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Dockerfile.desktop
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FROM ubuntu:22.04
ENV DEBIAN_FRONTEND noninteractive
# install dependencies via apt
ENV DEBCONF_NOWARNINGS yes
RUN set -x && \
apt-get update -y -qq && \
apt-get upgrade -y -qq --no-install-recommends && \
: "basic dependencies" && \
apt-get install -y -qq \
build-essential \
pkg-config \
cmake \
git \
wget \
curl \
tar \
unzip && \
: "g2o dependencies" && \
apt-get install -y -qq \
libatlas-base-dev \
libsuitesparse-dev \
libglew-dev && \
: "OpenCV dependencies" && \
apt-get install -y -qq \
libgtk-3-dev \
libjpeg-dev \
libpng++-dev \
libtiff-dev \
libopenexr-dev \
libwebp-dev \
ffmpeg \
libavcodec-dev \
libavformat-dev \
libavutil-dev \
libswscale-dev \
libtbb-dev && \
: "backward-cpp dependencies" && \
apt install -y -qq binutils-dev && \
: "other dependencies" && \
apt-get install -y -qq \
libyaml-cpp-dev \
sqlite3 \
libsqlite3-dev && \
: "remove cache" && \
apt-get autoremove -y -qq && \
rm -rf /var/lib/apt/lists/*
ARG CMAKE_INSTALL_PREFIX=/usr/local
ARG NUM_THREADS=1
ENV CPATH=${CMAKE_INSTALL_PREFIX}/include:${CPATH}
ENV C_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${C_INCLUDE_PATH}
ENV CPLUS_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${CPLUS_INCLUDE_PATH}
ENV LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LIBRARY_PATH}
ENV LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LD_LIBRARY_PATH}
ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
# Eigen
ARG EIGEN3_VERSION=3.3.7
WORKDIR /tmp
RUN set -x && \
wget -q https://gitlab.com/libeigen/eigen/-/archive/${EIGEN3_VERSION}/eigen-${EIGEN3_VERSION}.tar.bz2 && \
tar xf eigen-${EIGEN3_VERSION}.tar.bz2 && \
rm -rf eigen-${EIGEN3_VERSION}.tar.bz2 && \
cd eigen-${EIGEN3_VERSION} && \
mkdir -p build && \
cd build && \
cmake \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
.. && \
make -j${NUM_THREADS} && \
make install && \
cd /tmp && \
rm -rf *
ENV Eigen3_DIR=${CMAKE_INSTALL_PREFIX}/share/eigen3/cmake
# g2o
ARG G2O_COMMIT=20230223_git
WORKDIR /tmp
RUN set -x && \
git clone https://github.com/RainerKuemmerle/g2o.git && \
cd g2o && \
git checkout ${G2O_COMMIT} && \
mkdir -p build && \
cd build && \
cmake \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
-DBUILD_SHARED_LIBS=ON \
-DBUILD_UNITTESTS=OFF \
-DG2O_USE_CHOLMOD=OFF \
-DG2O_USE_CSPARSE=ON \
-DG2O_USE_OPENGL=OFF \
-DG2O_USE_OPENMP=OFF \
-DG2O_BUILD_APPS=OFF \
-DG2O_BUILD_EXAMPLES=OFF \
-DG2O_BUILD_LINKED_APPS=OFF \
.. && \
make -j${NUM_THREADS} && \
make install && \
cd /tmp && \
rm -rf *
ENV g2o_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/g2o
# OpenCV
ARG OPENCV_VERSION=4.7.0
WORKDIR /tmp
RUN set -x && \
wget -q https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip && \
unzip -q ${OPENCV_VERSION}.zip && \
rm -rf ${OPENCV_VERSION}.zip && \
cd opencv-${OPENCV_VERSION} && \
mkdir -p build && \
cd build && \
cmake \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
-DBUILD_DOCS=OFF \
-DBUILD_EXAMPLES=OFF \
-DBUILD_JASPER=OFF \
-DBUILD_OPENEXR=OFF \
-DBUILD_PERF_TESTS=OFF \
-DBUILD_TESTS=OFF \
-DBUILD_PROTOBUF=OFF \
-DBUILD_opencv_apps=OFF \
-DBUILD_opencv_dnn=OFF \
-DBUILD_opencv_ml=OFF \
-DBUILD_opencv_python_bindings_generator=OFF \
-DENABLE_CXX11=ON \
-DENABLE_FAST_MATH=ON \
-DWITH_EIGEN=ON \
-DWITH_FFMPEG=ON \
-DWITH_TBB=ON \
-DWITH_OPENMP=ON \
.. && \
make -j${NUM_THREADS} && \
make install && \
cd /tmp && \
rm -rf *
ENV OpenCV_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/opencv4
# Pangolin
ARG PANGOLIN_COMMIT=eab3d3449a33a042b1ee7225e1b8b593b1b21e3e
WORKDIR /tmp
RUN set -x && \
git clone https://github.com/stevenlovegrove/Pangolin.git && \
cd Pangolin && \
git checkout ${PANGOLIN_COMMIT} && \
mkdir -p build && \
cd build && \
cmake \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
-DBUILD_EXAMPLES=OFF \
-DBUILD_PANGOLIN_DEPTHSENSE=OFF \
-DBUILD_PANGOLIN_FFMPEG=OFF \
-DBUILD_PANGOLIN_LIBDC1394=OFF \
-DBUILD_PANGOLIN_LIBJPEG=OFF \
-DBUILD_PANGOLIN_LIBOPENEXR=OFF \
-DBUILD_PANGOLIN_LIBPNG=OFF \
-DBUILD_PANGOLIN_LIBTIFF=OFF \
-DBUILD_PANGOLIN_LIBUVC=OFF \
-DBUILD_PANGOLIN_LZ4=OFF \
-DBUILD_PANGOLIN_OPENNI=OFF \
-DBUILD_PANGOLIN_OPENNI2=OFF \
-DBUILD_PANGOLIN_PLEORA=OFF \
-DBUILD_PANGOLIN_PYTHON=OFF \
-DBUILD_PANGOLIN_TELICAM=OFF \
-DBUILD_PANGOLIN_UVC_MEDIAFOUNDATION=OFF \
-DBUILD_PANGOLIN_V4L=OFF \
-DBUILD_PANGOLIN_ZSTD=OFF \
.. && \
make -j${NUM_THREADS} && \
make install && \
cd /tmp && \
rm -rf *
ENV Pangolin_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/Pangolin
# backward-cpp
ARG BACKWARD_CPP_COMMIT=5ffb2c879ebdbea3bdb8477c671e32b1c984beaa
WORKDIR /tmp
RUN set -x && \
git clone https://github.com/bombela/backward-cpp.git && \
cd backward-cpp && \
git checkout ${BACKWARD_CPP_COMMIT} && \
mkdir -p build && \
cd build && \
cmake \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
.. && \
make -j${NUM_THREADS} && \
make install && \
cd /tmp && \
rm -rf *
# stella_vslam
COPY . /stella_vslam/
WORKDIR /stella_vslam/
RUN set -x && \
mkdir -p build && \
cd build && \
cmake \
-DCMAKE_BUILD_TYPE=RelWithDebInfo \
.. && \
make -j${NUM_THREADS} && \
make install && \
rm -rf CMakeCache.txt CMakeFiles Makefile cmake_install.cmake example src && \
chmod -R 777 ./*
ARG PANGOLIN_VIEWER_COMMIT=f3564675d420bcdbe6380b29b5e2f2b623987dd0
WORKDIR /tmp
RUN set -x && \
git clone https://github.com/stella-cv/pangolin_viewer.git && \
cd pangolin_viewer && \
git checkout -q ${PANGOLIN_VIEWER_COMMIT} && \
git submodule update --init --recursive && \
mkdir -p build && \
cd build && \
cmake \
-DCMAKE_BUILD_TYPE=RelWithDebInfo \
-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
.. && \
make -j${NUM_THREADS} && \
make install && \
cd /tmp && \
rm -rf *
ARG EXAMPLES_COMMIT=1c0433867cba5d110fd94bbc609468650a2f7885
WORKDIR /stella_vslam_examples
RUN set -x && \
git clone https://github.com/stella-cv/stella_vslam_examples.git && \
cd stella_vslam_examples && \
git checkout -q ${EXAMPLES_COMMIT} && \
git submodule update --init --recursive && \
mkdir -p build && \
cd build && \
cmake \
-DCMAKE_BUILD_TYPE=RelWithDebInfo \
-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
-DUSE_STACK_TRACE_LOGGER=ON \
.. && \
make -j${NUM_THREADS}
WORKDIR /stella_vslam_examples/build/
ENTRYPOINT ["/bin/bash"]