Dockerfile_22_04

# Use an official Python runtime as a parent image
FROM ubuntu:22.04

# Author Antoni Rosinol "arosinol@mit.edu"

# To avoid tzdata asking for geographic location...
ENV DEBIAN_FRONTEND noninteractive

# Set the working directory to /root
ENV DIRPATH /root/
WORKDIR $DIRPATH

#Install build dependencies
RUN apt-get update && apt-get install -y --no-install-recommends apt-utils
RUN apt-get update && apt-get install -y git cmake build-essential pkg-config

# Install xvfb to provide a display to container for GUI realted testing.
RUN apt-get update && apt-get install -y xvfb

# Install OpenCV for Ubuntu 18.04
RUN apt-get update && apt-get install -y \
      unzip \
      libjpeg-dev libpng-dev libtiff-dev \
      libvtk7-dev \
      libgtk-3-dev \
      libatlas-base-dev gfortran

# Install GTSAM
RUN apt-get update && apt-get install -y libboost-all-dev libtbb-dev libopencv-dev
# ADD https://api.github.com/repos/borglab/gtsam/git/refs/heads/master version.json
RUN git clone https://github.com/borglab/gtsam.git
RUN cd gtsam && \
    git fetch && \
    git checkout af6a4f2417af4f537fe8ce43c471781267776b6c && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DGTSAM_BUILD_UNSTABLE=ON -DGTSAM_POSE3_EXPMAP=ON -DGTSAM_ROT3_EXPMAP=ON -DGTSAM_TANGENT_PREINTEGRATION=OFF .. && \
    make -j$(nproc) install


# Install Open_GV
RUN git clone https://github.com/laurentkneip/opengv
RUN cd opengv && \
      mkdir build
RUN cd opengv/build && \
      cmake -DCMAKE_BUILD_TYPE=Release \
      -DCMAKE_INSTALL_PREFIX=/usr/local \
      -DEIGEN_INCLUDE_DIRS=$DIRPATH/gtsam/gtsam/3rdparty/Eigen \
      -DEIGEN_INCLUDE_DIR=$DIRPATH/gtsam/gtsam/3rdparty/Eigen .. && \
      make -j$(nproc) install

# Install DBoW2
RUN git clone https://github.com/dorian3d/DBoW2.git
RUN cd DBoW2 && \
      mkdir build && \
      cd build && \
      cmake .. && \
      make -j$(nproc) install

# Install RobustPGO
# ADD https://api.github.com/repos/MIT-SPARK/Kimera-RPGO/git/refs/heads/master version.json
RUN git clone https://github.com/MIT-SPARK/Kimera-RPGO.git
RUN cd Kimera-RPGO && \
      mkdir build && \
      cd build && \
      cmake .. && \
      make -j$(nproc)

RUN apt-get update && \
    apt-get install software-properties-common -y
# Get python3
RUN apt-get update && \
    add-apt-repository ppa:deadsnakes/ppa
RUN apt-get update && \
    apt-get install -y python3.10-dev python3-pip python3-tk python3-pyqt5

# python3.10 
# RUN pip install --upgrade pip
# RUN python3.5 -m pip install PyQt5==5.14

# Install evo-1 for evaluation
# Hack to avoid Docker's cache when evo-1 master branch is updated.
# ADD https://api.github.com/repos/ToniRV/evo-1/git/refs/heads/master version.json
RUN git clone https://github.com/ToniRV/evo-1.git
RUN cd evo-1 && python3.10 $(which pip3) install .

# Install Kimera VIO Evaluation
RUN python3.10 $(which pip3) install ipython prompt_toolkit
# Hack to avoid Docker's cache when Kimera VIO Evaluation master branch is updated.
# ADD https://api.github.com/repos/MIT-SPARK/Kimera-VIO-Evaluation/git/refs/heads/master version.json
RUN git clone https://github.com/MIT-SPARK/Kimera-VIO-Evaluation.git
# We use `pip3 install -e .` so that Jinja2 has access to the webiste template...
RUN cd Kimera-VIO-Evaluation && git fetch && git checkout master && python3.10 $(which pip3) install -e .

# Install glog, gflags
RUN apt-get update && apt-get install -y libgflags2.2 libgflags-dev libgoogle-glog0v5 libgoogle-glog-dev

# Install Pangolin
RUN apt-get update && apt-get install -y libgl1-mesa-dev libglew-dev wget
RUN git clone https://github.com/stevenlovegrove/Pangolin.git
RUN cd Pangolin && \
      mkdir build && \
      cd build && \
      cmake .. && \
      make -j$(nproc)

# Add credentials on build
ARG SSH_PRIVATE_KEY
RUN mkdir /root/.ssh/
RUN echo "${SSH_PRIVATE_KEY}" > /root/.ssh/id_rsa
RUN chmod 600 ~/.ssh/id_rsa

# Make sure your domain is accepted
RUN touch /root/.ssh/known_hosts
RUN ssh-keyscan -t rsa github.com >> /root/.ssh/known_hosts

# install depthai
RUN git clone --recursive https://github.com/luxonis/depthai-core.git --branch main
RUN cmake -Hdepthai-core -Bdepthai-core/build -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=/usr/local
RUN cmake --build depthai-core/build --target install --parallel 4


# Install Kimera-VIO
# RUN git clone https://github.com/sacing13/Kimera-VIO.git --branch std-oak-vio
# RUN cd Kimera-VIO && mkdir build && cd build && cmake .. && make -j1
# RUN apt-get update && apt-get install -y wget

RUN mkdir Kimera-VIO
COPY ./ $DIRPATH/Kimera-VIO
RUN cd Kimera-VIO && mkdir build && cd build && cmake .. && make -j1
CMD cd /