Merge pull request #98 from koide3/jazzy

jazzy

.github/workflows/build.yaml

@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        ROS_DISTRO: [humble, noetic]
+        ROS_DISTRO: [jazzy, humble, noetic]
 
     steps:
       - uses: actions/checkout@v2

.github/workflows/push.yaml

@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        ROS_DISTRO: [humble, noetic]
+        ROS_DISTRO: [jazzy, humble, noetic]
 
     steps:
       - uses: actions/checkout@v2

CMakeLists.txt

@@ -27,6 +27,13 @@ find_package(OpenCV REQUIRED)
 find_package(Boost REQUIRED COMPONENTS filesystem program_options)
 find_package(Iridescence REQUIRED)
 
+set(OLD_DISTRO "humble;galactic;foxy")
+if($ENV{ROS_DISTRO} IN_LIST OLD_DISTRO)
+  add_definitions(-DCV_BRIDGE_INCLUDE_H)
+else()
+  add_definitions(-DCV_BRIDGE_INCLUDE_HPP)
+endif()
+
 find_package(OpenMP)
 if (OPENMP_FOUND)
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")

docker/jazzy/Dockerfile

@@ -0,0 +1,47 @@
+FROM koide3/gtsam_docker:jazzy
+
+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/*
+
+RUN apt-fast update \
+  && apt-fast install -y --no-install-recommends \
+  libpcl-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$(nproc) \
+  && make install \
+  && rm -rf /root/ceres-solver
+
+COPY . /root/ros2_ws/src/direct_visual_lidar_calibration
+
+WORKDIR /root/ros2_ws
+
+RUN apt-fast update && \
+  rosdep install -i --from-paths src --simulate | \
+  sed '1d' | sed 's/apt-get install//' | sed 's/ //g' > /tmp/depends && \
+  xargs apt-fast install --no-install-recommends -y < /tmp/depends && \
+  apt-fast clean && \
+  rm -rf /var/lib/apt/lists/*
+
+RUN /bin/bash -c ". /opt/ros/jazzy/setup.bash; colcon build"
+
+RUN echo "#!/bin/bash" >> /ros_entrypoint.sh \
+  && echo "set -e" >> /ros_entrypoint.sh \
+  && echo "source /opt/ros/jazzy/setup.bash" >> /ros_entrypoint.sh \
+  && echo "source /root/ros2_ws/install/setup.bash" >> /ros_entrypoint.sh \
+  && echo 'exec "$@"' >> /ros_entrypoint.sh \
+  && chmod a+x /ros_entrypoint.sh
+
+WORKDIR /root/ros2_ws/src/direct_visual_lidar_calibration
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]

docker/jazzy/Dockerfile_with_superglue

@@ -0,0 +1,51 @@
+FROM koide3/gtsam_docker:jazzy
+
+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$(nproc) \
+  && make install \
+  && rm -rf /root/ceres-solver
+
+COPY . /root/ros2_ws/src/direct_visual_lidar_calibration
+
+WORKDIR /root/ros2_ws
+
+RUN apt-fast update && \
+  rosdep install -i --from-paths src --simulate | \
+  sed '1d' | sed 's/apt-get install//' | sed 's/ //g' > /tmp/depends && \
+  xargs apt-fast install --no-install-recommends -y < /tmp/depends && \
+  apt-fast clean && \
+  rm -rf /var/lib/apt/lists/*
+
+RUN /bin/bash -c ". /opt/ros/jazzy/setup.bash; colcon build"
+
+RUN echo "#!/bin/bash" >> /ros_entrypoint.sh \
+  && echo "set -e" >> /ros_entrypoint.sh \
+  && echo "source /opt/ros/jazzy/setup.bash" >> /ros_entrypoint.sh \
+  && echo "source /root/ros2_ws/install/setup.bash" >> /ros_entrypoint.sh \
+  && echo 'exec "$@"' >> /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"]

docs/docker.md

@@ -5,6 +5,10 @@ We provide ROS1/ROS2 docker images on our docker hub repository:
 - [koide3/direct_visual_lidar_calibration:noetic ![Docker Image Size (tag)](https://img.shields.io/docker/image-size/koide3/direct_visual_lidar_calibration/noetic)](https://hub.docker.com/repository/docker/koide3/direct_visual_lidar_calibration)
 - [koide3/direct_visual_lidar_calibration:humble ![Docker Image Size (tag)](https://img.shields.io/docker/image-size/koide3/direct_visual_lidar_calibration/humble)](https://hub.docker.com/repository/docker/koide3/direct_visual_lidar_calibration)
 
+!!!warning
+    We avoided including SuperGlue in our images to avoid contamination of its strict license.
+    If you need the automatic image matching, you must build a docker image with [Dockerfile_with_superglue](https://github.com/koide3/direct_visual_lidar_calibration/tree/main/docker/humble) at your own risk.
+
 ## Pull image
 
 ```bash

mkdocs.yml

@@ -4,7 +4,7 @@ repo_url: https://github.com/koide3/direct_visual_lidar_calibration
 site_url: https://koide3.github.io/direct_visual_lidar_calibration/
 site_description: "LiDAR-Camera extrinsic calibration toolbox"
 
-theme: 
+theme:
     name: material
     palette:
         primary: indigo
@@ -23,7 +23,6 @@ markdown_extensions:
     - pymdownx.emoji:
         emoji_index: !!python/name:materialx.emoji.twemoji
         emoji_generator: !!python/name:materialx.emoji.to_svg
-    - fontawesome_markdown
 
 copyright: Copyright © 2023 Kenji Koide
 extra:

scripts/find_matches_superglue.py

@@ -1,4 +1,4 @@
-#!/usr/bin/python3
+#!/usr/bin/env python3
 # WARNING: SuperGlue is allowed to be used for non-commercial research purposes!!
 #        : You must carefully check and follow its licensing condition!!
 #        : https://github.com/magicleap/SuperGluePretrainedNetwork/blob/master/LICENSE

src/preprocess_ros2.cpp

@@ -5,7 +5,14 @@
 #include <rosbag2_cpp/readers/sequential_reader.hpp>
 #include <rosbag2_storage/storage_filter.hpp>
 
+#ifdef CV_BRIDGE_INCLUDE_H
 #include <cv_bridge/cv_bridge.h>
+#elif CV_BRIDGE_INCLUDE_HPP
+#include <cv_bridge/cv_bridge.hpp>
+#else
+#error "File extension of cv_bridge is unknown!!"
+#endif
+
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/compressed_image.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>