From 621d4d31394638945a9dbe3bcdf6d5123275df91 Mon Sep 17 00:00:00 2001
From: "k.koide" <k.koide@aist.go.jp>
Date: Wed, 26 Jun 2024 12:13:21 +0900
Subject: [PATCH] add dockerfiles with superglue

---
 docker/humble/Dockerfile_with_superglue | 51 +++++++++++++++++++++++++
 docker/noetic/Dockerfile_with_superglue | 50 ++++++++++++++++++++++++
 2 files changed, 101 insertions(+)
 create mode 100644 docker/humble/Dockerfile_with_superglue
 create mode 100644 docker/noetic/Dockerfile_with_superglue

diff --git a/docker/humble/Dockerfile_with_superglue b/docker/humble/Dockerfile_with_superglue
new file mode 100644
index 0000000..d6593e0
--- /dev/null
+++ b/docker/humble/Dockerfile_with_superglue
@@ -0,0 +1,51 @@
+FROM koide3/gtsam_docker:humble
+
+RUN apt-fast update \
+  && apt-fast install -y --no-install-recommends \
+  libomp-dev libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev \
+  && apt-fast clean \
+  && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /root
+RUN git clone https://github.com/ceres-solver/ceres-solver \
+  && mkdir ceres-solver/build \
+  && cd ceres-solver/build \
+  && cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF \
+  && make -j$(nproc) \
+  && make install \
+  && rm -rf /root/ceres-solver
+
+COPY . /root/ros2_ws/src/direct_visual_lidar_calibration
+
+WORKDIR /root/ros2_ws
+
+RUN apt-fast update && \
+  rosdep install -i --from-paths src --simulate | \
+  sed '1d' | sed 's/apt-get install//' | sed 's/ //g' > /tmp/depends && \
+  xargs apt-fast install --no-install-recommends -y < /tmp/depends && \
+  apt-fast clean && \
+  rm -rf /var/lib/apt/lists/*
+
+RUN /bin/bash -c ". /opt/ros/humble/setup.bash; colcon build"
+
+RUN echo "#!/bin/bash" >> /ros_entrypoint.sh \
+  && echo "set -e" >> /ros_entrypoint.sh \
+  && echo "source /opt/ros/humble/setup.bash" >> /ros_entrypoint.sh \
+  && echo "source /root/ros2_ws/install/setup.bash" >> /ros_entrypoint.sh \
+  && echo 'exec "$@"' >> /ros_entrypoint.sh \
+  && chmod a+x /ros_entrypoint.sh
+
+WORKDIR /root/ros2_ws/src/direct_visual_lidar_calibration
+
+RUN apt-fast update \
+  && apt-fast install -y --no-install-recommends \
+  python3-pip python3-numpy python3-torch python3-torchvision python3-matplotlib python3-opencv \
+  && apt-fast clean \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN git clone https://github.com/magicleap/SuperGluePretrainedNetwork /root/SuperGlue
+ENV PYTHONPATH=$PYTHONPATH:/root/SuperGlue
+
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
diff --git a/docker/noetic/Dockerfile_with_superglue b/docker/noetic/Dockerfile_with_superglue
new file mode 100644
index 0000000..fb9660b
--- /dev/null
+++ b/docker/noetic/Dockerfile_with_superglue
@@ -0,0 +1,50 @@
+FROM koide3/gtsam_docker:noetic
+
+RUN apt-fast update \
+  && apt-fast install -y --no-install-recommends \
+  libomp-dev libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev \
+  && apt-fast clean \
+  && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /root
+RUN git clone https://github.com/ceres-solver/ceres-solver \
+  && mkdir ceres-solver/build \
+  && cd ceres-solver/build \
+  && cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF \
+  && make -j$(nproc) \
+  && make install \
+  && rm -rf /root/ceres-solver
+
+COPY . /root/catkin_ws/src/direct_visual_lidar_calibration
+
+WORKDIR /root/catkin_ws
+
+RUN apt-fast update && \
+  rosdep install -i --from-paths src --simulate | \
+  sed '1d' | sed 's/apt-get install//' | sed 's/ //g' > /tmp/depends && \
+  xargs apt-fast install --no-install-recommends -y < /tmp/depends && \
+  apt-fast clean && \
+  rm -rf /var/lib/apt/lists/*
+
+RUN /bin/bash -c ". /opt/ros/noetic/setup.bash; catkin_make"
+
+RUN echo "#!/bin/bash" >> /ros_entrypoint.sh \
+  && echo "set -e" >> /ros_entrypoint.sh \
+  && echo "source /opt/ros/noetic/setup.bash" >> /ros_entrypoint.sh \
+  && echo "source /root/catkin_ws/devel/setup.bash" >> /ros_entrypoint.sh \
+  && echo 'exec "$@"' >> /ros_entrypoint.sh \
+  && chmod a+x /ros_entrypoint.sh
+
+WORKDIR /root/catkin_ws/src/direct_visual_lidar_calibration
+
+RUN apt-fast update \
+  && apt-fast install -y --no-install-recommends \
+  python3-pip python3-numpy python3-torch python3-torchvision python3-matplotlib python3-opencv \
+  && apt-fast clean \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN git clone https://github.com/magicleap/SuperGluePretrainedNetwork /root/SuperGlue
+ENV PYTHONPATH=$PYTHONPATH:/root/SuperGlue
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]