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Reduce docker image size #149

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Reduce docker image size #149

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59d112b
Reduce docker image size by removing local binaries after deps instal…
Mar 3, 2021
9332898
Replaced apt cache clean command
Mar 3, 2021
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39 changes: 23 additions & 16 deletions scripts/docker/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -11,30 +11,32 @@ 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
RUN apt-get update && apt-get install -y --no-install-recommends apt-utils && \
apt-get install -y git cmake && rm -rf /var/lib/apt/lists/*

# Install xvfb to provide a display to container for GUI related testing.
RUN apt-get update && apt-get install -y xvfb
RUN apt-get update && apt-get install -y xvfb && rm -rf /var/lib/apt/lists/*

# Install GTSAM
RUN apt-get update && apt-get install -y libboost-all-dev
RUN apt-get update && apt-get install -y libboost-all-dev && rm -rf /var/lib/apt/lists/*
ADD https://api.github.com/repos/borglab/gtsam/git/refs/heads/master version.json
RUN git clone https://github.com/borglab/gtsam.git
RUN cd gtsam && \
git fetch && \
mkdir build && \
cd build && \
cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DGTSAM_BUILD_UNSTABLE=ON -DGTSAM_TANGENT_PREINTEGRATION=OFF .. && \
make -j$(nproc) install
make -j$(nproc) install && \
rm -rf ./*

# Install OpenCV for Ubuntu 18.04
RUN apt-get update && apt-get install -y \
build-essential cmake unzip pkg-config \
libjpeg-dev libpng-dev libtiff-dev \
libvtk6-dev \
libgtk-3-dev \
libatlas-base-dev gfortran
libatlas-base-dev gfortran && \
rm -rf /var/lib/apt/lists/*

RUN git clone https://github.com/opencv/opencv.git
RUN cd opencv && \
Expand All @@ -52,7 +54,8 @@ RUN cd opencv/build && \
-D BUILD_opencv_python2=OFF \
-D BUILD_opencv_python3=OFF \
-DOPENCV_EXTRA_MODULES_PATH=$DIRPATH/opencv_contrib/modules .. && \
make -j$(nproc) install
make -j$(nproc) install && \
rm -rf ./*

# Install Open_GV
RUN git clone https://github.com/laurentkneip/opengv
Expand All @@ -63,15 +66,17 @@ RUN cd opengv/build && \
-DCMAKE_INSTALL_PREFIX=/usr/local \
-DEIGEN_INCLUDE_DIRS=$DIRPATH/gtsam/gtsam/3rdparty/Eigen \
-DEIGEN_INCLUDE_DIR=$DIRPATH/gtsam/gtsam/3rdparty/Eigen .. && \
make -j$(nproc) install
make -j$(nproc) install && \
rm -rf ./*

# Install DBoW2
RUN git clone https://github.com/dorian3d/DBoW2.git
RUN cd DBoW2 && \
mkdir build && \
cd build && \
cmake .. && \
make -j$(nproc) install
make -j$(nproc) install && \
rm -rf ./*

# Install RobustPGO
ADD https://api.github.com/repos/MIT-SPARK/Kimera-RPGO/git/refs/heads/master version.json
Expand All @@ -84,12 +89,13 @@ RUN cd Kimera-RPGO && \

## [Optional] Install Kimera-VIO-Evaluation from PyPI
RUN apt-get update && \
apt-get install software-properties-common -y
apt-get install software-properties-common -y && \
rm -rf /var/lib/apt/lists/*
# Get python3
RUN apt-get update && \
add-apt-repository ppa:deadsnakes/ppa
RUN apt-get update && \
apt-get install -y python3.5 python3.5-dev python-pip python3-pip python-tk python3-tk
add-apt-repository ppa:deadsnakes/ppa && \
apt-get install -y python3.5 python3.5-dev python-pip python3-pip python-tk python3-tk && \
rm -rf /var/lib/apt/lists/*
RUN python3.5 -m pip install PyQt5==5.14

# Install evo-1 for evaluation
Expand Down Expand Up @@ -117,16 +123,17 @@ RUN touch /root/.ssh/known_hosts
RUN ssh-keyscan -t rsa github.com >> /root/.ssh/known_hosts

# Install glog, gflags
RUN apt-get update && apt-get install -y libgflags2.2 libgflags-dev libgoogle-glog0v5 libgoogle-glog-dev
RUN apt-get update && apt-get install -y libgflags2.2 libgflags-dev libgoogle-glog0v5 libgoogle-glog-dev && \
rm -rf /var/lib/apt/lists/*

# Install Kimera-VIO
RUN git clone https://github.com/MIT-SPARK/Kimera-VIO.git
RUN cd Kimera-VIO && mkdir build && cd build && cmake .. && make -j$(nproc)

# Download and extract EuRoC dataset.
RUN apt-get update && apt-get install -y wget
RUN apt-get update && apt-get install -y wget && rm -rf /var/lib/apt/lists/*
RUN wget http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V1_01_easy/V1_01_easy.zip
RUN mkdir -p $DIRPATH/euroc && unzip V1_01_easy.zip -d $DIRPATH/euroc
RUN mkdir -p $DIRPATH/euroc && unzip V1_01_easy.zip -d $DIRPATH/euroc && rm V1_01_easy.zip

# Yamelize euroc dataset
RUN bash $DIRPATH/Kimera-VIO/scripts/euroc/yamelize.bash -p $DIRPATH/euroc
Expand Down