Dockerfile

ARG BASE_IMAGE
FROM $BASE_IMAGE

RUN apt-get update \
    && apt-get install -q -y --no-install-recommends \
    sudo \
    locales \ 
    && apt-get -y autoremove \
    && apt-get clean autoclean \
    && rm -fr /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*

# Set env variables
RUN locale-gen en_US.UTF-8
ENV LANG=en_US.UTF-8 \
    LANGUAGE=en_US.UTF-8 \
    LC_ALL=en_US.UTF-8 \
    XVFB_WHD="1920x1080x24"\
    LIBGL_ALWAYS_SOFTWARE="1"

ARG ROS_DISTRO
ENV ROS_DISTRO=$ROS_DISTRO
ARG USERNAME
ARG UUID
ARG UGID

RUN useradd -m $USERNAME && \
    echo "$USERNAME:$USERNAME" | chpasswd && \
    usermod --shell /bin/bash $USERNAME && \
    usermod -aG sudo $USERNAME && \
    echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
    chmod 0440 /etc/sudoers.d/$USERNAME && \
    usermod --uid $UUID $USERNAME && \
    groupmod --gid $UGID $USERNAME

ENV HOME=/home/$USERNAME

# install utils packages
RUN apt-get update && apt-get install -q -y --no-install-recommends \
    bash-completion \
    build-essential \
    git \
    vim \
    wget \
    && apt-get -y autoremove \
    && apt-get clean autoclean \
    && rm -fr /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*

# install OpenVSLAM Dependencies
# Docker file instructions retrieved from https://github.com/fabianschenk/openvslam-1

# 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 \
    pkg-config \
    cmake \
    curl \
    tar \
    unzip && \
  : "g2o dependencies" && \
  apt-get install -y -qq \
    libgoogle-glog-dev \
    libatlas-base-dev \
    libsuitesparse-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 \
    libavresample-dev && \
  : "Pangolin dependencies" && \
  apt-get install -y -qq \
    libglew-dev && \
  : "other dependencies" && \
  apt-get install -y -qq \
    libyaml-cpp-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
RUN apt-get update && apt-get install -q -y --no-install-recommends \
  libeigen3-dev \
  qt5-default \
  && apt-get -y autoremove \
  && apt-get clean autoclean \
  && rm -fr /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*

# g2o
ARG G2O_COMMIT=9b41a4ea5ade8e1250b9c1b279f3a9c098811b5a
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 \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DG2O_USE_CHOLMOD=ON \
    -DG2O_USE_CSPARSE=ON \
    -DG2O_USE_OPENGL=OFF \
    -DG2O_USE_OPENMP=ON \
    -DG2O_BUILD_APPS=OFF \
    -DG2O_BUILD_EXAMPLES=OFF \
    -DG2O_BUILD_LINKED_APPS=OFF \
    .. && \
  make -j${NUM_THREADS} && \
  make install && \
  cd /tmp && \
  rm -rf *
ENV G2O_ROOT=${CMAKE_INSTALL_PREFIX}

# OpenCV
ARG OPENCV_VERSION=3.2.0
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=${CMAKE_INSTALL_PREFIX} \
    -DBUILD_DOCS=OFF \
    -DBUILD_EXAMPLES=OFF \
    -DBUILD_JASPER=OFF \
    -DBUILD_OPENEXR=OFF \
    -DBUILD_PERF_TESTS=OFF \
    -DBUILD_TESTS=OFF \
    -DBUILD_opencv_apps=OFF \
    -DBUILD_opencv_dnn=OFF \
    -DBUILD_opencv_ml=OFF \
    -DBUILD_opencv_python_bindings_generator=OFF \
    -DENABLE_CXX11=ON \
    -DENABLE_FAST_MATH=ON \
    -DWITH_EIGEN=ON \
    -DWITH_FFMPEG=ON \
    -DWITH_OPENMP=ON \
    .. && \
  make -j${NUM_THREADS} && \
  make install && \
  cd /tmp && \
  rm -rf *
ENV OpenCV_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/opencv4

# DBoW2
ARG DBOW2_COMMIT=687fcb74dd13717c46add667e3fbfa9828a7019f
WORKDIR /tmp
RUN set -x && \
  git clone https://github.com/shinsumicco/DBoW2.git && \
  cd DBoW2 && \
  git checkout ${DBOW2_COMMIT} && \
  mkdir -p build && \
  cd build && \
  cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
    .. && \
  make -j${NUM_THREADS} && \
  make install && \
  cd /tmp && \
  rm -rf *
ENV DBoW2_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/DBoW2

# Pangolin
ARG PANGOLIN_COMMIT=ad8b5f83222291c51b4800d5a5873b0e90a0cf81
WORKDIR /tmp
RUN set -x && \
  git clone https://github.com/stevenlovegrove/Pangolin.git && \
  cd Pangolin && \
  git checkout ${PANGOLIN_COMMIT} && \
  sed -i -e "193,198d" ./src/utils/file_utils.cpp && \
  mkdir -p build && \
  cd build && \
  cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=${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_LIBREALSENSE=OFF \
    -DBUILD_PANGOLIN_LIBREALSENSE2=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_TOON=OFF \
    -DBUILD_PANGOLIN_UVC_MEDIAFOUNDATION=OFF \
    -DBUILD_PANGOLIN_V4L=OFF \
    -DBUILD_PANGOLIN_VIDEO=OFF \
    -DBUILD_PANGOLIN_ZSTD=OFF \
    -DBUILD_PYPANGOLIN_MODULE=OFF \
    .. && \
  make -j${NUM_THREADS} && \
  make install && \
  cd /tmp && \
  rm -rf *
ENV Pangolin_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/Pangolin

RUN apt-get update && \
  apt-get install -q -y --no-install-recommends \
  python3-catkin-tools \
  python3-vcstool \
  python3-pip && \
  apt-get -y autoremove && \
  apt-get clean autoclean && \
  rm -fr /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* && \
  pip3 install matplotlib

# install ros packages dependencies to execute ORB-SLAM3 and OpenVSLAM 
RUN apt-get update && apt-get install -q -y --no-install-recommends \
    ros-${ROS_DISTRO}-apriltag-ros \
    ros-${ROS_DISTRO}-cv-bridge \
    ros-${ROS_DISTRO}-hector-slam \
    ros-${ROS_DISTRO}-hector-slam-launch \
    ros-${ROS_DISTRO}-hector-trajectory-server \
    ros-${ROS_DISTRO}-image-transport \
    ros-${ROS_DISTRO}-roscpp-tutorials \
    ros-${ROS_DISTRO}-rviz \
    ros-${ROS_DISTRO}-tf2-geometry-msgs \
    && apt-get -y autoremove \
    && apt-get clean autoclean \
    && rm -fr /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*

RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash \
  && sudo apt-get install git-lfs -q -y --no-install-recommends \
  && git lfs install

# setup entrypoint
COPY ./entrypoint.sh /
ENTRYPOINT ["/entrypoint.sh"]
CMD ["bash"]