Dockerfile.pybind

FROM python:3.8-buster
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 \
	# python3-dev \
	python-numpy && \
	# python3-pip \
	: "g2o dependencies" && \
	apt-get install -y -qq \
	libgoogle-glog-dev \
	libatlas-base-dev \
	libsuitesparse-dev \
	libglew-dev && \
	: "OpenCV dependencies" && \
	apt-get install -y -qq \
	libjpeg-dev \
	libpng++-dev \
	libtiff-dev \
	libopenexr-dev \
	libwebp-dev \
	ffmpeg \
	libavcodec-dev \
	libavformat-dev \
	libavutil-dev \
	libswscale-dev \
	libavresample-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}

# Eigen
ARG EIGEN3_VERSION=3.3.7
WORKDIR /tmp
RUN set -x && \
	wget -q http://bitbucket.org/eigen/eigen/get/${EIGEN3_VERSION}.tar.bz2 && \
	tar xf ${EIGEN3_VERSION}.tar.bz2 && \
	rm -rf ${EIGEN3_VERSION}.tar.bz2 && \
	mv eigen-eigen-* eigen-${EIGEN3_VERSION} && \
	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=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=OFF \
	-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${NUM_THREADS} && \
	make install && \
	cd /tmp && \
	rm -rf *
ENV g2o_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/g2o

# OpenCV
ARG OPENCV_VERSION=4.1.0
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

# socket.io-client-cpp
ARG SIOCLIENT_COMMIT=ff6ef08e45c594e33aa6bc19ebdd07954914efe0
WORKDIR /tmp
RUN set -x && \
	git clone https://github.com/shinsumicco/socket.io-client-cpp.git && \
	cd socket.io-client-cpp && \
	git checkout ${SIOCLIENT_COMMIT} && \
	git submodule init && \
	git submodule update && \
	mkdir -p build && \
	cd build && \
	cmake \
	-DCMAKE_BUILD_TYPE=Release \
	-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
	-DBUILD_UNIT_TESTS=OFF \
	.. && \
	make -j${NUM_THREADS} && \
	make install && \
	cd /tmp && \
	rm -rf *
ENV sioclient_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/sioclient

# protobuf
WORKDIR /tmp
RUN set -x && \
	apt-get update -y -qq && \
	apt-get upgrade -y -qq --no-install-recommends && \
	apt-get install -y -qq autogen autoconf libtool && \
	wget -q https://github.com/google/protobuf/archive/v3.6.1.tar.gz && \
	tar xf v3.6.1.tar.gz && \
	cd protobuf-3.6.1 && \
	./autogen.sh && \
	./configure --prefix=${CMAKE_INSTALL_PREFIX} --enable-static=no && \
	make -j${NUM_THREADS} && \
	make install && \
	cd /tmp && \
	rm -rf * && \
	apt-get purge -y -qq autogen autoconf libtool && \
	apt-get autoremove -y -qq && \
	rm -rf /var/lib/apt/lists/*

# pip packages
# RUN pip install numpy

# PyBind11
WORKDIR /openvslam/python/
RUN git clone https://github.com/pybind/pybind11.git

# OpenVSLAM
COPY . /openvslam/
WORKDIR /openvslam/
RUN set -x && \
	mkdir -p build && \
	cd build && \
	cmake \
	-DBUILD_WITH_MARCH_NATIVE=ON \
	-DUSE_PANGOLIN_VIEWER=OFF \
	-DUSE_SOCKET_PUBLISHER=ON \
	-DUSE_STACK_TRACE_LOGGER=ON \
	-DBOW_FRAMEWORK=DBoW2 \
	-DBUILD_TESTS=OFF \
	-DBUILD_EXAMPLES=OFF \
	.. && \
	make -j${NUM_THREADS} && \
	rm -rf CMakeCache.txt CMakeFiles Makefile cmake_install.cmake example src && \
	chmod -R 777 ./*

WORKDIR /openvslam/build/
ENTRYPOINT ["/bin/bash"]