ODM-dockerfile.vtk-amd64.txt

FROM amd64/debian:stretch

LABEL maintainer="(upstream master branch) OpenDroneMap contributors"
LABEL maintainer="(GeoVisionEnvironmental branches) Peter Sprague <peter.sprague@geovisionenvironmental.com>"

# git branch amd64-development

# Env variables
# Enable systemd
ENV version 0.0.0-1
ENV INITSYSTEM on
ENV DEBIAN_FRONTEND noninteractive

RUN apt-get update && apt-get install -y \ 
    apt-utils \
    software-properties-common
        
#Required Requisites
# gis included in main debian repo
# no arm64 pkgs
#RUN add-apt-repository -y ppa:ubuntugis/ppa 
#no arm64 pkgs
#RUN add-apt-repository -y ppa:george-edison55/cmake-3.x 


#Install tools
RUN apt-get update && apt-get install -y \
    build-essential \
    gcc g++ gfortran \
    git \
    vim \
    wget \
    cmake \
    curl
    
# debian needs swig which then includes swig3
RUN apt-get install --no-install-recommends -y \
    gdal-bin \
    libatlas-base-dev \
    libavcodec-dev \
    libavformat-dev \
    libavutil-dev \
    libboost-all-dev \
    libboost-date-time-dev \
    libboost-filesystem-dev \
    libboost-iostreams-dev \
    libboost-log-dev \
    libboost-python-dev \
    libboost-regex-dev \
    libboost-thread-dev \
    libeigen3-dev \
    libexiv2-dev \
    libflann-dev \
    libgdal-dev \
    libgeotiff-dev \
    libglew-dev \
    libgmp-dev \
    libgoogle-glog-dev \
    libgtk2.0-dev \
    libjpeg-dev \
    libjsoncpp-dev \
    liblapack-dev \
    liblas-bin \
    libmpfr-dev \
    libopenjp2-7-dev \
    libpng-dev \
    libpng-dev \
    libpostproc-dev \
    libproj-dev \
    libsuitesparse-dev \
    libswscale-dev \
    libtbb-dev \
    libtbb2 \
    libtiff-dev \
    libtiff5-dev \
    libxext-dev \
    pkg-config \
    python-dev \
    python-empy \
    python-gdal \
    python-matplotlib \
    python-networkx \
    python-nose \
    python-numpy \
    python-pip \
    python-py \
    python-pyexiv2 \
    python-pyproj \
    python-pyside \
    python-pytest \
    python-scipy \
    python-shapely \
    python-wheel \
    swig \
    zlib1g-dev

# libjasper-dev ?needed - not in debian 9 repo
# libvtk6-dev \ ? conflict not needed with VTK8 source build


# not installed in debian or ubuntu arm64
#RUN apt-get remove libdc1394-22-dev

RUN pip install --upgrade pip
RUN pip install setuptools
RUN pip install -U PyYAML exifread gpxpy xmltodict catkin-pkg appsettings loky
RUN pip install -U https://github.com/OpenDroneMap/gippy/archive/v0.3.9.tar.gz
#RUN pip install -U https://github.com/gipit/gippy/archive/v1.0.0b1.tar.gz

# add Cuda dependencies
# includes OpenDroneMap OpenCV w/ Cuda dependencies
# https://docs.opencv.org/3.3.1/d6/d15/tutorial_building_tegra_cuda.html#tutorial_building_tegra_cuda_opencv_24X
# from nvidia/cudu Dockerfile
# https://gitlab.com/nvidia/cuda/raw/ubuntu16.04/9.1/devel/Dockerfile
#RUN apt-get update && apt-get install -y --no-install-recommends \
#        cuda-libraries-dev-$CUDA_PKG_VERSION \
#        cuda-nvml-dev-$CUDA_PKG_VERSION \
#        cuda-minimal-build-$CUDA_PKG_VERSION \
#        cuda-command-line-tools-$CUDA_PKG_VERSION \
#        libnccl-dev=$NCCL_VERSION-1+cuda9.1

#ENV LIBRARY_PATH /usr/local/cuda/lib64/stubs:${LIBRARY_PATH}

# include VTK v8.1.0 dependencies
# OpenCL --> apt-get install -y ocl-icd-opencl-dev
RUN apt-get install --no-install-recommends -y \
    libproj-dev \    
	libtbb-dev \
    libtbb2 \
    libxt-dev \
	ocl-icd-opencl-dev
	
WORKDIR /usr/local/src/VTK
RUN mkdir ./VTK-build
RUN git clone https://github.com/Kitware/VTK.git
# use VTK.git tag v8.1.0
# master gives errors on make
RUN cd ./VTK && \
    git checkout v8.1.0

RUN cd ./VTK-build && \
    cmake ../VTK \ 
	-DCMAKE_INSTALL_PREFIX:PATH=/usr/local \
	-DVTK_SMP_IMPLEMENTATION_TYPE=TBB \
    -DCMAKE_BUILD_TYPE=Release \
    -DVTK_Group_Rendering=OFF \
    -DBUILD_TESTING=OFF \
    && make -j$(nproc) && make install

# build CMVS-PMVS outside SuperBuild cmake
WORKDIR /usr/local/src
RUN git clone https://github.com/OpenDroneMap/CMVS-PMVS.git
RUN cd ./CMVS-PMVS  && \
    git checkout master
RUN cd ./CMVS-PMVS/program && mkdir build && cd build && cmake .. && make -j$(nproc) && make install

# build PointCloudLibrary outside SuperBuild cmake
WORKDIR /usr/local/src
RUN git clone https://github.com/PointCloudLibrary/pcl.git
RUN cd ./pcl && \
    git checkout pcl-1.8.1
RUN cd ./pcl && mkdir build && cd build && \
    cmake .. \
    -DBUILD_features=ON \
    -DBUILD_filters=ON \
    -DBUILD_geometry=ON \
    -DBUILD_keypoints=ON \
    -DBUILD_outofcore=OFF \
    -DBUILD_people=OFF \
    -DBUILD_recognition=OFF \
    -DBUILD_registration=ON \
    -DBUILD_sample_consensus=ON \
    -DBUILD_segmentation=ON \
    -DBUILD_surface_on_nurbs=OFF \
    -DBUILD_tools=OFF \
    -DBUILD_tracking=ON \
    -DBUILD_visualization=OFF \
    -DWITH_QT=OFF \
    -DBUILD_OPENNI=OFF \
    -DBUILD_OPENNI2=OFF \
    -DWITH_OPENNI=OFF \
    -DWITH_OPENNI2=OFF \
    -DWITH_FZAPI=OFF \
    -DWITH_LIBUSB=OFF \
    -DWITH_PCAP=OFF \
    -DWITH_PXCAPI=OFF \
    -DCMAKE_BUILD_TYPE=Release \
    -DPCL_VERBOSITY_LEVEL=Error \
    && make -j$(nproc) && make install

# build MVS-Texturing outside SuperBuild cmake
WORKDIR /usr/local/src
#RUN git clone https://github.com/GeoVisionEnvironmental/mvs-texturing.git
RUN git clone https://github.com/nmoehrle/mvs-texturing.git
RUN cd ./mvs-texturing && \
    git checkout master
# default ODM -RESEARCH=OFF flag not in current ccmake, removed, ?causing error
RUN cd ./mvs-texturing && mkdir build && cd build && cmake .. \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    && make -j$(nproc) && make install

# build GFlags outside SuperBuild cmake
WORKDIR /usr/local/src
RUN git clone https://github.com/gflags/gflags.git
RUN cd ./gflags && \
    git checkout master
RUN cd ./gflags && mkdir build && cd build && \
    cmake .. \
    -DCMAKE_BUILD_TYPE:STRING=Release \
    && make -j$(nproc) && make install
    
# build Ceres outside SuperBuild cmake
WORKDIR /usr/local/src
RUN git clone https://ceres-solver.googlesource.com/ceres-solver
RUN cd ./ceres-solver && \
    git checkout 1.13.0
RUN cd ./ceres-solver && mkdir build && cd build && \
    cmake .. \
    -DCMAKE_C_FLAGS=-fPIC \
    -DCMAKE_CXX_FLAGS=-fPIC \
    -DBUILD_EXAMPLES=OFF \
    -DBUILD_TESTING=OFF \
    && make -j$(nproc) && make install
    
# build OpenCV outside SuperBuild cmake
WORKDIR /usr/local/src
RUN git clone https://github.com/opencv/opencv.git
RUN cd ./opencv && \
    git checkout 3.4.0
RUN cd ./opencv && mkdir build && cd build && \
    cmake .. \
    -DCMAKE_BUILD_TYPE:STRING=Release \
    -DCMAKE_INSTALL_PREFIX:PATH=/usr/local \
	-DENABLE_PRECOMPILED_HEADERS=OFF \
    -DCMAKE_BUILD_TYPE=Release \
    -DBUILD_PNG=ON \
    -DBUILD_TIFF=ON \
    -DBUILD_TBB=ON \
    -DBUILD_JPEG=ON \
    -DBUILD_JASPER=OFF \
    -DBUILD_ZLIB=OFF \
    -DBUILD_opencv_core=ON \
    -DBUILD_opencv_imgproc=ON \
    -DBUILD_opencv_highgui=ON \
    -DBUILD_opencv_video=ON \
    -DBUILD_opencv_ml=ON \
    -DBUILD_opencv_features2d=ON \
    -DBUILD_opencv_calib3d=ON \
    -DBUILD_opencv_contrib=ON \
    -DBUILD_opencv_flann=ON \
    -DBUILD_opencv_objdetect=ON \
    -DBUILD_opencv_photo=ON \
    -DBUILD_opencv_legacy=ON \
    -DBUILD_opencv_python=ON \
    -DWITH_VTK=OFF \
    -DWITH_EIGEN=OFF \
    -DWITH_OPENNI=OFF \
    -DBUILD_DOCS=OFF \
    -DBUILD_opencv_apps=OFF \
    -DBUILD_opencv_videostab=OFF \
    -DBUILD_opencv_nonfree=OFF \
    -DBUILD_opencv_stitching=OFF \
    -DBUILD_opencv_world=OFF \
    -DBUILD_opencv_superres=OFF \
    -DBUILD_opencv_java=OFF \
    -DBUILD_opencv_ocl=OFF \
    -DBUILD_opencv_ts=OFF \
    -DWITH_OPENCL=ON \
    -DWITH_CUDA=OFF \
    -DBUILD_opencv_gpu=ON \ 
    -DBUILD_EXAMPLES=OFF \
    && make -j$(nproc) && make install
    
# build OpenGV outside SuperBuild cmake
WORKDIR /usr/local/src
RUN git clone https://github.com/paulinus/opengv.git
RUN cd ./opengv && \
    git checkout master
RUN cd opengv && mkdir build && cd build && \
    cmake .. \
    -DCMAKE_INSTALL_PREFIX:PATH=/usr/local \
    -DBUILD_TESTS=OFF \
    -DBUILD_PYTHON=ON \
    -DBUILD_ARCH=native \
    && make -j$(nproc) && make install
    
# build OpenSfM outside SuperBuild cmake
WORKDIR /usr/local/src
#RUN mkdir /code/ && mkdir /code/src
#WORKDIR /code/src
RUN git clone https://github.com/mapillary/OpenSfM.git
RUN cd ./OpenSfM && \
    git checkout master
RUN cd OpenSfM && \
    pip install -r requirements.txt && \
    python setup.py build
    
# build Catkin outside SuperBuild cmake
WORKDIR /usr/local/src
RUN git clone https://github.com/ros/catkin.git
RUN cd ./catkin && \
    git checkout 0.7.11
RUN cd catkin && mkdir build && cd build && \
    cmake .. \
    -DCMAKE_INSTALL_PREFIX:PATH=/usr/local \
    -DCATKIN_ENABLE_TESTING=OFF \
    && make -j$(nproc) && make install
    
# build Hexer outside SuperBuild cmake
WORKDIR /usr/local/src
RUN git clone https://github.com/hobu/hexer.git
RUN cd ./hexer && \
    git checkout master
RUN cd hexer && mkdir build && cd build && \
    cmake .. \
    -DCMAKE_INSTALL_PREFIX:PATH=/usr/local \
    && make -j$(nproc) && make install
    
# build Ecto outside SuperBuild cmake
WORKDIR /usr/local/src
RUN git clone https://github.com/plasmodic/ecto.git
RUN cd ./ecto  && \
    git checkout master
RUN cd ecto && mkdir build && cd build && \
    cmake .. \
    -DCMAKE_INSTALL_PREFIX:PATH=/usr/local \
    -DBUILD_DOC=OFF \
    -DBUILD_SAMPLES=OFF \
    -DCATKIN_ENABLE_TESTING=OFF \
    && make -j$(nproc) && make install
    
# build LASzip outside SuperBuild cmake
#WORKDIR /usr/local/src
#RUN git clone https://github.com/LASzip/LASzip.git
#RUN cd ./LASzip && \
#    git checkout master
#RUN cd ./LASzip && mkdir build && cd build && \
#    cmake .. \
#    -DCMAKE_INSTALL_PREFIX=/usr/local \
#    && make -j$(nproc) && make install

# build PDAL outside SuperBuild cmake
# https://www.pdal.io/development/compilation/unix.html
WORKDIR /usr/local/src
RUN git clone https://github.com/PDAL/PDAL.git
# master produces gdal errors
RUN cd ./PDAL && git checkout 1.6
# for some strange reason needing to run cmake twice to get make target generated
# suspect -DWITH_APPS=ON & -DBUILD_PLUGIN_P2G=OFF & -DWITH_GEOTIFF=ON was killing but not in current cmake as option
RUN cd PDAL && mkdir build && cd build && cmake .. && \
    cmake .. \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    -BUILD_PGPOINTCLOUD_TESTS=OFF \
    -BUILD_PLUGIN_PCL=ON \
    -BUILD_PLUGIN_PGPOINTCLOUD=ON \
    -DBUILD_PLUGIN_CPD=OFF \
	-DBUILD_PLUGIN_GREYHOUND=OFF \
	-DBUILD_PLUGIN_HEXBIN=ON \
	-DBUILD_PLUGIN_ICEBRIDGE=OFF \
	-DBUILD_PLUGIN_MRSID=OFF \
	-DBUILD_PLUGIN_NITF=OFF \
	-DBUILD_PLUGIN_OCI=OFF \
	-DBUILD_PLUGIN_SQLITE=OFF \
	-DBUILD_PLUGIN_RIVLIB=OFF \
	-DBUILD_PLUGIN_PYTHON=OFF \
	-DENABLE_CTEST=OFF \
	-DWITH_LAZPERF=OFF \
	-DWITH_LASZIP=OFF \
	-DWITH_TESTS=OFF \
    && make -j$(nproc) && make install
    
# build Lidar2dem outside SuperBuild cmake
# http://applied-geosolutions.github.io/lidar2dems/doc/installation.html
# need to update setup.py --> gdal==2.1.2 or just plain gdal
WORKDIR /usr/local/src
RUN git clone https://github.com/GeoVisionEnvironmental/lidar2dems.git
RUN cd ./lidar2dems && \
    git checkout master
RUN cd ./lidar2dems && \
    ./setup.py install

# completely nuke the need for SuperBuild cmake build
# continues to fail on install, yet individual external software builds fine
# Copy repository files
#COPY /SuperBuild/CMakeLists.txt /code/SuperBuild/CMakeLists.txt
#COPY /SuperBuild/cmake/ /code/SuperBuild/cmake/

# compile code in SuperBuild and root directories
# -j7 is max recommended for OpenCV build with Cuda: https://docs.opencv.org/3.3.1/d6/d15/tutorial_building_tegra_cuda.html#tutorial_building_tegra_cuda_opencv_24X
# use -j4 for TX2

# only include this for OpenCV make test for development if building OpenCV inside SuperBuild
# need to include build directives to activate testing - see gist
#RUN mkdir /code/SuperBuild/build && cd /code/SuperBuild/src && git clone https://github.com/opencv/opencv_extra.git

# needed because PYTHONPATH & LD_LIBRARY_PATH to SuperBuild is hardcoded into original ODM code
# revised opendm/context.py defined file locations, therefore not needed now
#ENV PYTHONPATH="$PYTHONPATH:/code/SuperBuild/install/lib/python2.7/dist-packages"
#ENV PYTHONPATH="$PYTHONPATH:/code/SuperBuild/src/opensfm"
#ENV LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/code/SuperBuild/install/lib"

# added paths for external builds
ENV PYTHONPATH="$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages"
ENV PYTHONPATH="$PYTHONPATH:/usr/local/src/OpenSfM"

# Copy repository files
WORKDIR /code
COPY ccd_defs_check.py /code/ccd_defs_check.py
COPY CMakeLists.txt /code/CMakeLists.txt
COPY configure.sh /code/configure.sh
COPY /modules/ /code/modules/
COPY /opendm/ /code/opendm/
COPY /patched_files/ /code/patched_files/
COPY run.py /code/run.py
COPY run.sh /code/run.sh
COPY /scripts/ /code/scripts/
COPY docker.settings.yaml /code/settings.yaml
COPY VERSION /code/VERSION

WORKDIR /code
RUN mkdir build && cd build && cmake .. && make -j$(nproc)

# do clean up to slim image
# activate once code works completely
# only accounts for 48mb
#RUN apt-get remove -y \
#    build-essential \
#    cmake \
#    git \
#    python-pip
    
# libgl1-mesa-dri \

# ? need for libvtk6-dev to be reinstalled, does it get removed by the above pkgs removal
# not needed since VTK-v8.1.0 installed from source
#RUN apt-get update && apt-get install -y libvtk6-dev

# Cleanup APT
#RUN apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* 

# clean out external source builds
# need /code/src/OpenSfM still
#RUN rm -rf /usr/local/src/*

# Clean Superbuild [original code]
#RUN rm -rf /code/SuperBuild/download /code/SuperBuild/src/vtk8 /code/SuperBuild/src/opencv /code/SuperBuild/src/pcl /code/SuperBuild/src/pdal /code/SuperBuild/src/opengv /code/SuperBuild/src/mvstexturing /code/SuperBuild/src/ceres /code/SuperBuild/build/vtk8 /code/SuperBuild/build/opencv

# Entry point
ENTRYPOINT ["python", "/code/run.py", "code"]