(wip) start working on 20.04 image and jenkins pipeline

MIT-SPARK · Oct 27, 2023 · 0ddc132 · 0ddc132
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diff --git a/.gitignore b/.gitignore
@@ -29,3 +29,5 @@
 
 % Ignore python bytecode
 *.pyc
+
+*compile_commands.json
diff --git a/Dockerfile_18_04 b/Dockerfile_18_04
diff --git a/Dockerfile_20_04 b/Dockerfile_20_04
@@ -1,134 +1,84 @@
-# Use an official Python runtime as a parent image
 FROM ubuntu:20.04
-
 LABEL maintainer="[email protected]"
 
 # 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 20.04
-RUN apt-get update && apt-get install -y \
-      unzip \
-      libjpeg-dev \
-      libpng-dev \
-      libtiff-dev \
-      libvtk7-dev \
-      libgtk-3-dev \
+RUN apt-get update && \
+    apt-get install -y \
+      build-essential \
+      cmake \
+      gfortran \
+      git \
       libatlas-base-dev \
-      gfortran
-
-RUN git clone https://github.com/opencv/opencv.git
-RUN cd opencv && \
-      git checkout tags/3.4.2 && \
-      mkdir build
-
-RUN git clone https://github.com/opencv/opencv_contrib.git
-RUN cd opencv_contrib && \
-      git checkout tags/3.4.2
-
-RUN cd opencv/build && \
-      cmake -DCMAKE_BUILD_TYPE=Release \
-      -DCMAKE_INSTALL_PREFIX=/usr/local \
-      -D BUILD_opencv_python=OFF \
-      -D BUILD_opencv_python2=OFF \
-      -D BUILD_opencv_python3=OFF \
-      -DOPENCV_EXTRA_MODULES_PATH=$DIRPATH/opencv_contrib/modules .. && \
-      make -j$(nproc) install
+      libboost-all-dev \
+      libeigen3-dev \
+      libgflags-dev \
+      libgoogle-glog-dev \
+      libopencv-dev \
+      libopencv-contrib-dev \
+      libtbb-dev \
+      pkg-config \
+      xvfb \
+      python3 \
+      python3-dev \
+      python3-pip \
+      python3-tk && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
 
-# Install GTSAM
-RUN apt-get update && apt-get install -y libboost-all-dev libtbb-dev
 ADD https://api.github.com/repos/borglab/gtsam/git/refs/heads/develop version.json
-RUN git clone https://github.com/borglab/gtsam.git
-RUN cd gtsam && \
-    git fetch && \
-    git checkout e5866799dff48239573cdd84964180867e50edd2 && \
+RUN git clone https://github.com/borglab/gtsam.git && \
+    cd gtsam && \
+    git checkout 4.2 && \
     mkdir build && \
     cd build && \
-    cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -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 .. && \
+    cmake -DCMAKE_INSTALL_PREFIX=/usr/local \
+          -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+          -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 \
+          -DGTSAM_USE_SYSTEM_EIGEN=ON \
+          .. && \
     make -j$(nproc) install
 
 # Install Open_GV
-RUN git clone https://github.com/marcusabate/opengv
-RUN cd opengv && git apply march_native_disable.patch && \
-      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$(nproc) install
+RUN git clone https://github.com/marcusabate/opengv && \
+    cd opengv && \
+    git apply march_native_disable.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release \
+          -DCMAKE_INSTALL_PREFIX=/usr/local \
+          .. && \
+    make -j$(nproc) install
 
 # Install DBoW2
 RUN git clone https://github.com/dorian3d/DBoW2.git
 RUN cd DBoW2 && \
-      mkdir build && \
-      cd build && \
-      cmake .. && \
-      make -j$(nproc) install
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(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 -y software-properties-common
-
-# Get python3
-RUN apt-get update && \
-      apt-get install -y python3.8 python3.8-dev python3-pip python3-tk
-RUN apt-get update && \
-      apt-get install -y libgl1-mesa-glx
-RUN python3 $(which pip3) install --upgrade pip
-RUN python3 $(which pip3) install PyQt5
-
-# Install evo-1 for evaluation
-# Hack to avoid Docker's cache when evo-1 fix/python3 branch is updated.
-RUN python3 $(which pip3) install open3d plotly --upgrade
-RUN python3 $(which pip3) install setuptools==58.3.0
-ADD https://api.github.com/repos/MIT-SPARK/evo-1/git/refs/heads/fix/python3 version.json
-RUN git clone https://github.com/MIT-SPARK/evo-1.git
-RUN cd evo-1 && git checkout fix/python3 && python3.8 $(which pip3) install .
-
-# Install Kimera VIO Evaluation
-RUN python3 $(which pip3) install ipython prompt_toolkit
-# Hack to avoid Docker's cache when Kimera VIO Evaluation fix/python3 branch is updated.
-ADD https://api.github.com/repos/marcusabate/Kimera-VIO-Evaluation/git/refs/heads/fix/jenkins_tests/python3_lite version.json
-RUN git clone https://github.com/marcusabate/Kimera-VIO-Evaluation.git
-# We do the following because of a 20.04 issue with .egg-link file being in site-packages instead of dist-packages
-RUN rm -rf /usr/lib/python3.8/site-packages/ && \
-      ln -s /usr/local/lib/python3.8/dist-packages /usr/lib/python3.8/site-packages
-# We use `pip3 install -e .` so that Jinja2 has access to the webiste template...
-RUN cd Kimera-VIO-Evaluation && git fetch && git checkout fix/jenkins_tests/python3_lite && python3 $(which pip3) install -e .
-
-# Install glog, gflags
-RUN apt-get update && apt-get install -y libgflags2.2 libgflags-dev libgoogle-glog0v5 libgoogle-glog-dev
-
-# Install Pangolin
-RUN apt-get update && apt-get install -y libgl1-mesa-dev libglew-dev
-RUN git clone --depth 1 --branch v0.6 https://github.com/stevenlovegrove/Pangolin.git
-RUN cd Pangolin && \
-      mkdir build && \
-      cd build && \
-      cmake .. && \
-      make -j$(nproc)
-
-# Clean
-RUN apt-get clean && \
-      rm -rf /var/lib/apt/lists/*
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) install
 
+# Install Kimera-VIO-Evaluation
+RUN python3 -m pip install --upgrade pip
+ADD https://api.github.com/repos/marcusabate/Kimera-VIO-Evaluation/git/refs/heads/fix/python3 version.json
+RUN python3 -m pip install git+https://github.com/MIT-SPARK/Kimera-VIO-Evaluation.git@fix/python3
Original file line number	Diff line number	Diff line change
Expand Up		@@ -29,3 +29,5 @@

		% Ignore python bytecode
		*.pyc

		*compile_commands.json