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#FROM nvidia/cuda:10.2-base
FROM ros:kinetic-ros-base-xenial
LABEL maintainer="Erica Vidal [email protected]"
# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
build-essential \
python-rosdep \
python-rosinstall \
python-vcstools \
ros-kinetic-ros-base=1.3.2-0* \
&& rm -rf /var/lib/apt/lists/*
# RUN LINE BELOW TO REMOVE debconf ERRORS (MUST RUN BEFORE ANY apt-get CALLS)
RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
RUN apt-get update && apt-get upgrade -y
RUN apt-get install -y --no-install-recommends \
apt-utils \
libprotobuf-dev \
libleveldb-dev \
libsnappy-dev \
libopencv-dev \
libhdf5-serial-dev \
protobuf-compiler \
libboost-all-dev \
libatlas-base-dev \
libgflags-dev \
libgoogle-glog-dev \
liblmdb-dev \
ros-kinetic-pcl-ros \
&& rm -rf /var/lib/apt/lists/*
#Install Cuda 10, cudnn7 and nccl 2
RUN apt-get update && apt-get install -y --no-install-recommends \
ca-certificates apt-transport-https gnupg-curl && \
NVIDIA_GPGKEY_SUM=d1be581509378368edeec8c1eb2958702feedf3bc3d17011adbf24efacce4ab5 && \
NVIDIA_GPGKEY_FPR=ae09fe4bbd223a84b2ccfce3f60f4b3d7fa2af80 && \
apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64/7fa2af80.pub && \
apt-key adv --export --no-emit-version -a $NVIDIA_GPGKEY_FPR | tail -n +5 > cudasign.pub && \
echo "$NVIDIA_GPGKEY_SUM cudasign.pub" | sha256sum -c --strict - && rm cudasign.pub && \
echo "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64 /" > /etc/apt/sources.list.d/cuda.list && \
echo "deb https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1604/x86_64 /" > /etc/apt/sources.list.d/nvidia-ml.list && \
apt-get purge --auto-remove -y gnupg-curl \
&& rm -rf /var/lib/apt/lists/*
ENV CUDA_VERSION 10.2.89
ENV CUDA_PKG_VERSION 10-2=$CUDA_VERSION-1
ENV NCCL_VERSION 2.7.8
ENV CUDNN_VERSION 7.6.5.32
RUN apt-get update && apt-get install -y --no-install-recommends \
cuda-cudart-$CUDA_PKG_VERSION \
cuda-compat-10-2 \
cuda-nvtx-$CUDA_PKG_VERSION \
cuda-nvml-dev-$CUDA_PKG_VERSION \
cuda-command-line-tools-$CUDA_PKG_VERSION \
cuda-nvprof-$CUDA_PKG_VERSION \
cuda-libraries-$CUDA_PKG_VERSION \
cuda-npp-$CUDA_PKG_VERSION \
cuda-npp-dev-$CUDA_PKG_VERSION \
cuda-libraries-dev-$CUDA_PKG_VERSION \
cuda-minimal-build-$CUDA_PKG_VERSION \
libcublas10=10.2.2.89-1 \
libcublas-dev=10.2.2.89-1 \
libnccl2=$NCCL_VERSION-1+cuda10.2 \
libnccl-dev=2.7.8-1+cuda10.2 \
libcudnn7=$CUDNN_VERSION-1+cuda10.2 \
libcudnn7-dev=$CUDNN_VERSION-1+cuda10.2 \
&& ln -s cuda-10.2 /usr/local/cuda \
&& apt-mark hold libcudnn7 \
&& apt-mark hold libnccl2 \
&& rm -rf /var/lib/apt/lists/*
ENV CUDA_HOME=/usr/local/cuda-10.2
ENV LD_LIBRARY_PATH=${CUDA_HOME}/lib64:/usr/local/cuda/lib64/stubs
ENV PATH=${CUDA_HOME}/bin:${PATH}
#caffe & py-faster-rcnn
RUN apt-get update && apt-get install -y --no-install-recommends python-pip \
python-opencv \
ros-kinetic-opencv3 \
&& rm -rf /var/lib/apt/lists/* \
&& pip install wheel \
&& pip install easydict==1.9 \
&& pip install setuptools \
&& pip install Pillow==5.0.0 \
&& pip install scipy==0.17.1 \
&& pip install PyWavelets==0.5.0 \
&& pip install networkx==1.9 \
&& pip install six==1.2.0 \
&& pip install matplotlib==1.5.0 \
&& pip install numpy==1.14.0 \
&& pip install Cython==0.19.2 \
&& pip install scikit-image==0.9.3 \
&& pip install ipython==3.1.0 \
&& pip install nose==1.3.7 \
&& pip install pandas==0.13.0 \
&& pip install python-dateutil==1.5 \
&& pip install PyYAML==3.11 \
&& pip install dask==0.12.0 \
&& pip install google==1.9.3 \
&& pip install protobuf==2.6.0
# clone object-detection-sptam code
RUN cd $HOME && git clone https://github.com/CIFASIS/object-detection-sptam.git \
&& cd $HOME/object-detection-sptam \
&& git checkout clean-the-code-kinetic \
&& git pull
RUN cd $HOME/object-detection-sptam && git submodule update --init --recursive
ENV NVIDIA_VISIBLE_DEVICES=0
RUN mkdir -p temp
COPY ./py-faster-rcnn/caffe-fast-rcnn/Makefile.config temp/
COPY ./py-faster-rcnn/lib/setup.py temp/
RUN cp temp/Makefile.config $HOME/object-detection-sptam/py-faster-rcnn/caffe-fast-rcnn/ \
&& cp temp/setup.py $HOME/object-detection-sptam/py-faster-rcnn/lib/ \
&& cd $HOME/object-detection-sptam/py-faster-rcnn/caffe-fast-rcnn \
&& mkdir build && cd build && cmake -DUSE_CUDNN=1 .. && make && make pycaffe && make install \
&& cd $HOME/object-detection-sptam/py-faster-rcnn/lib \
&& make \
&& rm -rf /temp
#Install py-faster-rcnn and caffe
RUN cd /usr/lib/python2.7/dist-packages \
&& ln -s $HOME/object-detection-sptam/py-faster-rcnn/caffe-fast-rcnn/build/install/python/caffe caffe \
&& ln -s $HOME/object-detection-sptam/py-faster-rcnn/lib/fast_rcnn fast_rcnn \
&& ln -s $HOME/object-detection-sptam/py-faster-rcnn/lib/utils utils \
&& ln -s $HOME/object-detection-sptam/py-faster-rcnn/lib/nms nms \
&& ln -s $HOME/object-detection-sptam/py-faster-rcnn/lib/rpn rpn \
&& ln -s $HOME/object-detection-sptam/py-faster-rcnn/lib/datasets datasets \
&& ln -s $HOME/object-detection-sptam/py-faster-rcnn/lib/roi_data_layer roi_data_layer \
&& ln -s $HOME/object-detection-sptam/py-faster-rcnn/lib/pycocotools pycocotools \
&& ln -s $HOME/object-detection-sptam/py-faster-rcnn/lib/transform transform
#sptam dependencies
RUN apt-get update && apt-get install libsuitesparse-dev -y \
libtbb-dev \
&& rm -rf /var/lib/apt/lists/*
#build and install g2o
RUN cd $HOME/object-detection-sptam/g2o \
&& mkdir -p build && cd build \
&& cmake .. \
&& make && make install \
&& rm -rf $HOME/object-detection-sptam/g2o/build/*
#install meta
RUN cp -Rf $HOME/object-detection-sptam/dependencies/meta/include/meta /usr/include/
#Build pugixml
RUN cd $HOME/object-detection-sptam/dependencies/pugixml \
&& mkdir build && cd build \
&& cmake .. \
&& make && make install/local \
&& rm -rf $HOME/object-detection-sptam/dependencies/pugixml/build/*
#Build and install ApproxMVBB
RUN cd $HOME/object-detection-sptam/ApproxMVBB \
&& mkdir build && cd build \
&& cmake .. \
&& make all && make install \
&& cp -Rf $HOME/object-detection-sptam/ApproxMVBB/build/install/include /usr/include/ \
&& cp -Rf $HOME/object-detection-sptam/ApproxMVBB/build/install/lib/* /usr/lib/
RUN apt-get update && apt-get install python-catkin-tools -y \
ros-kinetic-tf2-geometry-msgs \
ros-kinetic-cv-bridge \
ros-kinetic-image-geometry \
ros-kinetic-image-transport \
qt5-default \
libqt5opengl5-dev \
libqglviewer-dev \
ros-kinetic-stereo-image-proc \
&& rm -rf /var/lib/apt/lists/*
#Create catkin worksapce
RUN . /opt/ros/kinetic/setup.sh \
&& mkdir -p catkin_ws/src \
&& cd catkin_ws \
&& rosdep update \
&& rosdep install -y -r --from-paths src --ignore-src --rosdistro=kinetic -y \
&& rm -rf /var/lib/apt/lists/*
#Build workspace and sptam
RUN . /opt/ros/kinetic/setup.sh \
&& cd catkin_ws/src \
&& catkin init \
&& ln -s $HOME/object-detection-sptam/ros/ros-utils ros_utils \
&& ln -s $HOME/object-detection-sptam/ros/sptam sptam \
&& ln -s $HOME/object-detection-sptam/ros/dl_node dl_node \
&& cd .. \
&& catkin build ros_utils \
&& catkin build sptam -DCMAKE_BUILD_TYPE=RelWithDebInfo -DSINGLE_THREAD=OFF -DSHOW_TRACKED_FRAMES=ON -DSHOW_PROFILING=ON -DPARALLELIZE=ON
#copy caffemodel file
#COPY ./data/caffeModels/pose_coco_Allconst_iter16000.caffemodel temp
#RUN cp temp/pose_coco_Allconst_iter16000.caffemodel $HOME/object-detection-sptam/data/caffeModels/
#copy models
RUN mkdir -p /usr/lib/python2.7/models/modelpose/VGG16/faster_rcnn_end2end
RUN cp $HOME/object-detection-sptam/models_trained/modelpose/VGG16/faster_rcnn_end2end/test.final.prototxt /usr/lib/python2.7/models/modelpose/VGG16/faster_rcnn_end2end
RUN mkdir -p /usr/lib/python2.7/models/pascal_voc
RUN cd /usr/lib/python2.7/models/pascal_voc \
&& ln -s /usr/lib/python2.7/models/modelpose modelpose
CMD ["bash"]
WORKDIR catkin_ws