PCL docker

$README.md

Point cloud library docker

The Point Cloud Library is an open-source library of algorithms for point cloud processing tasks and 3D geometry processing. It is a standalone, large-scale, open project for 2D/3D image and point cloud processing. PCL is released under the terms of the BSD license, and thus free for commercial and research use.

Docker Hub image: https://hub.docker.com/r/danieltobon43/pcl-docker

Environment:

• Linux Alpine 3.15
• VTK-9.0.0
• PCL-1.12.1
• Eigen-3.7.7
• Flann
• Boost
• OpenGL

The idea is that the docker image will contain all the required software and library dependencies to run a PCL application. This image is not intended for development (there is no a cmake, g++, compiler). Unless a new docker image is compiled with developer tools.

Pull image

docker pull danieltobon43/pcl-docker:1.12.1-alpine3.15

Compile image

time docker build -f Dockerfile -t pcl-docker:1.0-alpine3.15 .

Dockerfile

# ============================
# Stage: base image
# ============================
# syntax=docker/dockerfile:1
ARG PCL_VERSION="1.12.1"
FROM alpine:3.15 AS pcl-dependencies
RUN apk add --no-cache boost-dev vtk-dev eigen-dev mesa-dev \
                       flann-dev --repository=https://dl-cdn.alpinelinux.org/alpine/edge/testing

# ============================
# Stage: build pcl
# ============================
FROM pcl-dependencies AS build-pcl

RUN apk add --no-cache wget cmake make g++

# Download point cloud library source code once
ARG PCL_VERSION
RUN cd /tmp && wget https://github.com/PointCloudLibrary/pcl/archive/pcl-${PCL_VERSION}.tar.gz \
    && tar -xf pcl-${PCL_VERSION}.tar.gz

# PCL build modules (be aware that some modules depend from another ones)
ENV BUILD_MODULES   -DBUILD_2d=ON \
                    -DBUILD_CUDA=OFF \
                    -DBUILD_GPU=OFF \
                    -DBUILD_apps=OFF \
                    -DBUILD_benchmarks=OFF \
                    -DBUILD_common=ON \
                    -DBUILD_examples=OFF \
                    -DBUILD_features=OFF \
                    -DBUILD_filters=ON \
                    -DBUILD_geometry=ON \
                    -DBUILD_global_tests=OFF \
                    -DBUILD_io=ON \
                    -DBUILD_kdtree=ON \
                    -DBUILD_keypoints=OFF \
                    -DBUILD_ml=OFF \
                    -DBUILD_octree=ON \
                    -DBUILD_outofcore=OFF \
                    -DBUILD_people=OFF \
                    -DBUILD_recognition=OFF \
                    -DBUILD_registration=OFF \
                    -DBUILD_sample_consensus=ON \
                    -DBUILD_search=ON \
                    -DBUILD_segmentation=OFF \
                    -DBUILD_simulation=OFF \
                    -DBUILD_stereo=OFF \
                    -DBUILD_surface=OFF \
                    -DBUILD_tools=OFF \
                    -DBUILD_tracking=OFF \
                    -DBUILD_visualization=ON

# Install pcl at /tmp/pcl-pcl-${PCL_VERSION}/install
ENV CMAKE_CONFIG -DCMAKE_INSTALL_PREFIX:PATH=/tmp/pcl-pcl-${PCL_VERSION}/install \
                 -DCMAKE_BUILD_TYPE=Release

# Set flags support
ENV WITH_CONFIG -DWITH_CUDA=OFF \
                -DWITH_DAVIDSDK=OFF \
                -DWITH_DOCS=OFF \
                -DWITH_DSSDK=OFF \
                -DWITH_ENSENSO=OFF \
                -DWITH_LIBUSB=OFF \
                -DWITH_OPENGL=ON \
                -DWITH_OPENMP=ON \
                -DWITH_OPENNI=OFF \
                -DWITH_OPENNI2=OFF \
                -DWITH_PCAP=OFF \
                -DWITH_PNG=OFF \
                -DWITH_QHULL=OFF \
                -DWITH_QT=NO \
                -DWITH_RSSDK=OFF \
                -DWITH_RSSDK2=OFF \
                -DWITH_VTK=ON

# Set vtk backend rendering
ARG VTK_CONFIG -DVTK_RENDERING_BACKEND=OpenGL2

# Compile pcl
RUN cd /tmp/pcl-pcl-${PCL_VERSION} \
    && mkdir build install && cd build \
    && cmake ${BUILD_MODULES} ${CMAKE_CONFIG} ${WITH_CONFIG} ../ \
    && make -j$(nproc) \
    && make install

# Unset ENV variables
ENV BUILD_MODULES=
ENV CMAKE_CONFIG=
ENV WITH_CONFIG=

# ============================
# Stage: runtime
# ============================
FROM pcl-dependencies as runtime
ARG PCL_VERSION
COPY --from=build-pcl /tmp/pcl-pcl-${PCL_VERSION}/install /usr