Raspberry PI 4 + OAK-D + BalenaOS + docker container

OsinPL

Hey!

I've spent last two days looking for any working example: how to get my setup described in the title running, unfortunately no success 🙁

My candidate is base images is:

FROM balenalib/raspberrypi4-64-ubuntu-python:3-latest-build-20220112
RUN apt update && apt install -y udev ffmpeg libsm6 libxext6

RUN git clone https://github.com/luxonis/depthai.git
RUN cd depthai

WORKDIR /depthai

RUN pip install --upgrade pip
RUN pip install --user -r requirements.txt
RUN pip install --user -r requirements-optional.txt

RUN echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | tee /etc/udev/rules.d/80-movidius.rules
CMD ["python", "depthai_demo.py"]

everything goes fine until, container runs and then I got this error:
[Logs] [2/20/2022, 6:57:07 PM] [myoakd] Available devices:
[Logs] [2/20/2022, 6:57:07 PM] [myoakd] [0] 14442C10F18A66D700 [X_LINK_UNBOOTED]
RuntimeError: Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND

I found this discussion: [https://discuss.luxonis.com/d/200-running-pipeline-on-docker-container/25] there is luxonis/depthai-library:armv7-enable_multiarch_build image prepared by @Luxonis-Lukasz - But it doesn't work for me 🙁

Thanks in advance for any help - I really need to run it with Balena for my project!

br, Kris

Luxonis-Lukasz

Hi OsinPL ,
Could you try luxonis/depthai-library:v2.14.0.0 image? (dockerhub link here)
It's a multi-arch image and should work better. We're also working on making the latest point to latest stable release of our image (not to cause further confusion)

OsinPL

Hi @Luxonis-Lukasz!

sure will check, I'm desperate to get it up and running, so I'm eager to test new releases, if you need more information that I can gather, just let me know.

br, Krzysiek

Luxonis-Lukasz

OsinPL feel free to join our discord https://discord.gg/4hGT3AFPMZ (and specifically #docker channel) - we'll be able to have more real-time conversation there, together with other community members. I have docker tweaks in my TODO list, so will be sharing any updates there as well

OsinPL

still same problem:

my current Dockerfile:

FROM luxonis/depthai-library:v2.14.0.0
ENV DEBIAN_FRONTEND=noninteractive

RUN apt update && apt install -y udev ffmpeg libsm6 libxext6 libgl1-mesa-glx
RUN echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | tee /etc/udev/rules.d/80-movidius.rules

WORKDIR /depthai-python/examples/
RUN python3 install_requirements.py

CMD python3 ObjectTracker/object_tracker.py

and result:

[Logs]    [2/21/2022, 1:24:46 PM] [myoakd] Traceback (most recent call last):
[Logs]    [2/21/2022, 1:24:46 PM] [myoakd]   File "/depthai-python/examples/ObjectTracker/object_tracker.py", line 68, in <module>
[Logs]    [2/21/2022, 1:24:46 PM] [myoakd]     with dai.Device(pipeline) as device:
[Logs]    [2/21/2022, 1:24:46 PM] [myoakd] RuntimeError: Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND

Luxonis-Lukasz

@OsinPL setting udevrules and installing udev is not recommended - as this may cause the discovery issue to fail.

Could you try without it and also paste the command you're running the Docker with?

OsinPL

Luxonis-Lukasz I can see my device when perform lsusb:

[Logs] [2/21/2022, 4:16:35 PM] [myoakd] Bus 001 Device 127: ID 03e7:2485 Movidius Ltd. Movidius MyriadX

after removing lines you suggested:

FROM luxonis/depthai-library:v2.14.0.0
ENV DEBIAN_FRONTEND=noninteractive

RUN apt update && apt install -y ffmpeg libsm6 libxext6 libgl1-mesa-glx

WORKDIR /depthai-python/examples/
RUN python3 install_requirements.py

COPY oakd-test.py .

CMD python3 oakd-test.py

so the effect is simply the same 🙁

[Logs]    [2/21/2022, 4:18:50 PM] [myoakd] Traceback (most recent call last):
[Logs]    [2/21/2022, 4:18:50 PM] [myoakd]   File "/depthai-python/examples/oakd-test.py", line 70, in <module>
[Logs]    [2/21/2022, 4:18:50 PM] [myoakd]     with dai.Device(pipeline) as device:
[Logs]    [2/21/2022, 4:18:50 PM] [myoakd] RuntimeError: Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND

here you have docker-compose.yaml body:

version: "2.0"
services:
  myoakd:
    build:
      context: .
      dockerfile: Dockerfile-luxonis
    privileged: true
    network_mode: host
    environment:
      - DISPLAY=$DISPLAY
    devices:
      - "/dev/bus/usb:/dev/bus/usb"
      - "/tmp/.X11-unix:/tmp/.X11-unix"
    labels:
        io.balena.features.dbus: '1'
        io.balena.features.balena-socket: '1'
        io.balena.features.kernel-modules: '1'

OsinPL

sure!

Luxonis-Lukasz

OsinPL could you try running the following command? I don't think you need to install any requirements or libraries, the following should work

docker run --rm \
    --privileged \
    -v /dev/bus/usb:/dev/bus/usb \
    --device-cgroup-rule='c 189:* rmw' \
    -e DISPLAY=$DISPLAY \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    luxonis/depthai-library:v2.14.0.0 \
    python3 /depthai-python/examples/rgb_preview.py

OsinPL

Luxonis-Lukasz the problem is that balena is limited to use their cli tool, that is based on Dockerfile and docker-compose 2.1, so one difference I've noticed is that I can't add device-cgroup-rule='c 189:* rmw' 🙁

OsinPL

Luxonis-Lukasz I did test with rpi os without balena and it looks like it works, I have headless version so can't see camera view but I can see this info:

Connected cameras:  [<CameraBoardSocket.RGB: 0>, <CameraBoardSocket.LEFT: 1>, <CameraBoardSocket.RIGHT: 2>]
Usb speed:  SUPER

one change the test py file location is /depthai-python/examples/ColorCamera/rgb_preview.py
so issue is about accessing camera device from docker container hosted on BalenaOS.

I will try to ping them and get some info.

thx!

BrianBourn

OsinPL did you ever have any luck with this?

BrianBourn

For the next person who finds this:

Ok, got it working balena has actually managed to make Udev work well out of the box with their base images. so for perpetuity here is my docker-compose.yaml & Dockerfile:
Dockerfile.template:

FROM balenalib/%%BALENA_ARCH%%-debian-python:3.9-bullseye
ENV UDEV=1
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y wget python3-dev build-essential cmake pkg-config libjpeg-dev libtiff5-dev libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev libgtk2.0-dev libgtk-3-dev libatlas-base-dev gfortran git libopencv-dev
RUN git clone --recurse-submodules https://github.com/luxonis/depthai-python.git

WORKDIR depthai-python

RUN ./ci/docker_dependencies.sh
RUN pip install -U pip && pip install --extra-index-url https://www.piwheels.org/simple/ --prefer-binary opencv-python

# Install C++ library
RUN cmake -S /depthai-python/depthai-core -B /build -D CMAKE_BUILD_TYPE=Release -D BUILD_SHARED_LIBS=ON -D CMAKE_INSTALL_PREFIX=/usr/local
RUN cmake --build /build --parallel 4 --config Relase --target install

# Install Python library
RUN cd /depthai-python && python3 -m pip install .

docker-compose.yaml:

version: '2.4'

services:
  spatial-tracker:
    build:
      context: .
      dockerfile: Dockerfile.template
    restart: always
    privileged: true
    network_mode: host
    environment:
      - DISPLAY=$DISPLAY
    devices:
      - "/dev/bus/usb:/dev/bus/usb"
      - "/tmp/.X11-unix:/tmp/.X11-unix"
    device_cgroup_rules:
      - "c 189:* rmw"
    tty: true
    labels:
      io.balena.features.dbus: '1'
      io.balena.features.balena-socket: '1'
      io.balena.features.kernel-modules: '1'
      io.balena.features.sysfs: '1'