# Image: introlab3it/rtabmap:jfr2018

# Build this image:
# $ cd rtabmap
# $ docker build -t introlab3it/rtabmap:jfr2018 -f docker/jfr2018/latest/Dockerfile .

FROM ubuntu:16.04

WORKDIR /root/

# Install build dependencies
RUN apt-get update && apt-get install -y \
      libsqlite3-dev \
      libpcl-dev \
      git \
      cmake \
      libproj-dev \
      libqt5svg5-dev \
      libfreenect-dev \
      libopenni2-dev \
      libyaml-cpp-dev \
      software-properties-common \
      libgtk2.0-dev \
      pkg-config

# OpenCV (use version <= 3.1.0 for rtabmap 0.16.3 for a solvePnpRansac issue where we have worst ransac performance on newer opencv versions)
RUN git clone https://github.com/opencv/opencv_contrib.git
RUN git clone https://github.com/opencv/opencv.git
RUN cd opencv_contrib && \
    git checkout tags/3.1.0 && \
    cd && \
    cd opencv && \
    git checkout tags/3.1.0 && \
    mkdir build && \
    cd build && \
    cmake -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF .. && \
    make -j4 && \
    make install && \
    cd && \
    rm -rf opencv opencv_contrib

# Install ROS to build other odometry approaches (depending on ROS)
# install packages
RUN apt-get update && apt-get install -q -y \
    dirmngr \
    gnupg2 \
    lsb-release \
    && rm -rf /var/lib/apt/lists/*

# setup keys
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

# setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list

# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y --allow-unauthenticated \
    python-rosdep \
    python-rosinstall \
    python-vcstools \
    && rm -rf /var/lib/apt/lists/*

# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

# bootstrap rosdep
RUN rosdep init \
    && rosdep update

# install ros packages
ENV ROS_DISTRO kinetic
RUN apt-get update && apt-get install -y \
    ros-${ROS_DISTRO}-ros-core=1.3.2-0* \
    && rm -rf /var/lib/apt/lists/*

# install ROS dependencies
RUN apt-get update && apt-get install -y ros-${ROS_DISTRO}-tf ros-${ROS_DISTRO}-pcl-ros ros-${ROS_DISTRO}-eigen-conversions ros-${ROS_DISTRO}-tf-conversions ros-${ROS_DISTRO}-random-numbers ros-${ROS_DISTRO}-image-transport libblas-dev liblapack-dev libsuitesparse-dev libvtk6.2 libyaml-cpp-dev wget libgoogle-glog-dev libatlas-base-dev ros-${ROS_DISTRO}-sophus ros-${ROS_DISTRO}-octomap libglew-dev

# g2o should be built to link on csparse installed system-wide
RUN git clone https://github.com/RainerKuemmerle/g2o.git
RUN cd g2o && \
    git checkout 20170730_git && \
    mkdir build && \
    cd build && \
    cmake -DBUILD_LGPL_SHARED_LIBS=ON -DG2O_BUILD_APPS=OFF -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release .. && \
    make -j3 && \
    make install && \
    cd && \
    rm -r g2o

# GTSAM
RUN git clone https://bitbucket.org/gtborg/gtsam.git
RUN cd gtsam && \
    git checkout 4.0.0-alpha2 && \
    mkdir build && \
    cd build && \
    cmake -DMETIS_SHARED=ON -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release .. && \
    make -j3 && \
    make install && \
    cd && \
    rm -r gtsam

# libpointmatcher 
RUN git clone https://github.com/ethz-asl/libnabo.git
#commit Apr 25 2018
RUN cd libnabo && \
    git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release .. && \
    make -j3 && \
    make install && \
    cd && \
    rm -r libnabo
RUN git clone https://github.com/ethz-asl/libpointmatcher.git
#commit Jan 19 2018
RUN cd libpointmatcher && \
    git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release .. && \
    make -j3 && \
    make install && \
    cd && \
    rm -r libpointmatcher

# Clone dependencies
RUN mkdir -p catkin_ws/src
WORKDIR /root/catkin_ws/src
RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace'
# OPENCV ROS
RUN git clone https://github.com/ros-perception/vision_opencv.git && cd vision_opencv && git checkout kinetic
# make sure cv_bridge is rebuilt before other packages
RUN /bin/bash -c 'cd /root/catkin_ws;. /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make -DCMAKE_BUILD_TYPE=Release; rm -rf build;'
# DVO
RUN git clone https://github.com/tum-vision/dvo_slam.git && cd dvo_slam && git checkout ${ROS_DISTRO}-devel && rm dvo_slam/package.xml && rm dvo_benchmark/package.xml && rm dvo_ros/package.xml
# VISO2
RUN git clone https://github.com/srv/viso2.git && cd viso2 && git checkout ${ROS_DISTRO}
# MSCKF-VIO: using a patched version to be used outside ros and c++14:
RUN git clone https://github.com/borongyuan/msckf_vio.git && cd msckf_vio && git checkout 916c917e5b481741c60732057f0141e8311962c1
# FOVIS
RUN git clone https://github.com/srv/libfovis.git && cd libfovis && git checkout 896acc8425e9fd7c5609153b8bad349ae1abbb50
# LOAM
RUN git clone https://github.com/laboshinl/loam_velodyne.git && cd loam_velodyne && git checkout a4c364a677647f2a35831439032dc5a58378b3fd
# FLOAM
RUN git clone https://github.com/wh200720041/floam.git && cd floam && git checkout 9fdb2ca60a2988c0db515c9c1567100fba8b58d8 && wget https://gist.githubusercontent.com/matlabbe/d8ab56e69146c18afbd1a3b05444c649/raw/f1f37ece5d5787c77f008cb89e9446fc20a40c1f/floam_as_library_support.patch && git apply --ignore-space-change --ignore-whitespace floam_as_library_support.patch
# VINS-Fusion
RUN git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git && cd VINS-Fusion && git checkout e72b5f7ae7437e8cf481cc0bcbfb5fe91bd3d640 && wget https://gist.githubusercontent.com/matlabbe/795ab37067367dca58bbadd8201d986c/raw/0657cc30fca6b1b61faeef42be9f3428861d2598/vins-fusion_e72b5f7.patch && git apply --ignore-space-change --ignore-whitespace vins-fusion_e72b5f7.patch
# OpenVINS (currently failing because not right ceres version is installed)
# RUN git clone https://github.com/rpng/open_vins.git && cd open_vins && git checkout 83ffb88ad35586d86bddc1e041094f4cd3d400df

WORKDIR /root
# OKVIS
RUN git clone https://github.com/ethz-asl/okvis.git && cd okvis && git checkout 1dce9129f22dd4d21d944788cd9da3a4341586aa && wget https://gist.githubusercontent.com/matlabbe/383be55b5cb682fea217d45ef9a37ef8/raw/bd4f6886eeba3800f0e5171e77abc5dd6dc8bfd9/okvis_1dce912_marchnative_disabled.patch && git apply --ignore-space-change --ignore-whitespace okvis_1dce912_marchnative_disabled.patch
# ORB_SLAM2
RUN git clone https://github.com/stevenlovegrove/Pangolin.git && cd Pangolin && git checkout v0.6
RUN git clone https://github.com/raulmur/ORB_SLAM2.git && cd ORB_SLAM2 && wget https://gist.githubusercontent.com/matlabbe/c10403c5d44af85cc3585c0e1c601a60/raw/48adf04098960d86ddf225f1a8c68af87bfcf56e/orbslam2_f2e6f51_marchnative_disabled.patch && git apply --ignore-space-change --ignore-whitespace orbslam2_f2e6f51_marchnative_disabled.patch

# for dvo, TBB is required (docker related issue)
# Download and install TBB
ENV TBB_RELEASE 2018_U2
ENV TBB_VERSION 2018_20171205
ENV TBB_DOWNLOAD_URL https://github.com/01org/tbb/releases/download/${TBB_RELEASE}/tbb${TBB_VERSION}oss_lin.tgz
ENV TBB_INSTALL_DIR /opt
RUN wget ${TBB_DOWNLOAD_URL} && \
	tar -C ${TBB_INSTALL_DIR} -xf tbb${TBB_VERSION}oss_lin.tgz && \
	rm tbb${TBB_VERSION}oss_lin.tgz && \
	sed -i "s%SUBSTITUTE_INSTALL_DIR_HERE%${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss%" ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.* && \
        echo "source ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.sh intel64" >> ~/.bashrc

RUN cd okvis && \
     mkdir build && \
     cd build && \
     cmake .. && \
     make -j3 && \
     make install && \
     mkdir -p /usr/local/lib/cmake && \
     mv /usr/local/lib/CMake/* /usr/local/lib/cmake/.

# Pangolin needed for ORB_SLAM2
RUN cd Pangolin && \
     mkdir build && \
     cd build && \
     cmake .. && \
     make -j3 && \
     make install && \
     cd && \
     rm -rf Pangolin

RUN cd ORB_SLAM2 && \
     cd Thirdparty/DBoW2 && \
     mkdir build && \
     cd build && \
     cmake .. -DCMAKE_BUILD_TYPE=Release && \
     make -j3 && \
     rm -rf * && \
     cd ../../g2o && \
     mkdir build && \
     cd build && \
     cmake .. -DCMAKE_BUILD_TYPE=Release && \
     make -j3 && \
     rm -rf * && \
     cd ../../../ && \
     cd Vocabulary && \
     tar -xf ORBvoc.txt.tar.gz && \
     cd .. && \
     mkdir build && \
     cd build && \
     cmake .. -DCMAKE_BUILD_TYPE=Release && \
     make -j3 && \
     rm -rf *

RUN mv okvis/config/config_fpga_p2_euroc.yaml .
RUN mv ORB_SLAM2/Vocabulary/ORBvoc.txt .
RUN cp catkin_ws/src/VINS-Fusion/config/euroc/* .
RUN cp catkin_ws/src/VINS-Fusion/config/kitti_odom/* .

# Catkin_make
WORKDIR /root/catkin_ws
RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash;. ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.sh intel64; catkin_make -j3 -DCMAKE_BUILD_TYPE=Release; rm -rf build;'
RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc

ENV LD_LIBRARY_PATH /opt/tbb2018_20171205oss/lib/intel64/gcc4.7:/root/ORB_SLAM2/lib:/root/ORB_SLAM2/Thirdparty/g2o/lib:/root/ORB_SLAM2/Thirdparty/DBoW2/lib:/root/catkin_ws/devel/lib:/opt/ros/${ROS_DISTRO}/lib:$LD_LIBRARY_PATH
ENV PATH /root/catkin_ws/devel/bin:/opt/ros/${ROS_DISTRO}/bin:$PATH
ENV ORB_SLAM2_ROOT_DIR /root/ORB_SLAM2

WORKDIR /root

# To make "source" working
RUN rm /bin/sh && ln -s /bin/bash /bin/sh

# Need cmake >=3.10
RUN apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
    wget -nv https://github.com/Kitware/CMake/releases/download/v3.17.0/cmake-3.17.0-Linux-x86_64.tar.gz && \
    tar -xzf cmake-3.17.0-Linux-x86_64.tar.gz && \
    rm cmake-3.17.0-Linux-x86_64.tar.gz &&\
    ln -s ~/cmake-3.17.0-Linux-x86_64/bin/cmake ~/cmake

# Copy current source code
COPY . /root/rtabmap

# Patch for OpenCV 3.1
RUN cd rtabmap && git apply --ignore-space-change --ignore-whitespace docker/jfr2018/rtabmap_opencv310_backward_compatibility.patch

# Build RTAB-Map (using standard g2o, then a version for orbslam2, which uses its own g2o version)
RUN cp -r rtabmap rtabmap_os2 && cp -r rtabmap rtabmap_msckf && cp -r rtabmap rtabmap_loam

RUN source /root/catkin_ws/devel/setup.bash && \
    cd rtabmap && \
    cd build && \
    ~/cmake -DWITH_FOVIS=ON -DWITH_VISO2=ON -DWITH_DVO=ON -DWITH_OKVIS=ON -DWITH_VINS=ON -DWITH_OPENVINS=ON -DWITH_OPENGV=OFF .. && \
    make -j3 && \
    make install && \
    rm -rf * && \
    ldconfig
# Version with orb_slam2 (system g2o disabled)
RUN source /root/catkin_ws/devel/setup.bash && \
    cd rtabmap_os2 && \
    cd build && \
    ~/cmake -DWITH_G2O=OFF -DWITH_ORB_SLAM=ON -DWITH_OPENGV=OFF .. && \
    make -j3 && \
    rm -rf *

# rtabmap is crashing if LOAM and MSCKF dependencies are used at the same time, so split them
RUN source /root/catkin_ws/devel/setup.bash && \
    cd rtabmap_loam && \
    cd build && \
    ~/cmake  -DWITH_LOAM=ON -DWITH_FLOAM=ON -DWITH_OPENGV=OFF -DWITH_CERES=ON .. && \
    make -j3 && \
    rm -rf *
RUN source /root/catkin_ws/devel/setup.bash && \
    cd rtabmap_msckf && \
    git apply --ignore-space-change --ignore-whitespace docker/jfr2018/rtabmap_msckf_ubuntu_16_compatibility.patch && \
    cd build && \
    ~/cmake -DWITH_MSCKF_VIO=ON -DWITH_OPENGV=OFF .. && \
    make -j3 && \
    rm -rf *

WORKDIR /root