Dockerfile_orbslam3

FROM nvidia/cudagl:11.3.1-devel-ubuntu18.04

#############################################
# SECTION 0: Install cuDNN                  #
#############################################
ENV NV_CUDNN_VERSION=8.2.0.53

ENV NV_CUDNN_PACKAGE="libcudnn8=$NV_CUDNN_VERSION-1+cuda11.3" \
    NV_CUDNN_PACKAGE_DEV="libcudnn8-dev=$NV_CUDNN_VERSION-1+cuda11.3" \
    NV_CUDNN_PACKAGE_NAME="libcudnn8"

RUN apt-get update && apt-get install -y --no-install-recommends \
    ${NV_CUDNN_PACKAGE} \
    ${NV_CUDNN_PACKAGE_DEV} \
  && apt-mark hold ${NV_CUDNN_PACKAGE_NAME} \
  && rm -rf /var/lib/apt/lists/*

#########################################
# SECTION 1: Essentials                 #
#########################################
# Run apt-get (dkpg) without interactive dialogue
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
    vim git curl wget yasm cmake unzip pkg-config \
    checkinstall build-essential ca-certificates \
    software-properties-common apt-utils bash-completion \
    libeigen3-dev \
  && apt-get upgrade -y \
  && apt-get clean \
  && rm -rf /var/lib/apt/lists/*

# Setup locale language config
RUN apt-get update && apt-get install -y --no-install-recommends locales \
  && apt-get clean \
  && rm -rf /var/lib/apt/lists/* \
  && locale-gen "en_US.UTF-8" \
  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
  && ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime  # Set timezone
ENV LANG=en_US.UTF-8 LANGUAGE=en_US:en LC_ALL=en_US.UTF-8

#########################################
# SECTION 1.5: Install ROS melodic      #
#########################################
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
  && apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
  && curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | apt-key add - \
  && apt-get update && apt-get install -y ros-melodic-desktop \
  && apt-get install -y python-rosdep \
  && rosdep init && rosdep update \
  && apt-get install -y python-rosinstall python-rosinstall-generator python-wstool build-essential \
  && sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \
  && wget http://packages.ros.org/ros.key -O - | sudo apt-key add - \
  && apt-get update && apt-get install -y python-catkin-tools \
  && echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc \
  && apt-get clean \
  && rm -rf /var/lib/apt/lists/*

ENV ROS_DISTRO melodic

#########################################
# SECTION 2: Setup Image Libraries      #
#########################################
RUN apt-get update && apt-get install -y --no-install-recommends \
    zlib1g-dev libjpeg-dev libpng-dev xvfb ffmpeg xorg-dev \
    xorg-dev libboost-all-dev libsdl2-dev swig \
    libblas-dev liblapack-dev \
    libopenblas-base libatlas-base-dev graphviz \
  && apt-get upgrade -y \
  && apt-get clean \
  && rm -rf /var/lib/apt/lists/*

######################################
# SECTION 3: OpenCV packages         #
######################################
ARG OPENCV_PATH=/usr/local/share/opencv
ARG OPENCV_CONTRIB_PATH=/usr/local/share/opencv_contrib
ARG OPENCV_VERSION=4.4.0

RUN apt-get update && apt-get install -y --no-install-recommends \
    libgtk-3-dev \
    libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
    libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev \
    gfortran openexr libatlas-base-dev python3-dev python3-numpy \
    libtbb2 libtbb-dev libdc1394-22-dev libopenexr-dev \
    libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev \
  && apt-get clean \
  && rm -rf /var/lib/apt/lists/*

RUN echo -e "Install OPENCV Contrib\n\n" && \
    wget -O opencv_contrib.zip "https://github.com/opencv/opencv_contrib/archive/${OPENCV_VERSION}.zip" && \
    unzip opencv_contrib.zip && \
    mv opencv_contrib-* "$OPENCV_CONTRIB_PATH" && \
    rm opencv_contrib.zip

RUN echo -e "Install OPENCV \n\n" && \
    wget -O opencv.zip "https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip" && \
    unzip opencv.zip && \
    mv opencv-* "$OPENCV_PATH" && \
    rm opencv.zip

RUN echo -e "Make / Build OPENCV\n\n" && \
    mkdir -p "${OPENCV_PATH}/build" && \
    cd "${OPENCV_PATH}/build" && \
    cmake -D CMAKE_BUILD_TYPE=RELEASE \
    -D CMAKE_INSTALL_PREFIX="$OPENCV_PATH" \
    -D OPENCV_EXTRA_MODULES_PATH="${OPENCV_CONTRIB_PATH}/modules" \
    -D WITH_CUDA=ON \
    -D CUDA_ARCH_BIN=6.1,7.5 \
    -D CUDA_ARCH_PTX="" \
    -D WITH_CUDNN=ON \
    -D OPENCV_DNN_CUDA=ON \
    -D WITH_CUBLAS=ON \
    -D CUDA_FAST_MATH=ON \
    -D ENABLE_FAST_MATH=ON \
    -D WITH_TBB=ON \
    -D WITH_V4L=ON \
    -D WITH_QT=OFF \
    -D WITH_OPENGL=ON \
    -D BUILD_opencv_cudacodec=ON \
    -D INSTALL_C_EXAMPLES=OFF \
    -D INSTALL_PYTHON_EXAMPLES=OFF \
    -D BUILD_opencv_python2=OFF \
    -D BUILD_NEW_PYTHON_SUPPORT=ON \
    -D PYTHON3_EXECUTABLE=$(which python3) \
    -D PYTHON3_INCLUDE_DIR=$(python3 -c "from distutils.sysconfig import get_python_inc; print(get_python_inc())") \
    -D OPENCV_PYTHON3_INSTALL_PATH=$(python3 -c "from distutils.sysconfig import get_python_lib; print(get_python_lib())") \
    -D BUILD_EXAMPLES=OFF \
    .. && \
    make -j$(nproc) && make install

ENV OpenCV_DIR=/usr/local/share/opencv/build

######################################
# SECTION 3.5: Install Pangolin      #
######################################
RUN apt-get update && apt-get install -y --no-install-recommends \
    libgtk-3-dev python-dev libgl1-mesa-dev libglew-dev libpython2.7-dev \
    libeigen3-dev \
  && apt-get clean \
  && rm -rf /var/lib/apt/lists/*

# set up directories
RUN mkdir /slamdoom && mkdir /slamdoom/tmp && mkdir /slamdoom/libs

# Build Pangolin
RUN cd /slamdoom/libs && git clone https://github.com/stevenlovegrove/Pangolin pangolin \
  && cd /slamdoom/libs/pangolin && mkdir build && cd build \
  && cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-std=c++11 .. \
  && make -j$(nproc) && make install

######################################
# SECTION 4: Install librealsense    #
######################################
RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE \
  || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE \
  && add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u \
  && apt-get update && apt-get install -y \
    librealsense2-dkms librealsense2-utils \
    librealsense2-dev librealsense2-dbg \
    ros-melodic-realsense2-camera ros-melodic-realsense2-description \
  && apt-get clean \
  && rm -rf /var/lib/apt/lists/*

#########################################
# SECTION 4.5: Install Python Libraries #
#########################################
RUN apt-get update && apt-get install -y \
    python3 \
    python3-pip \
  && apt-get clean \
  && rm -rf /var/lib/apt/lists/* \
  && python3 -m pip install --upgrade pip \
  && python3 -m pip install jupyter jupyter_contrib_nbextensions \
  && jupyter contrib nbextension install \
  && python3 -m pip install jupyter_nbextensions_configurator \
  && jupyter nbextensions_configurator enable \
  && jupyter nbextension enable codefolding/main \
  && mkdir /.local && chmod a+rwx /.local

######################################
# SECTION 5: Add running instruction #
######################################
# Set working directory to be repository directory
ENV REPOPATH /maya-slam
WORKDIR ${REPOPATH}

# Append the custom bashrc
COPY bashrc /tmp/
RUN cat /tmp/bashrc > /etc/bash.bashrc

# For CUDA library
ENV LD_LIBRARY_PATH=/usr/local/cuda/lib64:${LD_LIBRARY_PATH}
# Tensorflow 2.4.1 CUDA library issue
RUN ln -s /usr/local/cuda-11.3/lib64/libcusolver.so.11 /usr/local/cuda-11.3/lib64/libcusolver.so.10

#ENTRYPOINT ["/ros_entrypoint.sh"]

#######################################
# SECTION 6: Additional installations #
#######################################
# Add ORB_SLAM3 path to ROS_PACKAGE_PATH
RUN echo 'export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/maya-slam/slam_algorithms/ORB_SLAM3/Examples_old/ROS' >> ~/.bashrc

#######################################
# SECTION 7: Helpful commands         #
#######################################
ENV COMMANDTOCOMPILE="cd slam_algorithms/ORB_SLAM3 && ./build.sh && ./build_ros.sh"
ENV JUPYTERPORT="9000"
ENV COMMANDTORUNJUPYTER="jupyter notebook --no-browser --ip=0.0.0.0 --allow-root --port=${JUPYTERPORT} &"