Dockerfile

FROM ubuntu:18.04

# install dependencies via apt
RUN set -x && \
  apt update -y -qq && \
  apt upgrade -y -qq --no-install-recommends && \
  : "basic dependencies" && \
  apt install -y -qq \
    build-essential \
    pkg-config \
    cmake \
    git \
    wget \
    curl \
    tar \
    unzip && \
  : "g2o dependencies" && \
  apt install -y -qq \
    libgoogle-glog-dev \
    libatlas-base-dev \
    libsuitesparse-dev && \
  : "OpenCV dependencies" && \
  apt 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 install -y -qq \
    libglew-dev && \
  : "other dependencies" && \
  apt install -y -qq \
    libyaml-cpp-dev && \
  : "remove cache" && \
  apt autoremove -y -qq && \
  rm -rf /var/lib/apt/lists/*

ARG CMAKE_INSTALL_PREFIX=/usr/local
ARG NUM_THREADS=4

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
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=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=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}/share/OpenCV

# 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

# OpenVSLAM
COPY . /openvslam/
WORKDIR /openvslam/
RUN set -x && \
  mkdir -p build && \
  cd build && \
  cmake \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DUSE_PANGOLIN_VIEWER=ON \
    -DUSE_STACK_TRACE_LOGGER=ON \
    -DBOW_FRAMEWORK=DBoW2 \
    -DBUILD_TESTS=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"]