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Dockerfile_maplab
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Dockerfile_maplab
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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 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 5: Building Maplab #
######################################
# Dependencies
RUN apt-get update && apt-get install -y \
autotools-dev ccache doxygen dh-autoreconf git liblapack-dev libblas-dev \
libgtest-dev libreadline-dev libssh2-1-dev \
pylint python-autopep8 python-catkin-tools python-pip python-git \
python-setuptools python-termcolor python-wstool \
libatlas3-base ros-melodic-pcl-ros libyaml-cpp-dev \
ros-melodic-image-geometry ros-melodic-cv-bridge \
libgtk2.0-dev \
&& apt-get clean \
&& rm -rf /var/lib/apt/lists/* \
&& pip install requests \
&& git config --global --add safe.directory \
/maya-slam/slam_algorithms/maplab/catkin_ws/build/yaml_cpp_catkin/yaml_cpp_src-prefix/src/yaml_cpp_src \
&& git config --global --add safe.directory \
/maya-slam/slam_algorithms/maplab/catkin_ws/build/ceres_catkin/ceres_src-prefix/src/ceres_src
######################################
# SECTION 6: 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 7: Helpful commands #
#######################################
ENV COMMANDTOCOMPILE="cd slam_algorithms/maplab && ./build_ros.sh"
#ENV COMMANDTORUNJUPYTER="jupyter notebook --no-browser --ip=0.0.0.0 --allow-root --port=${JUPYTERPORT} &"