVER: $NVIDIA_DRIVER_VERSION
+fi 
 
 # Set default container name if it wasn't set up
 if [[ -z "${CONTAINER_NAME}" ]]; then

run.sh

@@ -37,6 +37,30 @@ if [ ! -f $XAUTH ]; then
     chmod a+r $XAUTH
 fi
 
+DISPLAY_OPTIONS=""
+if [[ "$OSTYPE" == "darwin"* ]]; then
+    # allow access from localhost (from https://medium.com/@mreichelt/how-to-show-x11-windows-within-docker-on-mac-50759f4b65cb)
+    echo "Starting XQuartz and allowing access to it..."
+    # NOTE: from https://gist.github.com/cschiewek/246a244ba23da8b9f0e7b11a68bf3285?permalink_comment_id=4198715 
+    # 1. Install XQuartz: https://www.xquartz.org/
+    #   brew install --cask xquartz 
+    # 2. Launch XQuartz. Under the XQuartz menu, select Preferences
+    # 3. Go to the security tab and ensure "Allow connections from network clients" is checked.
+    open -a XQuartz 
+    xhost + $(hostname)
+    touch $XAUTH
+
+    #DISPLAY_OPTIONS="$(hostname):0"
+    DISPLAY_OPTIONS=host.docker.internal:0
+
+    # NOTE: you may need to run this inside docker: 
+    echo You may need to run the following command inside docker:
+    echo "  export LIBGL_ALWAYS_INDIRECT=1"
+fi  
+if [[ "$OSTYPE" == "linux"* ]]; then 
+    DISPLAY_OPTIONS=$DISPLAY
+fi 
+
 # N.B.: 
 # -v is used to map folders and files from your_os::src to docker_container::dst  (!if you do not map them, yo do not see them!)
 
@@ -45,7 +69,7 @@ if [ "$(docker ps -a | grep ${CONTAINER_NAME})" ]; then
     docker exec -it \
             -e SHELL \
             -e USER \
-            -e DISPLAY \
+            -e DISPLAY="$DISPLAY_OPTIONS"  \
             --privileged \
             $1 $SHELL
 else
@@ -76,19 +100,28 @@ else
     group_id=$(id -g)
     UID_OPTIONS="-u $user_id:$group_id"
 
+    NVIDIA_OPTIONS=""
+    if [[ "$OSTYPE" == "linux"* ]]; then 
+        NVIDIA_OPTIONS="--gpus all -e NVIDIA_DRIVER_CAPABILITIES=all -e NVIDIA_VISIBLE_DEVICES=all --runtime=nvidia"
+    fi 
+
+    MOUNT_OPTIONS=""
+    if [[ "$OSTYPE" == "linux"* ]]; then 
+        MOUNT_OPTIONS="-v /media:/media -v /mnt:/mnt -v /dev:/dev"  # not working under macOS
+    fi 
+
     docker run -it --rm \
             --net=host \
             --privileged $UID_OPTIONS \
             -e SHELL \
             -e USER \
-            -e DISPLAY \
+            -e DISPLAY="$DISPLAY_OPTIONS" \
             -e DOCKER=1 \
             -e XAUTHORITY=${XAUTH} \
             -v $XSOCK:$XSOCK:rw \
             -v $XAUTH:$XAUTH:rw \
-            $HOME_OPTIONS \
-            -v /media:/media -v /mnt:/mnt -v /dev:/dev  -v $HOME/.ssh:$HOME/.ssh \
-            --gpus all -e NVIDIA_DRIVER_CAPABILITIES=all -e NVIDIA_VISIBLE_DEVICES=all --runtime=nvidia \
+            $HOME_OPTIONS $MOUNT_OPTIONS $NVIDIA_OPTIONS \
+            -v $HOME/.ssh:$HOME/.ssh \
             --name $CONTAINER_NAME \
       $1 $SHELL
 fi