add Dockerfiles for Nvidia Jetson devices

app/Dockerfile.jetson

@@ -0,0 +1,29 @@
+# OSNICK=stretch|bionic|buster
+ARG OSNICK=buster
+
+#----------------------------------------------------------------------------------------------
+FROM redisfab/redisedgevision-${OSNICK}:0.2.0
+
+# This is due on the following error on ARMv8:
+# /usr/lib/aarch64-linux-gnu/libgomp.so.1: cannot allocate memory in static TLS block
+# Something is exausting TLS, causing libgomp to fail. Preloading it as a workaround helps.
+
+ENV LD_PRELOAD /usr/lib/aarch64-linux-gnu/libgomp.so.1
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get -qq update
+
+RUN set -ex ;\
+        apt-get install -y wget python3-distutils patch ;\
+        wget -q https://bootstrap.pypa.io/get-pip.py -O /tmp/get-pip.py ;\
+        python3 /tmp/get-pip.py
+
+WORKDIR /app
+ADD . /app
+
+# patch init script for aarch64
+RUN patch init.py jetson.patch
+
+RUN pip3 install -r requirements.txt
+
+ENTRYPOINT [ "python3" ]

app/jetson.patch

@@ -0,0 +1,68 @@
+diff --git a/app/gear.py b/app/gear.py
+index b602dfe..ab92667 100644
+--- a/app/gear.py
++++ b/app/gear.py
+@@ -27,6 +27,7 @@ def toOneList(l):
+     return res
+
+ def addToGraphRunner(x):
++    x = x['value']
+     try:
+         xlog('addToGraphRunner:', 'count=', x['count'])
+
+@@ -54,7 +55,7 @@ def addToGraphRunner(x):
+         animal = index[str(res.index(res1[0]) - 1)][1]
+         xlog('addToGraphRunner:', 'animal=', animal)
+
+-        return (animal, x['img'])
++        return animal, x['img']
+     except:
+         xlog('addToGraphRunner: error:', sys.exc_info()[0])
+
+@@ -62,21 +63,24 @@ def addToStream(x):
+     # save animal name into a new stream
+     try:
+         redisgears.executeCommand('xadd', 'cats', 'MAXLEN', '~', str(MAX_IMAGES), '*', 'image', 'data:image/jpeg;base64,' + base64.b64encode(x[1]).decode('utf8'))
++        xlog('addToStream: ', x[0])
+     except:
+         xlog('addToStream: error:', sys.exc_info()[0])
+
+ def shouldTakeFrame(x):
++    v = x['value']
+     try:
+         global framesToDrop
+         framesToDrop += 1
+-        xlog('shouldTakeFrame', x['count'], (framesToDrop % 10 == 0))
++        xlog('shouldTakeFrame', v['count'], (framesToDrop % 10 == 0))
+         return framesToDrop % 10 == 0
+     except:
+         xlog('shouldTakeFrame: error:', sys.exc_info()[0])
+
+ def passAll(x):
++    v = x['value']
+     try:
+-        redisgears.executeCommand('xadd', 'all', 'MAXLEN', '~', str(MAX_IMAGES), '*', 'image', 'data:image/jpeg;base64,' + base64.b64encode(x['img']).decode('utf8'))
++        redisgears.executeCommand('xadd', 'all', 'MAXLEN', '~', str(MAX_IMAGES), '*', 'image', 'data:image/jpeg;base64,' + base64.b64encode(v['img']).decode('utf8'))
+     except:
+         xlog('passAll: error:', sys.exc_info()[0])
+
+@@ -87,4 +91,5 @@ gearsCtx('StreamReader').\
+     map(addToGraphRunner).\
+     filter(lambda x: 'cat' in x[0]).\
+     foreach(addToStream).\
+-    register('camera:0')
++    register(prefix='camera:0')
++
+diff --git a/app/init.py b/app/init.py
+index 09f77bc..64a1303 100644
+--- a/app/init.py
++++ b/app/init.py
+@@ -27,7 +27,7 @@ if __name__ == '__main__':
+     print('Loading model - ', end='')
+     with open('models/mobilenet_v2_1.4_224_frozen.pb', 'rb') as f:
+         model = f.read()
+-        res = conn.execute_command('AI.MODELSET', 'mobilenet:model', 'TF', 'CPU', 'INPUTS', 'input', 'OUTPUTS', 'MobilenetV2/Predictions/Reshape_1', model)
++        res = conn.execute_command('AI.MODELSET', 'mobilenet:model', 'TF', 'CPU', 'INPUTS', 'input', 'OUTPUTS', 'MobilenetV2/Predictions/Reshape_1', 'BLOB', model)
+         print(res)
+
+     # Load the gear

camera/Dockerfile.jetson

@@ -0,0 +1,33 @@
+FROM nvcr.io/nvidia/l4t-base:r32.5.0
+
+# This is due on the following error on ARMv8:
+# /usr/lib/aarch64-linux-gnu/libgomp.so.1: cannot allocate memory in static TLS block 
+# Something is exausting TLS, causing libgomp to fail. Preloading it as a workaround helps.
+# ENV LD_PRELOAD /usr/lib/aarch64-linux-gnu/libgomp.so.1
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV LD_LIBRARY_PATH=/usr/lib/aarch64-linux-gnu:$LD_LIBRARY_PATH
+ENV LD_PRELOAD /usr/lib/aarch64-linux-gnu/libgomp.so.1
+
+RUN apt-get -qq update && apt-get upgrade -y
+
+RUN set -x; \
+        apt-get install -y curl patch; \
+        curl https://bootstrap.pypa.io/get-pip.py -o /tmp/get-pip.py ;\
+        python3 /tmp/get-pip.py
+
+RUN pip install redis==3.2.1
+
+WORKDIR /usr/src/app
+
+ADD read_camera_jetson.py ./
+ADD *.jpg ./
+ADD build_opencv.patch ./
+
+# build opencv from the source for Jetson Nano aarch64
+RUN wget https://raw.githubusercontent.com/mdegans/nano_build_opencv/301e95dd6c361ed29dc523a46483f05bafd7f70b/build_opencv.sh
+RUN patch build_opencv.sh build_opencv.patch
+RUN chmod +x build_opencv.sh
+RUN ./build_opencv.sh
+
+CMD [ "python3", "./read_camera_jetson.py", "-u", "redis://redis:6379"]

camera/build_opencv.patch

@@ -0,0 +1,69 @@
+diff --git a/build_opencv.sh b/build_opencv.sh
+index 486bca9..e3c22c1 100755
+--- a/build_opencv.sh
++++ b/build_opencv.sh
+@@ -2,6 +2,7 @@
+ # 2019 Michael de Gans
+
+ set -e
++set -x
+
+ # change default constants here:
+ readonly PREFIX=/usr/local  # install prefix, (can be ~/.local for a user install)
+@@ -24,7 +25,7 @@ cleanup () {
+         if ! [[ "$1" -eq "--test-warning" ]] ; then
+             echo "(Doing so may make running tests on the build later impossible)"
+         fi
+-        read -p "Y/N " yn
++        yn="Y"
+         case ${yn} in
+             [Yy]* ) rm -rf /tmp/build_opencv ; break;;
+             [Nn]* ) exit ;;
+@@ -53,9 +54,9 @@ install_dependencies () {
+     # open-cv has a lot of dependencies, but most can be found in the default
+     # package repository or should already be installed (eg. CUDA).
+     echo "Installing build dependencies."
+-    sudo apt-get update
+-    sudo apt-get dist-upgrade -y --autoremove
+-    sudo apt-get install -y \
++    apt-get update
++    apt-get dist-upgrade -y --autoremove
++    apt-get install -y \
+         build-essential \
+         cmake \
+         git \
+@@ -104,7 +105,7 @@ install_dependencies () {
+ configure () {
+     local CMAKEFLAGS="
+         -D BUILD_EXAMPLES=OFF
+-        -D BUILD_opencv_python2=ON
++        -D BUILD_opencv_python2=OFF
+         -D BUILD_opencv_python3=ON
+         -D CMAKE_BUILD_TYPE=RELEASE
+         -D CMAKE_INSTALL_PREFIX=${PREFIX}
+@@ -114,13 +115,13 @@ configure () {
+         -D CUDNN_VERSION='8.0'
+         -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 
+         -D ENABLE_NEON=ON
+-        -D OPENCV_DNN_CUDA=ON
++        -D OPENCV_DNN_CUDA=OFF
+         -D OPENCV_ENABLE_NONFREE=ON
+         -D OPENCV_EXTRA_MODULES_PATH=/tmp/build_opencv/opencv_contrib/modules
+         -D OPENCV_GENERATE_PKGCONFIG=ON
+         -D WITH_CUBLAS=ON
+-        -D WITH_CUDA=ON
+-        -D WITH_CUDNN=ON
++        -D WITH_CUDA=OFF
++        -D WITH_CUDNN=OFF
+         -D WITH_GSTREAMER=ON
+         -D WITH_LIBV4L=ON
+         -D WITH_OPENGL=ON"
+@@ -175,7 +176,7 @@ main () {
+     if [[ -w ${PREFIX} ]] ; then
+         make install 2>&1 | tee -a install.log
+     else
+-        sudo make install 2>&1 | tee -a install.log
++        make install 2>&1 | tee -a install.log
+     fi
+
+     cleanup --test-warning

camera/read_camera_jetson.py

@@ -0,0 +1,133 @@
+import argparse
+import cv2
+import redis
+import time
+import sys
+import os
+import atexit
+
+try:
+    import urllib.parse
+except ImportError:
+    import urllib.parse as urlparse
+
+IMAGE_WIDTH = 640
+IMAGE_HEIGHT = 480
+
+MAX_IMAGES = 1000 # 5
+
+def gstreamer_pipeline(
+    capture_width=IMAGE_WIDTH,
+    capture_height=IMAGE_HEIGHT,
+    display_width=IMAGE_WIDTH,
+    display_height=IMAGE_HEIGHT,
+    framerate=15,
+    flip_method=0,
+):
+    return (
+        "nvarguscamerasrc ! "
+        "video/x-raw(memory:NVMM), "
+        "width=(int)%d, height=(int)%d, "
+        "format=(string)NV12, framerate=(fraction)%d/1 ! "
+        "nvvidconv flip-method=%d ! "
+        "video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! "
+        "videoconvert ! "
+        "video/x-raw, format=(string)BGR ! appsink"
+        % (
+            capture_width,
+            capture_height,
+            framerate,
+            flip_method,
+            display_width,
+            display_height,
+        )
+    )
+
+
+class Webcam:
+    def __init__(self, infile=0, fps=15.0):
+        if infile:
+            self.cam = cv2.VideoCapture(infile)
+            self.cam.set(cv2.CAP_PROP_FPS, fps)
+            self.cam.set(cv2.CAP_PROP_FRAME_WIDTH, IMAGE_WIDTH)
+            self.cam.set(cv2.CAP_PROP_FRAME_HEIGHT, IMAGE_HEIGHT)
+        else:
+            self.cam = cv2.VideoCapture(gstreamer_pipeline(flip_method=0), cv2.CAP_GSTREAMER)
+            atexit.register(self.cam.release)
+
+
+    def __iter__(self):
+        self.count = -1
+        return self
+
+    def __next__(self): # Python 2.7
+        self.count += 1
+
+        # Read image
+        ret_val, img0 = self.cam.read()
+        assert ret_val, 'Webcam Error'
+
+        # Preprocess
+        # img = cv2.flip(img0, 1)
+        img = img0
+
+        return self.count, img
+
+    def __len__(self):
+        return 0
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('infile', help='Input file (leave empty to use webcam)', nargs='?', type=str, default=None)
+    parser.add_argument('-o', '--output', help='Output stream key name', type=str, default='camera:0')
+    parser.add_argument('-u', '--url', help='Redis URL', type=str, default='redis://localhost:6379')
+    parser.add_argument('--fmt', help='Frame storage format', type=str, default='.jpg')
+    parser.add_argument('--fps', help='Frames per second (webcam)', type=float, default=15.0)
+    parser.add_argument('--maxlen', help='Maximum length of output stream', type=int, default=1000)
+    parser.add_argument('--test', help='transmit image instead of reading webcam', action="store_true")
+    args = parser.parse_args()
+
+    # Set up Redis connection
+    url = urllib.parse.urlparse(args.url)
+    conn = redis.Redis(host=url.hostname, port=url.port)
+    if not conn.ping():
+        raise Exception('Redis unavailable')
+    print('Connected to Redis')
+    sys.stdout.flush()
+
+    if args.test is False:
+        print('Operating in camera mode')
+        sys.stdout.flush()
+        if args.infile is None:
+            loader = Webcam(infile=0, fps=args.fps)
+        else:
+            loader = Webcam(infile=int(args.infile), fps=args.fps)
+
+        for (count, img) in loader:
+            _, data = cv2.imencode(args.fmt, img)
+            msg = {
+                'count': count,
+                'image': data.tobytes()
+            }
+            _id = conn.execute_command('xadd', args.output, 'MAXLEN', '~', str(MAX_IMAGES), '*', 'count', msg['count'], 'img', msg['image'])
+            print('count: {} id: {}'.format(count, _id))
+            sys.stdout.flush()
+    else:
+        image_file = os.environ['ANIMAL'] + '.jpg'
+        print('Operating in test mode with image ' + image_file)
+        sys.stdout.flush()
+        img0 = cv2.imread(image_file)
+        img = cv2.resize(img0, (IMAGE_WIDTH, IMAGE_HEIGHT))
+        _, data = cv2.imencode(args.fmt, img)
+        count = 1
+        while True:
+            msg = {
+                'count': count,
+                'image': data.tobytes()
+            }
+            _id = conn.execute_command('xadd', args.output, 'MAXLEN', '~', str(MAX_IMAGES), '*', 'count', msg['count'], 'img', msg['image'])
+            # print('count: {} rc: {} id: {}'.format(count, rc, _id))
+            # sys.stdout.flush()
+            count += 1
+            time.sleep(0.1)