From 5b2eeefeea0d010a4a04a817148ee2b870df3021 Mon Sep 17 00:00:00 2001
From: Giuseppe Quaratino <giuseppe.quaratino@cooper.edu>
Date: Sun, 25 Feb 2024 12:34:31 -0500
Subject: [PATCH] Added GroundingDINO and Dockerfile

---
 ros/docker/ObjectDetection/Dockerfile    | 33 ++++++++++++++++++++++++
 ros/docker/ObjectDetection/GroundingDINO |  1 +
 2 files changed, 34 insertions(+)
 create mode 100644 ros/docker/ObjectDetection/Dockerfile
 create mode 160000 ros/docker/ObjectDetection/GroundingDINO

diff --git a/ros/docker/ObjectDetection/Dockerfile b/ros/docker/ObjectDetection/Dockerfile
new file mode 100644
index 000000000..02dc14231
--- /dev/null
+++ b/ros/docker/ObjectDetection/Dockerfile
@@ -0,0 +1,33 @@
+FROM pytorch/pytorch:2.1.2-cuda12.1-cudnn8-devel
+
+# Arguments to build Docker Image using CUDA
+ARG USE_CUDA=0
+ARG TORCH_ARCH=
+ARG DEBIAN_FRONTEND=noninteractive
+
+ENV AM_I_DOCKER True
+ENV BUILD_WITH_CUDA "${USE_CUDA}"
+ENV TORCH_CUDA_ARCH_LIST "${TORCH_ARCH}"
+ENV CUDA_HOME /usr/local/cuda-12.1
+
+RUN mkdir -p /home/appuser/GrouningDINO
+COPY ./GroundingDINO /home/appuser/GrouningDINO/
+
+RUN apt-get update && apt-get install --no-install-recommends wget ffmpeg \
+  libsm6 libxext6 git nano vim libxrender1 libxtst6 -y \
+  && apt-get clean && apt-get autoremove && rm -rf /var/lib/apt/lists/*
+
+# Enable "universe" repository
+RUN sed -i 's/main$/main universe/' /etc/apt/sources.list
+
+# Install required packages
+RUN apt-get update && apt-get install --no-install-recommends -y \
+  libxcb-icccm4 libxcb-image0 libxcb-keysyms1 libxcb-render-util0
+
+ENV PATH /usr/local/cuda-12.1/bin:${PATH}
+ENV LD_LIBRARY_PATH /usr/local/cuda-12.1/lib64:${LD_LIBRARY_PATH}
+
+# Set environment variables for X11
+ENV DISPLAY=:0
+
+WORKDIR /home/appuser/GrouningDINO
diff --git a/ros/docker/ObjectDetection/GroundingDINO b/ros/docker/ObjectDetection/GroundingDINO
new file mode 160000
index 000000000..2b62f419c
--- /dev/null
+++ b/ros/docker/ObjectDetection/GroundingDINO
@@ -0,0 +1 @@
+Subproject commit 2b62f419c292ca9c518daae55512fabc3fead4a4