updated jfr2018 docker image (made it standalone, depending only on ubuntu:16.04 image)

2026-09-02 01:20:25 +08:00 · 2018-12-30 15:43:14 -05:00
parent 5548f33e06
commit 35974d55bd
4 changed files with 74 additions and 74 deletions
--- a/docker/jfr2018/Dockerfile
+++ b/docker/jfr2018/Dockerfile
@@ -2,6 +2,8 @@

 FROM ubuntu:16.04

+WORKDIR /root/
+
 # Install build dependencies
 RUN apt-get update && apt-get install -y \
      libsqlite3-dev \
@@ -13,25 +15,25 @@ RUN apt-get update && apt-get install -y \
      libfreenect-dev \
      libopenni2-dev \
      libyaml-cpp-dev \
-      software-properties-common
-
-WORKDIR /root/
+      software-properties-common \
+      libgtk2.0-dev \
+      pkg-config

 # OpenCV (use version <= 3.1.0 for rtabmap 0.16.3 for a solvePnpRansac issue where we have worst ransac performance on newer opencv versions)
-RUN git clone https://github.com/opencv/opencv_contrib.git && \
-cd opencv_contrib && \
-git checkout tags/3.1.0 && \
-cd && \
-git clone https://github.com/opencv/opencv.git && \
-cd opencv && \
-git checkout tags/3.1.0 && \
-mkdir build && \
-cd build && \
-cmake -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF .. && \
-make -j4 && \
-make install && \
-cd && \
-rm -rf opencv opencv_contrib
+RUN git clone https://github.com/opencv/opencv_contrib.git
+RUN git clone https://github.com/opencv/opencv.git
+RUN cd opencv_contrib && \
+    git checkout tags/3.1.0 && \
+    cd && \
+    cd opencv && \
+    git checkout tags/3.1.0 && \
+    mkdir build && \
+    cd build && \
+    cmake -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -rf opencv opencv_contrib

 # Install ROS to build other odometry approaches (depending on ROS)
 # install packages
@@ -71,6 +73,54 @@ RUN apt-get update && apt-get install -y \
 # install ROS dependencies
 RUN apt-get update && apt-get install -y ros-kinetic-tf ros-kinetic-pcl-ros ros-kinetic-eigen-conversions ros-kinetic-tf-conversions ros-kinetic-random-numbers ros-kinetic-image-transport libblas-dev liblapack-dev libsuitesparse-dev libvtk6.2 libyaml-cpp-dev wget libgoogle-glog-dev libatlas-base-dev ros-kinetic-sophus ros-kinetic-octomap libglew-dev

+# g2o should be built to link on csparse installed system-wide (for rtabmap 0.17.4 build below)
+RUN git clone https://github.com/RainerKuemmerle/g2o.git
+RUN cd g2o && \
+    git checkout 20170730_git && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_LGPL_SHARED_LIBS=ON -DG2O_BUILD_APPS=OFF -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r g2o
+
+# GTSAM
+RUN git clone https://bitbucket.org/gtborg/gtsam.git
+RUN cd gtsam && \
+    git checkout 4.0.0-alpha2 && \
+    mkdir build && \
+    cd build && \
+    cmake -DMETIS_SHARED=ON -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r gtsam
+
+# libpointmatcher 
+RUN git clone https://github.com/ethz-asl/libnabo.git
+#commit Apr 25 2018
+RUN cd libnabo && \
+    git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r libnabo
+RUN git clone https://github.com/ethz-asl/libpointmatcher.git
+#commit Jan 19 2018
+RUN cd libpointmatcher && \
+    git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r libpointmatcher
+
 # Clone dependencies
 RUN mkdir -p catkin_ws/src
 WORKDIR /root/catkin_ws/src
@@ -106,6 +156,7 @@ RUN cd okvis && \
     cmake .. && \
     make -j3 && \
     make install && \
+     mkdir -p /usr/local/lib/cmake && \
     mv /usr/local/lib/CMake/* /usr/local/lib/cmake/.

 # Pangolin needed for ORB_SLAM2
@@ -147,63 +198,14 @@ RUN mv ORB_SLAM2/Vocabulary/ORBvoc.txt .
 # Catkin_make
 WORKDIR /root/catkin_ws
 RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash;. ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.sh intel64; catkin_make -j3 -DCMAKE_BUILD_TYPE=Release; rm -rf build;'
+RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc

-ENV LD_LIBRARY_PATH /root/ORB_SLAM2/lib:/root/ORB_SLAM2/Thirdparty/g2o/lib:/root/ORB_SLAM2/Thirdparty/DBoW2/lib:/root/okvis/build/lib:/root/catkin_ws/devel/lib:/opt/ros/kinetic/lib:$LD_LIBRARY_PATH
+ENV LD_LIBRARY_PATH /opt/tbb2018_20171205oss/lib/intel64/gcc4.7:/root/ORB_SLAM2/lib:/root/ORB_SLAM2/Thirdparty/g2o/lib:/root/ORB_SLAM2/Thirdparty/DBoW2/lib:/root/okvis/build/lib:/root/catkin_ws/devel/lib:/opt/ros/kinetic/lib:$LD_LIBRARY_PATH
 ENV PATH /root/catkin_ws/devel/bin:/opt/ros/kinetic/bin:$PATH
 ENV ORB_SLAM2_ROOT_DIR /root/ORB_SLAM2

 WORKDIR /root

-# g2o should be rebuilt to link on csparse installed system-wide (for rtabmap 0.17.4 build below)
-RUN git clone https://github.com/RainerKuemmerle/g2o.git
-RUN rm -r /usr/local/include/EXTERNAL /usr/local/include/g2o
-RUN rm -r /usr/local/lib/libg2o_*
-RUN cd g2o && \
-    git checkout 20170730_git && \
-    mkdir build && \
-    cd build && \
-    cmake -DBUILD_LGPL_SHARED_LIBS=ON -DG2O_BUILD_APPS=OFF -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j3 && \
-    make install && \
-    cd && \
-    rm -r g2o
-
-# GTSAM
-RUN git clone https://bitbucket.org/gtborg/gtsam.git
-RUN cd gtsam && \
-    git checkout 4.0.0-alpha2 && \
-    mkdir build && \
-    cd build && \
-    cmake -DMETIS_SHARED=ON -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r gtsam
-
-# libpointmatcher 
-RUN git clone https://github.com/ethz-asl/libnabo.git
-#commit Apr 25 2018
-RUN cd libnabo && \
-    git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
-    mkdir build && \
-    cd build && \
-    cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r libnabo
-RUN git clone https://github.com/ethz-asl/libpointmatcher.git
-#commit Jan 19 2018
-RUN cd libpointmatcher && \
-    git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
-    mkdir build && \
-    cd build && \
-    cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r libpointmatcher
-
 # Build RTAB-Map (using standard g2o, then a version for orbslam2, which uses its own g2o version)
 RUN cp -r rtabmap rtabmap_os2 && cp -r rtabmap rtabmap_msckf && cp -r rtabmap rtabmap_loam
 RUN cd rtabmap && \
@@ -224,7 +226,5 @@ RUN cd rtabmap_os2 && \
 RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_loam ; git checkout tools/EurocDataset/main.cpp ;git checkout 0.17.4 ;cd build ;cmake -DWITH_MSCKF_VIO=OFF -DWITH_LOAM=ON -DWITH_G2O=ON -DWITH_FOVIS=OFF -DWITH_DVO=OFF -DWITH_OKVIS=OFF -DWITH_VISO2=OFF .. ;make -j3 ;rm -rf *'
 RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_msckf ; git checkout tools/EurocDataset/main.cpp ;git checkout 0.17.4 ;cd build ;cmake -DWITH_MSCKF_VIO=ON -DWITH_LOAM=OFF -DWITH_G2O=ON -DWITH_FOVIS=OFF -DWITH_DVO=OFF -DWITH_OKVIS=OFF -DWITH_VISO2=OFF .. ;make -j3 ;rm -rf *'

-RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
-
 WORKDIR /root