Workflows: updated docker multi-arch (removed armv7)

.github/workflows/docker.yml

@@ -27,7 +27,6 @@ jobs:
           docker_platforms: |
             linux/amd64
             linux/arm64
-            linux/arm/v7
           docker_path: 'bionic'
         - docker_tag: focal
           docker_tags: |
@@ -37,7 +36,6 @@ jobs:
           docker_platforms: |
             linux/amd64
             linux/arm64
-            linux/arm/v7
           docker_path: 'focal'
         - docker_tag: android23
           docker_tags: |

docker/bionic/Dockerfile

@@ -38,60 +38,22 @@ RUN cd libpointmatcher && \
     cd && \
     rm -r libpointmatcher
 
-# AliceVision v2.4.0 modified (Sept 13 2021)
+ARG TARGETPLATFORM
-RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
-      libsuitesparse-dev \
+RUN echo "I am building for $TARGETPLATFORM"
-      libceres-dev \
+
-      xorg-dev \
+# cmake >=3.11 required for amd64 dependencies
-      libglu1-mesa-dev \
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then apt install -y wget && \
-      wget
+    wget -nv https://github.com/Kitware/CMake/releases/download/v3.17.0/cmake-3.17.0-Linux-x86_64.tar.gz && \
-RUN git clone https://github.com/OpenImageIO/oiio.git
-RUN cd oiio && \
-    git checkout Release-2.0.12 && \
-    mkdir build && \
-    cd build && \
-    cmake -DUSE_PYTHON=OFF -DOIIO_BUILD_TESTS=OFF -DOIIO_BUILD_TOOLS=OFF .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r oiio
-RUN git clone https://github.com/assimp/assimp.git
-RUN cd assimp && \
-    git checkout 71a87b653cd4b5671104fe49e2e38cf5dd4d8675 && \
-    mkdir build && \
-    cd build && \
-    cmake .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r assimp
-RUN git clone https://github.com/alicevision/geogram.git
-RUN cd geogram && \
-    git checkout v1.7.6 && \
-    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/geogram_8b2ae61.patch && \
-    git apply geogram_8b2ae61.patch && \
-    ./configure.sh && \
-    cd build/Linux64-gcc-dynamic-Release && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r geogram
-# cmake >=3.11 required
-RUN wget -nv https://github.com/Kitware/CMake/releases/download/v3.17.0/cmake-3.17.0-Linux-x86_64.tar.gz && \
     tar -xzf cmake-3.17.0-Linux-x86_64.tar.gz && \
-    rm cmake-3.17.0-Linux-x86_64.tar.gz
+    rm cmake-3.17.0-Linux-x86_64.tar.gz &&\
-RUN git clone https://github.com/alicevision/AliceVision.git --recursive
+    ln -s ~/cmake-3.17.0-Linux-x86_64/bin/cmake ~/cmake; fi
-RUN cd AliceVision && \
+
-    git checkout 0f6115b6af6183c524aa7fcf26141337c1cf3872 && \
+# amd64-only dependencies
-    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/alicevision_0f6115b.patch && \
+ADD amd64.bash /root/amd64.bash
-    git apply alicevision_0f6115b.patch && \
+RUN chmod +x amd64.bash
-    mkdir build && \
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then /bin/bash -c "./amd64.bash"; fi
-    cd build && \
+RUN if [ "$TARGETPLATFORM" = "linux/arm64" ]; then ln -s /usr/bin/cmake ~/cmake; fi
-    ../../cmake-3.17.0-Linux-x86_64/bin/cmake -DALICEVISION_USE_CUDA=OFF -DALICEVISION_USE_APRILTAG=OFF -DALICEVISION_BUILD_SOFTWARE=OFF .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r AliceVision
 
 # Clone source code
 ARG CACHE_DATE=2016-01-01
@@ -102,7 +64,7 @@ RUN rm /bin/sh && ln -s /bin/bash /bin/sh
 # Build RTAB-Map project
 RUN source /ros_entrypoint.sh && \
     cd rtabmap/build && \
-    ../../cmake-3.17.0-Linux-x86_64/bin/cmake -DWITH_ALICE_VISION=ON .. && \
+    ~/cmake -DWITH_ALICE_VISION=ON .. && \
     make -j2 && \
     make install && \
     cd ../.. && \

docker/bionic/amd64.bash

@@ -0,0 +1,51 @@
+#!/bin/bash
+
+# AliceVision v2.4.0 modified (Sept 13 2021)
+apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+      libsuitesparse-dev \
+      libceres-dev \
+      xorg-dev \
+      libglu1-mesa-dev
+git clone https://github.com/OpenImageIO/oiio.git
+cd oiio && \
+    git checkout Release-2.0.12 && \
+    mkdir build && \
+    cd build && \
+    cmake -DUSE_PYTHON=OFF -DOIIO_BUILD_TESTS=OFF -DOIIO_BUILD_TOOLS=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r oiio
+git clone https://github.com/assimp/assimp.git
+cd assimp && \
+    git checkout 71a87b653cd4b5671104fe49e2e38cf5dd4d8675 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r assimp
+git clone https://github.com/alicevision/geogram.git
+cd geogram && \
+    git checkout v1.7.6 && \
+    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/geogram_8b2ae61.patch && \
+    git apply geogram_8b2ae61.patch && \
+    ./configure.sh && \
+    cd build/Linux64-gcc-dynamic-Release && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r geogram
+git clone https://github.com/alicevision/AliceVision.git --recursive
+cd AliceVision && \
+    git checkout 0f6115b6af6183c524aa7fcf26141337c1cf3872 && \
+    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/alicevision_0f6115b.patch && \
+    git apply alicevision_0f6115b.patch && \
+    mkdir build && \
+    cd build && \
+    ~/cmake -DALICEVISION_USE_CUDA=OFF -DALICEVISION_USE_APRILTAG=OFF -DALICEVISION_BUILD_SOFTWARE=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r AliceVision

docker/focal/Dockerfile

@@ -38,106 +38,23 @@ RUN cd libpointmatcher && \
     cd && \
     rm -r libpointmatcher
     
-# libfreenect2 
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev
-RUN git clone https://github.com/OpenKinect/libfreenect2
-RUN cd libfreenect2 && \
-    mkdir build && \
-    cd build && \
-    cmake .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r libfreenect2
-    
-# RealSense2
-RUN apt-get install -y ros-noetic-realsense2-camera
-
-# Azure Kinect DK
-# Taken from https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1190#issuecomment-822772494
-# K4A binaries on 20.04 not released yet, we should take those from 18.04
-RUN curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.3/libk4a1.3_1.3.0_amd64.deb > /tmp/libk4a1.3_1.3.0_amd64.deb
-RUN curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.3-dev/libk4a1.3-dev_1.3.0_amd64.deb > /tmp/libk4a1.3-dev_1.3.0_amd64.deb
-RUN curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.0/libk4abt1.0_1.0.0_amd64.deb > /tmp/libk4abt1.0_1.0.0_amd64.deb
-RUN curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.0-dev/libk4abt1.0-dev_1.0.0_amd64.deb > /tmp/libk4abt1.0-dev_1.0.0_amd64.deb
-RUN curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/k/k4a-tools/k4a-tools_1.3.0_amd64.deb > /tmp/k4a-tools_1.3.0_amd64.deb
-RUN echo 'libk4a1.3 libk4a1.3/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections
-RUN echo 'libk4abt1.0	libk4abt1.0/accepted-eula-hash	string	03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections
-RUN dpkg -i /tmp/libk4a1.3_1.3.0_amd64.deb
-RUN dpkg -i /tmp/libk4a1.3-dev_1.3.0_amd64.deb
-RUN dpkg -i /tmp/libk4abt1.0_1.0.0_amd64.deb
-RUN dpkg -i /tmp/libk4abt1.0-dev_1.0.0_amd64.deb
-RUN apt-get install -y libsoundio1
-RUN dpkg -i /tmp/k4a-tools_1.3.0_amd64.deb
-RUN rm /tmp/libk4a* /tmp/k4a*
-
-# zed open capture
-RUN apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget
-RUN git clone https://github.com/stereolabs/zed-open-capture.git
-RUN cd zed-open-capture && \
-    mkdir build && \
-    cd build && \
-    cmake .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r zed-open-capture
-
-# AliceVision v2.4.0 modified (Sept 13 2021)
-RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
-      libsuitesparse-dev \
-      libceres-dev \
-      xorg-dev \
-      libglu1-mesa-dev \
-      wget
-RUN git clone https://github.com/OpenImageIO/oiio.git
-RUN cd oiio && \
-    git checkout Release-2.0.12 && \
-    mkdir build && \
-    cd build && \
-    cmake -DUSE_PYTHON=OFF -DOIIO_BUILD_TESTS=OFF -DOIIO_BUILD_TOOLS=OFF .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r oiio
-RUN git clone https://github.com/assimp/assimp.git
-RUN cd assimp && \
-    git checkout 71a87b653cd4b5671104fe49e2e38cf5dd4d8675 && \
-    mkdir build && \
-    cd build && \
-    cmake .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r assimp
-RUN git clone https://github.com/alicevision/geogram.git
-RUN cd geogram && \
-    git checkout v1.7.6 && \
-    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/geogram_8b2ae61.patch && \
-    git apply geogram_8b2ae61.patch && \
-    ./configure.sh && \
-    cd build/Linux64-gcc-dynamic-Release && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r geogram
-RUN git clone https://github.com/alicevision/AliceVision.git --recursive
-RUN cd AliceVision && \
-    git checkout 0f6115b6af6183c524aa7fcf26141337c1cf3872 && \
-    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/alicevision_0f6115b.patch && \
-    git apply alicevision_0f6115b.patch && \
-    mkdir build && \
-    cd build && \
-    cmake -DALICEVISION_USE_CUDA=OFF -DALICEVISION_USE_APRILTAG=OFF -DALICEVISION_BUILD_SOFTWARE=OFF .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r AliceVision
-    
 # PDAL
 RUN apt-get install -y libpdal-dev
 
+# RealSense2
+RUN apt-get install -y ros-noetic-librealsense2
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# amd64-only dependencies
+ADD amd64.bash /root/amd64.bash
+RUN chmod +x amd64.bash
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then /bin/bash -c "./amd64.bash"; fi
+
 # Clone source code
 ARG CACHE_DATE=2016-01-01
 RUN git clone https://github.com/introlab/rtabmap.git

docker/focal/amd64.bash

@@ -0,0 +1,104 @@
+#!/bin/bash
+
+# Azure Kinect DK
+echo "Installing k4a..."
+# Taken from https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1190#issuecomment-822772494
+# K4A binaries on 20.04 not released yet, we should take those from 18.04
+echo "Download libk4a1.3_1.3.0_amd64.deb..."
+curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.3/libk4a1.3_1.3.0_amd64.deb > /tmp/libk4a1.3_1.3.0_amd64.deb
+echo "Download libk4a1.3-dev_1.3.0_amd64.deb..."
+curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.3-dev/libk4a1.3-dev_1.3.0_amd64.deb > /tmp/libk4a1.3-dev_1.3.0_amd64.deb
+echo "Download libk4abt1.0_1.0.0_amd64.deb..."
+curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.0/libk4abt1.0_1.0.0_amd64.deb > /tmp/libk4abt1.0_1.0.0_amd64.deb
+echo "Download libk4abt1.0-dev_1.0.0_amd64.deb..."
+curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.0-dev/libk4abt1.0-dev_1.0.0_amd64.deb > /tmp/libk4abt1.0-dev_1.0.0_amd64.deb
+echo "Download k4a-tools_1.3.0_amd64.deb..."
+curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/k/k4a-tools/k4a-tools_1.3.0_amd64.deb > /tmp/k4a-tools_1.3.0_amd64.deb
+echo "Accept license..."
+echo 'libk4a1.3 libk4a1.3/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections
+echo 'libk4abt1.0	libk4abt1.0/accepted-eula-hash	string	03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections
+dpkg -i /tmp/libk4a1.3_1.3.0_amd64.deb
+dpkg -i /tmp/libk4a1.3-dev_1.3.0_amd64.deb
+dpkg -i /tmp/libk4abt1.0_1.0.0_amd64.deb
+dpkg -i /tmp/libk4abt1.0-dev_1.0.0_amd64.deb
+apt-get install -y libsoundio1
+dpkg -i /tmp/k4a-tools_1.3.0_amd64.deb
+rm /tmp/libk4a* /tmp/k4a*
+
+# libfreenect2 
+echo "Installing libfreenect2..."
+apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev
+git clone https://github.com/OpenKinect/libfreenect2
+cd libfreenect2 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r libfreenect2
+
+# zed open capture
+echo "Installing zed-open-capture..."
+apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget
+git clone https://github.com/stereolabs/zed-open-capture.git
+cd zed-open-capture && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r zed-open-capture
+
+# AliceVision v2.4.0 modified (Sept 13 2021)
+echo "Installing AliceVision..."
+apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+      libsuitesparse-dev \
+      libceres-dev \
+      xorg-dev \
+      libglu1-mesa-dev \
+      wget
+git clone https://github.com/OpenImageIO/oiio.git
+cd oiio && \
+    git checkout Release-2.0.12 && \
+    mkdir build && \
+    cd build && \
+    cmake -DUSE_PYTHON=OFF -DOIIO_BUILD_TESTS=OFF -DOIIO_BUILD_TOOLS=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r oiio
+git clone https://github.com/assimp/assimp.git
+cd assimp && \
+    git checkout 71a87b653cd4b5671104fe49e2e38cf5dd4d8675 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r assimp
+git clone https://github.com/alicevision/geogram.git
+cd geogram && \
+    git checkout v1.7.6 && \
+    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/geogram_8b2ae61.patch && \
+    git apply geogram_8b2ae61.patch && \
+    ./configure.sh && \
+    cd build/Linux64-gcc-dynamic-Release && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r geogram
+git clone https://github.com/alicevision/AliceVision.git --recursive
+cd AliceVision && \
+    git checkout 0f6115b6af6183c524aa7fcf26141337c1cf3872 && \
+    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/alicevision_0f6115b.patch && \
+    git apply alicevision_0f6115b.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DALICEVISION_USE_CUDA=OFF -DALICEVISION_USE_APRILTAG=OFF -DALICEVISION_BUILD_SOFTWARE=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r AliceVision