Brian/deep object detection

.devcontainer/Dockerfile

@@ -34,7 +34,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 ENV DEBIAN_FRONTEND=interactive
 
-# Install Tensorrt Runtime
 RUN curl -fsSL -o cuda-keyring_1.1-1_all.deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb \
     && dpkg -i cuda-keyring_1.1-1_all.deb \
     && apt-get update && apt-get install -y --no-install-recommends \
@@ -59,8 +58,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     curl \
     && rm -rf /var/lib/apt/lists/*
 
-# Install pre-commit
-RUN python3 -m pip install --no-cache-dir pre-commit==3.8.0
+# Install pre-commit (Ubuntu 24.04 ships PEP 668 managed Python, so allow system install)
+# RUN python3 -m pip install --no-cache-dir --break-system-packages pre-commit==3.8.0
 
 # Set working dir (matches VSCode workspace)
 WORKDIR /deep_ros_ws

DEVELOPING.md

@@ -26,6 +26,75 @@ This project includes VS Code dev container configurations for easy ROS2 develop
 - **Build tools**: Includes `colcon` and `rosdep` for ROS development
 - **Extensions**: C++, CMake, Python, and XML support pre-installed
 
+### Stopping Containers
+
+After using "Rebuild and Reopen in Container", you can stop containers using:
+
+**Method 1: VS Code Command (Recommended)**
+- Press `Ctrl+Shift+P` (or `Cmd+Shift+P` on Mac)
+- Type: `Dev Containers: Reopen Folder Locally`
+- This closes the container and returns to local mode
+
+**Method 2: Stop Container**
+- Press `Ctrl+Shift+P`
+- Type: `Dev Containers: Stop Container`
+- This stops the container but keeps it available for later use
+
+**Method 3: Using Docker Commands**
+From a terminal (outside the container):
+
+```bash
+# List running containers
+docker ps
+
+# Stop a specific container by name
+docker stop <container_name>
+
+# Stop all dev containers
+docker ps -q --filter "name=vsc-deep_ros" | xargs -r docker stop
+
+# Stop and remove containers
+docker stop <container_name>
+docker rm <container_name>
+```
+
+**Method 4: Close VS Code Window**
+- Simply closing the VS Code window will stop the container when you exit
+- The container will remain stopped until you reopen the folder in container mode
+
+### Restarting Containers
+
+After stopping a container, you can restart it using:
+
+**Method 1: VS Code Command (Recommended)**
+- Press `Ctrl+Shift+P` (or `Cmd+Shift+P` on Mac)
+- Type: `Dev Containers: Reopen in Container`
+- This will start the existing container or create a new one if needed
+
+**Method 2: Rebuild and Reopen**
+- Press `Ctrl+Shift+P`
+- Type: `Dev Containers: Rebuild and Reopen in Container`
+- Use this if you want to rebuild the container from scratch (e.g., after Dockerfile changes)
+
+**Method 3: Using Docker Commands**
+From a terminal (outside the container):
+
+```bash
+# List all containers (including stopped)
+docker ps -a
+
+# Start a stopped container by name
+docker start <container_name>
+
+# Start and attach to container
+docker start <container_name>
+docker attach <container_name>
+```
+
+**Method 4: Reopen Folder in VS Code**
+- If VS Code detects a devcontainer configuration, it will prompt you to "Reopen in Container"
+- Click the notification or use the command palette option
+
 ### Common Commands
 
 Inside the container, you can do ros2 commands, colcon commands, rosdep, etc.

deep_core/include/deep_core/plugin_interfaces/backend_memory_allocator.hpp

@@ -101,6 +101,17 @@ class BackendMemoryAllocator
    */
   void copy_device_to_device(void * dst, const void * src, size_t bytes);
 
+  /**
+   * @brief Copy data from host (CPU) to device memory - alias for copy_from_host
+   * @param dst Destination device memory pointer
+   * @param src Source host memory pointer
+   * @param bytes Number of bytes to copy
+   */
+  void copy_host_to_device(void * dst, const void * src, size_t bytes)
+  {
+    copy_from_host(dst, src, bytes);
+  }
+
 protected:
   /**
    * @brief Implementation of copy_from_host (to be overridden by backends)

deep_object_detection/CMakeLists.txt

@@ -0,0 +1,128 @@
+# Copyright (c) 2025-present WATonomous. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.22)
+project(deep_object_detection)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(vision_msgs REQUIRED)
+find_package(deep_core REQUIRED)
+find_package(deep_msgs REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+find_package(OpenCV REQUIRED COMPONENTS core imgproc)
+
+add_executable(deep_object_detection_node
+  src/main.cpp
+)
+
+add_library(deep_object_detection_lib SHARED
+  src/backend_manager.cpp
+  src/generic_postprocessor.cpp
+  src/image_preprocessor.cpp
+  src/deep_object_detection_node.cpp
+)
+
+target_include_directories(deep_object_detection_lib PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
+target_link_libraries(deep_object_detection_lib
+  PUBLIC
+    ${rclcpp_TARGETS}
+    ${rclcpp_lifecycle_TARGETS}
+    ${deep_core_TARGETS}
+    ${pluginlib_TARGETS}
+    ${vision_msgs_TARGETS}
+    ${deep_msgs_TARGETS}
+    deep_core::deep_core_lib
+  PRIVATE
+    ${rclcpp_components_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${cv_bridge_TARGETS}
+    ${rcl_interfaces_TARGETS}
+    ${OpenCV_LIBRARIES}
+)
+
+target_include_directories(deep_object_detection_lib SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS})
+
+rclcpp_components_register_nodes(deep_object_detection_lib "deep_object_detection::DeepObjectDetectionNode")
+
+target_link_libraries(deep_object_detection_node
+  deep_object_detection_lib
+)
+
+target_include_directories(deep_object_detection_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
+install(TARGETS deep_object_detection_lib
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS deep_object_detection_node
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+install(DIRECTORY config launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(deep_test REQUIRED)
+  if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_postprocessors.cpp)
+    add_deep_test(test_postprocessors test/test_postprocessors.cpp
+      LIBRARIES
+        deep_object_detection_lib
+        ${OpenCV_LIBRARIES}
+        ${cv_bridge_TARGETS}
+        ${sensor_msgs_TARGETS}
+        ${rcl_interfaces_TARGETS}
+    )
+  endif()
+
+  if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_preprocessor.cpp)
+    add_deep_test(test_preprocessor test/test_preprocessor.cpp
+      LIBRARIES
+        deep_object_detection_lib
+        ${OpenCV_LIBRARIES}
+        ${cv_bridge_TARGETS}
+        ${sensor_msgs_TARGETS}
+        ${rcl_interfaces_TARGETS}
+    )
+  endif()
+endif()
+
+ament_package()