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GiordanoLaminetti committed Jan 13, 2021
1 parent 255d8a7 commit 49092a0
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159 changes: 67 additions & 92 deletions Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -20,112 +20,95 @@ RUN if $build_dependences ; then \
libswscale-dev libavdevice-dev \
libdc1394-22-dev libraw1394-dev \
libjpeg-dev libtiff5-dev \
libopenexr-dev \
libopenexr-dev libeigen3-dev \
qemu gcc-aarch64-linux-gnu \
libboost-all-dev libpcap-dev libssl-dev g++ ;\
python3 -mpip install numpy pyopengl Pillow pybind11 pandas ; \
ldconfig ;\
rm -rf /var/lib/apt/lists/* ;\
rm -rf /var/lib/apt/lists/* && apt-get clear ;\
python3 -mpip install numpy pyopengl Pillow pybind11 pandas ; \
update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.6 1;\
update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.8 2;fi


RUN mkdir /slampy/program
update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.8 2;\
python3 -mpip install poetry setuptools ; \
mkdir /slampy/program; fi

# Pangolin installation
ARG Pangolin_Path='/slampy/program/Pangolin'
ARG build_dependences=true

RUN mkdir $Pangolin_Path
RUN if $build_dependences ; then \
git clone https://github.com/stevenlovegrove/Pangolin.git $Pangolin_Path ; \
fi
mkdir $Pangolin_Path && \
git clone https://github.com/stevenlovegrove/Pangolin.git $Pangolin_Path && \
cd $Pangolin_Path && \
mkdir $Pangolin_Path/build && \
cd build && \
cmake .. && \
make -j$(nproc) &&\
make install ; fi

RUN mkdir $Pangolin_Path/build
WORKDIR $Pangolin_Path/build

RUN if $build_dependences ; then \
cd $Pangolin_Path/build ;\
cmake $Pangolin_Path ;\
make -j7; \
make install; fi

#Eigen installation
ARG Eigen_Path='/slampy/program/Eigen'
ARG build_dependences=true

RUN mkdir $Eigen_Path
RUN if $build_dependences ; then \
git clone https://gitlab.com/libeigen/eigen.git $Eigen_Path ; fi
RUN mkdir $Eigen_Path/build
WORKDIR $Eigen_Path/build
RUN if $build_dependences ; then \
cd $Eigen_Path/build ;\
cmake $Eigen_Path ;\
make -j7; \
mkdir $Eigen_Path && \
git clone https://gitlab.com/libeigen/eigen.git $Eigen_Path && \
mkdir $Eigen_Path/build && \
cd $Eigen_Path/build &&\
cmake $Eigen_Path &&\
make -j$(nproc) && \
make install; fi

# OpenCV installation
ARG opencv_Path='/slampy/program/opencv-3.4.11'
ARG opencv_contrib_Path='/slampy/program/opencv_contrib-3.4.11'
ARG build_dependences=true

RUN mkdir $opencv_Path
RUN if $build_dependences ; then \
wget https://github.com/opencv/opencv/archive/3.4.11.zip ; \
unzip 3.4.11.zip -d /slampy/program ;\
rm 3.4.11.zip; \
wget https://github.com/opencv/opencv_contrib/archive/3.4.11.zip ;\
unzip 3.4.11.zip -d /slampy/program ;\
rm 3.4.11.zip; fi
RUN cd $opencv_Path
RUN mkdir $opencv_Path/build

WORKDIR $opencv_Path/build
RUN if $build_dependences ; then \
mkdir $opencv_Path &&\
wget https://github.com/opencv/opencv/archive/3.4.11.zip && \
unzip 3.4.11.zip -d /slampy/program &&\
rm 3.4.11.zip && \
wget https://github.com/opencv/opencv_contrib/archive/3.4.11.zip && \
unzip 3.4.11.zip -d /slampy/program && \
rm 3.4.11.zip && \
cd $opencv_Path && \
mkdir $opencv_Path/build &&\
cd $opencv_Path/build &&\
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local \
OPENCV_EXTRA_MODULES_PATH=$opencv_contrib_Path .. ; \
make -j7 ;\
make install ; \
pip3 install --upgrade pip ;\
OPENCV_EXTRA_MODULES_PATH=$opencv_contrib_Path .. && \
make -j$(nproc) &&\
make install && \
pip3 install --upgrade pip &&\
python3 -mpip install opencv-contrib-python==3.4.11.45; fi


# Orb_Slam2 installation
ARG Orb_Slam2_Path='/slampy/program/OrbSlam2'
ARG build_orbslam2=true

RUN mkdir $Orb_Slam2_Path
RUN if $build_orbslam2 ; then \
git clone https://github.com/GiordanoLaminetti/ORB_SLAM2 $Orb_Slam2_Path; fi

RUN mkdir $Orb_Slam2_Path/build
WORKDIR $Orb_Slam2_Path

RUN if $build_orbslam2 ; then \
./build.sh 2>/dev/null; \
cd $Orb_Slam2_Path/build; fi

WORKDIR $Orb_Slam2_Path/build
RUN if $build_orbslam2 ; then \
mkdir -p $Orb_Slam2_Path && \
git clone https://github.com/GiordanoLaminetti/ORB_SLAM2 $Orb_Slam2_Path && \
mkdir $Orb_Slam2_Path/build && \
cd $Orb_Slam2_Path &&\
./build.sh 2>/dev/null && \
cd $Orb_Slam2_Path/build && \
make install ; fi


# Orb_Slam3
ARG Orb_Slam3_Path='/slampy/program/OrbSlam3'
ARG build_orbslam3=true

RUN mkdir $Orb_Slam3_Path
RUN if $build_orbslam3 ; then \
git clone https://github.com/GiordanoLaminetti/ORB_SLAM3 $Orb_Slam3_Path; fi
RUN mkdir $Orb_Slam3_Path/build

WORKDIR $Orb_Slam3_Path
RUN if $build_orbslam3 ; then \
./build.sh 2>/dev/null ; fi

WORKDIR $Orb_Slam3_Path/build
RUN if $build_orbslam3 ; then \
mkdir -p $Orb_Slam3_Path && \
git clone https://github.com/GiordanoLaminetti/ORB_SLAM3 $Orb_Slam3_Path && \
mkdir $Orb_Slam3_Path/build && \
cd $Orb_Slam3_Path &&\
./build.sh 2>/dev/null && \
cd $Orb_Slam3_Path/build &&\
make install; fi


Expand All @@ -135,22 +118,20 @@ ARG build_orbslam2=true

RUN if [ ! -L "/usr/lib/x86_64-linux-gnu/libboost_python-py35.so" ]; then \
ln -s /usr/lib/x86_64-linux-gnu/libboost_python-py36.so \
/usr/lib/x86_64-linux-gnu/libboost_python-py35.so ; fi
RUN apt-get update ; apt-get -y install libeigen3-dev
RUN if [ ! -L "/usr/local/include/Eigen" ]; then\
/usr/lib/x86_64-linux-gnu/libboost_python-py35.so ; fi ;\
if [ ! -L "/usr/local/include/Eigen" ]; then\
ln -s /usr/include/eigen3/Eigen /usr/local/include/Eigen ; fi
RUN mkdir $Orb_Slam2_PB_Path
RUN if $build_orbslam2 ; then \
git clone https://github.com/GiordanoLaminetti/ORB_SLAM2-PythonBindings.git \
$Orb_Slam2_PB_Path ; fi

RUN mkdir $Orb_Slam2_PB_Path/build
WORKDIR $Orb_Slam2_PB_Path/build

RUN if $build_orbslam2 ; then \
cmake .. ;\
make -j7 ;\
make install ;\
mkdir -p $Orb_Slam2_PB_Path && \
/usr/bin/python3.6 -m pip install numpy && \
git clone https://github.com/GiordanoLaminetti/ORB_SLAM2-PythonBindings.git \
$Orb_Slam2_PB_Path && \
mkdir $Orb_Slam2_PB_Path/build && \
cd $Orb_Slam2_PB_Path/build && \
cmake $Orb_Slam2_PB_Path &&\
make -j$(nproc) &&\
make install &&\
ln -s /usr/local/lib/python3.5/dist-packages/orbslam2.so \
/usr/local/lib/python3.8/dist-packages/orbslam2.so ; fi

Expand All @@ -160,36 +141,30 @@ ARG build_orbslam3=true

RUN mkdir $Orb_Slam3_PB_Path
RUN if $build_orbslam3 ; then \
mkdir -p $Orb_Slam3_PB_Path && \
git clone -b ORBSLAM3 https://github.com/GiordanoLaminetti/ORB_SLAM2-PythonBindings.git \
$Orb_Slam3_PB_Path ; fi

RUN mkdir $Orb_Slam3_PB_Path/build
WORKDIR $Orb_Slam3_PB_Path/build

RUN if $build_orbslam3 ; then \
cmake .. ;\
make -j7 ;\
make install ;\
$Orb_Slam3_PB_Path &&\
mkdir $Orb_Slam3_PB_Path/build && \
cd $Orb_Slam3_PB_Path/build && \
cmake .. &&\
make -j$(nproc) &&\
make install &&\
ln -s /usr/local/lib/python3.5/dist-packages/orbslam3.so \
/usr/local/lib/python3.8/dist-packages/ ;fi

#remove all the folder
WORKDIR /slampy
RUN rm -rf /slampy/program
RUN ldconfig
RUN rm -rf /slampy/program && ldconfig

RUN pip3 install poetry setuptools
#change user
USER slampy

COPY . /slampy/slampy
WORKDIR /slampy/slampy

RUN poetry config virtualenvs.create false
RUN poetry install --no-root
RUN poetry config virtualenvs.create false && poetry install --no-root
ENV PATH /slampy/.local/bin:$PATH
RUN jupyter nbextension enable --py widgetsnbextension
RUN jupyter nbextension enable --py plotlywidget
RUN jupyter nbextension enable --py widgetsnbextension && jupyter nbextension enable --py plotlywidget

EXPOSE 8888

10 changes: 5 additions & 5 deletions slam_method/Settings/OrbSlam2_TUM_freiburg3_.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,11 +10,11 @@ Camera.fy: 521.007327
Camera.cx: 325.141442
Camera.cy: 249.701764

Camera.k1: 0.231222
Camera.k2: -0.784899
Camera.p1: -0.003257
Camera.p2: -0.000105
Camera.k3: 0.917205
Camera.k1: -0.365409
Camera.k2: 0.1171
Camera.p1: -0.000924922
Camera.p2: -0.00489767
Camera.k3: 0

# Camera frames per second
Camera.fps: 30.0
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