Update: add dockerfile and .github workflow for build docker images

.github/workflows/build_docker.yml

@@ -0,0 +1,51 @@
+name: gcnv2slam-latest
+#触发器设置
+on:
+  push:
+    branches: [ "cpu" ]
+
+# 项目任务，任务之间可以并行调度
+jobs:
+  build:
+  # 选择云端运行的环境
+    runs-on: ubuntu-latest
+    steps:
+    #u ses代表使用一个模块，此处使用的是checkout模块，将github项目文件导入到当前环境中
+    - uses: actions/checkout@v3
+    # 使用with跟在后面来为前面的模块输入参数
+      with:
+        submodules: 'true'
+    - name: Set up QEMU
+      uses: docker/setup-qemu-action@v2
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    - name: Login to DockerHub
+      uses: docker/login-action@v2
+      with:
+    # 这里用到了github的secrets功能，避免账户和密码随仓库泄露
+       username: ${{ secrets.DOCKER_USERNAME }}
+       password: ${{ secrets.DOCKER_TOKEN }}
+    # 设置当前的发行版本tag
+    - name: Release version
+      id: release_version
+      run: |
+        app_version=$(cat docker/version.py | sed -ne "s/APP_VERSION[[:space:]]*=[[:space:]]*'v\(.*\)'/\1/p")
+        echo "app_version=$app_version"
+        echo "app_version=$app_version" >> $GITHUB_ENV
+    # 开始构建镜像
+    - name: Build and push
+      uses: docker/build-push-action@v2
+      with:
+        context: .
+        file: dockerfile
+        build-args: |
+          GITHUB_TOKEN=${{ secrets.RELEASE_TOKEN }}
+        platforms: |
+          linux/amd64
+          linux/arm64
+          linux/arm
+        push: true
+        # 指定用户/仓库名
+        tags: |
+          ${{ secrets.DOCKER_USERNAME }}/gcnv2slam:latest
+          ${{ secrets.DOCKER_USERNAME }}/gcnv2slam:${{ env.app_version }}

docker/README.md

@@ -0,0 +1,22 @@
+
+## GCNV2_SLAM的安装环境docker镜像
+
+Use the following command to build an image
+
+```bash
+docker build --network host -f dockerfile -t gcnv2slam:latest .
+```
+
+Note that this image only contains the necessary runtime environment and does not include the GCNv2 project itself. The project ontology needs to be mapped to a directory for use
+
+```bash
+# docker run to create a docker container
+./docker_run.sh
+# docker into for enter docker container
+./docker_into.sh
+# in container `cd /work` to compile code
+cd /work
+# before run this scripts
+# modify TORCH_PATH to /tmp/install/pytorch/torch/lib/tmp_install/share/cmake/Torch
+./build.sh
+```

docker/docker_into.sh

@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+
+xhost +local:root 1>/dev/null 2>&1
+docker exec \
+    -u root \
+    -it gcnv2 \
+    /bin/bash
+xhost -local:root 1>/dev/null 2>&1

docker/docker_run.sh

@@ -0,0 +1,37 @@
+#!/usr/bin/env bash
+
+GCN_HOME_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )/.." && pwd )"
+
+display=""
+if [ -z ${DISPLAY} ];then
+    display=":1"
+else
+    display="${DISPLAY}"
+fi
+
+local_host="$(hostname)"
+user="${USER}"
+uid="$(id -u)"
+group="$(id -g -n)"
+gid="$(id -g)"
+
+
+echo "stop and rm docker" 
+docker stop gcnv2 > /dev/null
+docker rm -v -f gcnv2 > /dev/null
+
+echo "start docker"
+docker run -it -d \
+--name gcnv2 \
+-e DISPLAY=$display \
+--privileged=true \
+-e DOCKER_USER="${user}" \
+-e USER="${user}" \
+-e DOCKER_USER_ID="${uid}" \
+-e DOCKER_GRP="${group}" \
+-e DOCKER_GRP_ID="${gid}" \
+-e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR \
+-v ${GCN_HOME_DIR}:/work \
+-v ${XDG_RUNTIME_DIR}:${XDG_RUNTIME_DIR} \
+--net host \
+gcnv2slam:latest

docker/dockerfile

@@ -0,0 +1,86 @@
+FROM ubuntu:18.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+ENV TZ=Asia/Shanghai
+
+SHELL ["/bin/bash", "-c"]
+
+# 工具组
+RUN apt-get update  && apt-get upgrade -y  && \
+    apt-get install -y \
+    apt-utils \
+    curl wget \
+    cmake make automake \
+    openssh-server \
+    net-tools \
+    vim \
+    git \
+    gcc g++ \
+    unzip
+
+# x11依赖项
+RUN apt-get install -y  \
+    libx11-xcb1 \
+    libfreetype6 \
+    libdbus-1-3 \
+    libfontconfig1 \
+    libxkbcommon0   \
+    libxkbcommon-x11-0
+
+# python
+RUN apt-get install -y \
+    python-dev \
+    python-pip \
+    python3-dev \
+    python3-pip \
+    python-all-dev
+
+# opencv 需要
+RUN echo -e "deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main multiverse restricted universe\n\
+    deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-security main multiverse restricted universe\n\
+    deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-updates main multiverse restricted universe\n\
+    deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-backports main multiverse restricted universe\n\
+    deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main multiverse restricted universe\n\
+    deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-security main multiverse restricted universe\n\
+    deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-updates main multiverse restricted universe" >> /etc/apt/sources.list && \
+    apt-get -y update && \
+    apt-get install -y libjasper1 libjasper-dev
+
+# opencv需要
+RUN apt-get install -y \
+    libc-ares-dev \
+    libssl-dev \
+    build-essential \
+    libboost-all-dev \
+    libgtk2.0-dev \
+    libavcodec-dev \
+    libavformat-dev \
+    libjpeg.dev \
+    libtiff5.dev \
+    libswscale-dev
+
+# pangolin需要
+RUN apt-get install -y \
+    libgl1-mesa-dev \
+    libglew-dev \
+    libboost-dev \
+    libboost-thread-dev \
+    libboost-filesystem-dev \
+    libpython2.7-dev \
+    libglu1-mesa-dev freeglut3-dev
+
+COPY install/pangolin /tmp/install/pangolin
+RUN chmod 777 /tmp/install/pangolin/install_pangolin.sh && \
+    /tmp/install/pangolin/install_pangolin.sh
+
+COPY install/opencv /tmp/install/opencv
+RUN chmod 777 /tmp/install/opencv/install_opencv.sh && \ 
+    /tmp/install/opencv/install_opencv.sh
+
+COPY install/eigen /tmp/install/eigen
+RUN chmod 777 /tmp/install/eigen/install_eigen.sh && \
+    /tmp/install/eigen/install_eigen.sh
+
+COPY install/pytorch /tmp/install/pytorch
+RUN chmod 777 /tmp/install/pytorch/install_pytorch.sh && \
+    /tmp/install/pytorch/install_pytorch.sh

docker/install/eigen/install_eigen.sh

@@ -0,0 +1,27 @@
+#!/usr/bin/env bash
+
+set -e
+
+cd "$(dirname "${BASH_SOURCE[0]}")"
+
+# wget -O eigen-3.3.7.tar.gz https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.gz
+tar -zxvf eigen-3.3.7.tar.gz
+
+pushd eigen-3.3.7
+    rm -rf build
+    mkdir build && cd build
+    cmake ..
+    make -j$(nproc)
+    make install
+    # 拷贝头文件
+    cp -r /usr/local/include/eigen3/Eigen /usr/local/include
+    # 刷新动态库
+    ldconfig
+popd
+
+# 编译检测
+TEST_FILE=test_eigen
+g++ test_eigen.cpp -o $TEST_FILE
+./$TEST_FILE
+
+rm -rf eigen-3.3.7.tar.gz eigen-3.3.7 $TEST_FILE

docker/install/eigen/test_eigen.cpp

@@ -0,0 +1,27 @@
+#include <iostream>
+//需要将头文件从 /usr/local/include/eigen3/ 复制到 /usr/local/include
+#include <Eigen/Dense>
+//using Eigen::MatrixXd;
+using namespace Eigen;
+using namespace Eigen::internal;
+using namespace Eigen::Architecture;
+using namespace std;
+int main()
+{
+        cout<<"*******************1D-object****************"<<endl;
+        Vector4d v1;
+        v1<< 1,2,3,4;
+        cout<<"v1=\n"<<v1<<endl;
+
+        VectorXd v2(3);
+        v2<<1,2,3;
+        cout<<"v2=\n"<<v2<<endl;
+
+        Array4i v3;
+        v3<<1,2,3,4;
+        cout<<"v3=\n"<<v3<<endl;
+
+        ArrayXf v4(3);
+        v4<<1,2,3;
+        cout<<"v4=\n"<<v4<<endl;
+}

docker/install/opencv/install_opencv.sh

@@ -0,0 +1,28 @@
+#!/usr/bin/env bash
+
+set -e
+
+cd "$(dirname "${BASH_SOURCE[0]}")"
+apt-get install -y libcanberra-gtk-module
+
+# 下载和解压
+wget -O opencv-3.4.5.tar.gz https://github.com/opencv/opencv/archive/refs/tags/3.4.5.tar.gz
+tar -zxvf opencv-3.4.5.tar.gz
+# 开始编译和安装
+pushd opencv-3.4.5
+    rm -rf build
+    mkdir build && cd build 
+    # 构建和编译安装，-j4代表4线程并发
+    cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
+    make -j$(nproc)
+    make install
+    # 刷新动态库
+    ldconfig
+    # 检测是否安装成功
+    cd ../samples/cpp/example_cmake
+    mkdir build && cd build 
+    cmake ..
+    make
+popd
+
+rm -rf opencv-3.4.5 opencv-3.4.5.tar.gz

docker/install/pangolin/install_pangolin.sh

@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+
+set -e
+
+cd "$(dirname "${BASH_SOURCE[0]}")"
+
+# wget -O Pangolin-0.6.tar.gz https://github.com/stevenlovegrove/Pangolin/archive/refs/tags/v0.6.tar.gz
+tar -zxvf Pangolin-0.6.tar.gz
+
+pushd Pangolin-0.6
+    rm -rf build
+    mkdir build && cd build
+    # 编译安装 
+    cmake -DCPP11_NO_BOOST=1 ..
+    make -j$(nproc)
+    make install
+    # 刷新动态库
+    ldconfig
+    # 检查安装成功(能不能编译demo)
+    cd ../examples/HelloPangolin
+    mkdir build && cd build
+    cmake ..
+    make
+popd
+
+rm -rf Pangolin-0.6 Pangolin-0.6.tar.gz

docker/install/pytorch/install_pytorch.sh

@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+
+set -e
+
+cd "$(dirname "${BASH_SOURCE[0]}")"
+# 编译运行需要
+pip3 install pyyaml 
+
+git clone --recursive -b v1.0.1 https://github.com/pytorch/pytorch
+pushd pytorch
+    rm -rf build
+    mkdir build && cd build
+    # 修改不兼容的pyyaml代码
+    sed -i "s|yaml.load('\n'.join(declaration_lines))|yaml.load('\n'.join(declaration_lines),Loader=yaml.FullLoader)|" aten/src/ATen/cwrap_parser.py
+    sed -i "s|yaml.load('\n'.join(declaration_lines))|yaml.load('\n'.join(declaration_lines),Loader=yaml.FullLoader)|" tools/cwrap/cwrap.py
+    # 开始编译libtorch
+    python3 ../tools/build_libtorch.py
+ldconfig
+popd

docker/version.py

@@ -0,0 +1 @@
+APP_VERSION = 'v0.0.1'