Make ROS optional, provide Docker, Dependencies as submodules

.gitmodules

@@ -0,0 +1,9 @@
+[submodule "ext/ceres-solver"]
+	path = ext/ceres-solver
+	url = https://github.com/ceres-solver/ceres-solver.git
+[submodule "ext/g2o"]
+	path = ext/g2o
+	url = https://github.com/RainerKuemmerle/g2o.git
+[submodule "ext/Sophus"]
+	path = ext/Sophus
+	url = https://github.com/strasdat/Sophus.git

CMakeLists.txt

@@ -1,39 +1,42 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(lidar_camera_calibrator)
 set(CMAKE_BUILD_TYPE "release") 
-
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3")
+set(CMAKE_CXX_STANDARD 14)
 
 find_package(catkin REQUIRED COMPONENTS 
         roscpp sensor_msgs cv_bridge pcl_ros pcl_conversions std_msgs
 )
 find_package(OpenCV REQUIRED)
 find_package(PCL REQUIRED)
+find_package(catkin)
 add_definitions(${PCL_DEFINITIONS})
 
-catkin_package(
-        INCLUDE_DIRS include
-        DEPENDS PCL
-)
-
-include_directories(
-        include
-        ${catkin_INCLUDE_DIRS}
-        ${PCL_INCLUDE_DIRS}
-)
-
-link_directories(
-        include
-        ${PCL_LIBRARY_DIRS}
-)
-add_library(get_sync_data include/get_sync_data/get_sync_data.cpp)
-add_executable(get_sync_data_node ./src/get_sync_data_node.cpp )
-target_link_libraries(get_sync_data_node 
-        get_sync_data       
-        ${OpenCV_LIBS}
-        ${PCL_LIBRARIES}
-        ${catkin_LIBRARIES}
-)
-
-# lidar camera calibrator
-add_subdirectory(src/calibrator)
+if (catkin_FOUND)
+  catkin_package(
+          INCLUDE_DIRS include
+          DEPENDS PCL
+  )
+
+  include_directories(
+          include
+          ${catkin_INCLUDE_DIRS}
+          ${PCL_INCLUDE_DIRS}
+  )
+
+  link_directories(
+          include
+          ${PCL_LIBRARY_DIRS}
+  )
+  add_library(get_sync_data include/get_sync_data/get_sync_data.cpp)
+  add_executable(get_sync_data_node ./src/get_sync_data_node.cpp )
+  target_link_libraries(get_sync_data_node 
+          get_sync_data       
+          ${OpenCV_LIBS}
+          ${PCL_LIBRARIES}
+          ${catkin_LIBRARIES}
+  )
+
+  add_subdirectory(src/calibrator)
+else()
+  add_subdirectory(src/calibrator)
+endif()

README.md

@@ -21,36 +21,91 @@ Hope it helps you.
 
 ## Dependencies
 
-- ROS
+- ROS Kinetic/Melodic (optional)
+
+- OpenCV
+
+  ```bash
+  $ sudo apt install libopencv-dev python3-opencv
+  ```
 
 - Qt 5 (system)
 
+  ```bash
+  $ sudo apt install qt5-qmake qt5-default qtbase5-dev qtbase5-private-dev libqglviewer-dev-qt5
+  ```
+
 - Eigen 3 (3.3+)
 
-- [ceres](https://github.com/ceres-solver/ceres-solver.git)（commit: e51e9b4）
+  ```bash
+  $ sudo apt install libeigen3-dev
+  ```
 
-  > ```bash
-  > # ceres dependencies
-  > $ sudo apt-get install  liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev
-  > ```
+- Dependencies in `ext/` (clone with --recursive)
 
-- [g2o](https://github.com/RainerKuemmerle/g2o.git)（tag: 20200410_git）
+	- [ceres](https://github.com/ceres-solver/ceres-solver.git)（commit: e51e9b4)
+
+	  ```bash
+	  $ sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev
+	  ```
+
+	- [g2o](https://github.com/RainerKuemmerle/g2o.git)（tag: 20200410_git）dependencies
+
+	  ```bash
+	  $ sudo apt-get install libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3
+	  ```
+
+	- [sophus](https://github.com/strasdat/Sophus.git)（commit: 13fb328）
 
-  > ```bash
-  > # g2o dependencies
-  > $ sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3
-  > ```
+- Misc
 
-- [sophus](https://github.com/strasdat/Sophus.git)（commit: 13fb328）
+  ```bash
+  $ sudo apt install libcairo2-dev libcgal-dev
+  ```
 
 ## Build
 
+#### ROS
+
 ```bash
 $ mkdir -p ws_calibrator/src && cd ws_calibrator
-$ git clone REPOSITORY_GIT_LINK src/lidar_camera_calibrator 
+$ git clone --recursive REPOSITORY_GIT_LINK src/lidar_camera_calibrator 
+$ # Install dependencies in ext/, cmake . && make -j3 && sudo make install, each
 $ catkin_make
 ```
 
+#### Non-ROS
+
+
+```bash
+$ git clone --recursive REPOSITORY_GIT_LINK lidar_camera_calibrator && cd lidar_camera_calibrator
+$ # Install dependencies in ext/, cmake . && make -j3 && sudo make install, each
+$ cd src/calibrator/ && mkdir build && cd build
+$ cmake .. && make -j3 
+```
+
+#### Docker
+
+Build:
+
+```bash
+docker build -f docker/Dockerfile -t calibrator .
+```
+
+Permissions:
+
+```bash
+chmod +x docker/entrypoint.sh
+```
+
+Start:
+
+```bash
+docker run -it --entrypoint /bin/bash --privileged --name calibrator --rm -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -h $HOSTNAME -v $HOME/.Xauthority:/home/calibrator/.Xauthority -v /dev:/dev -- calibrator
+```
+
+Follow [Usage instructions](#usage)
+
 ## Test
 
 We have tested this tool on real and simulated Velodyne-16 and normal cameras, and test data is provided under the `data` folder.

docker/Dockerfile

@@ -0,0 +1,45 @@
+FROM ros:melodic-perception
+RUN apt-get update && apt-get install -y x11-apps git vim libcairo2-dev libcgal-dev libopencv-dev python3-opencv\
+    libeigen3-dev liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev \ 
+    qt5-qmake qt5-default qtbase5-dev qtbase5-private-dev libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3 
+
+ARG user=calibrator
+ARG home=/home/$user
+RUN groupadd -g 1000 $user
+RUN useradd -d $home -s /bin/bash -m $user -u 1000 -g 1000 \
+        && adduser $user sudo
+WORKDIR $home
+
+COPY ext .
+RUN cd ceres-solver && cmake . && make -j3 && make install
+RUN cd g2o && cmake . && make -j3 && make install
+# see issue https://github.com/strasdat/Sophus/issues/214 for ubuntu 20.04
+RUN cd Sophus && cmake . && make -j3 && make install
+
+ENV ROS_WS $home/ros_ws
+RUN mkdir -p $ROS_WS/src
+WORKDIR $ROS_WS
+COPY . $ROS_WS/src/lidar_camera_calibrator
+RUN . /opt/ros/melodic/setup.sh \
+    && catkin_make
+
+
+# fix vtk pcl interaction https://stackoverflow.com/a/75687353
+RUN ln -s /usr/bin/vtk7 /usr/bin/vtk
+
+RUN chown -R $user:$user $home
+USER $user
+ENV HOME $home
+
+# necessary for libg2o_core.so to be found after linking
+RUN echo "export LD_LIBRARY_PATH=/usr/local/lib:/opt/ros/melodic/lib" >> ~/.bashrc
+RUN echo "export XDG_RUNTIME_DIR=$home/xdg_runtime_dir" >> ~/.bashrc
+
+# xdg
+RUN mkdir $home/xdg_runtime_dir
+
+# ROS entrypoint
+COPY ./docker/entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]
+

docker/entrypoint.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+set -e
+
+if [ ${ROS_DISTRO} == "foxy" ] ; then
+	source "$ROS_WS/install/local_setup.bash"
+else
+	source "/opt/ros/$ROS_DISTRO/setup.bash" 
+	source "$ROS_WS/devel/setup.bash"
+fi
+exec "$@"