Reduced PCL layer size

cvo_gpu/Dockerfile

@@ -99,7 +99,7 @@ RUN cd /home/root/tmp && export CC=gcc-9 && export CXX=g++-9 \
 && wget https://github.com/ceres-solver/ceres-solver/archive/refs/tags/2.1.0.tar.gz \
 &&   export CC=gcc-9 &&  export CXX=g++-9 \
 && tar zxf 2.1.0.tar.gz && mkdir ceres-bin && cd ceres-bin && cmake ../ceres-solver-2.1.0 \
-&&  make -j && make install
+&&  make -j4 && make install
 
 ########### Install yaml-cpp 
 RUN cd /home/root/tmp \
@@ -121,8 +121,7 @@ RUN cd /home/root/tmp/ && export CC=gcc-9 && export CXX=g++-9  \
 COPY  boost.h  /home/root/tmp/pcl-1.9.1/io/include/pcl/io/boost.h
 
 RUN cd /home/root/tmp/pcl-1.9.1/build  \
-&&   export CC=gcc-9 &&  export CXX=g++-9 \
-&& cmake .. && make -j8 && make install
+&& cmake -DCMAKE_BUILD_TYPE=Release .. && make -j4 && make -j4 install
 
 RUN rm -rf /home/root/tmp/*
 
@@ -141,15 +140,15 @@ ENV NVIDIA_VISIBLE_DEVICES \
 ENV NVIDIA_DRIVER_CAPABILITIES \
     ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
 
-# emacs tools
-RUN  apt update && \ 
-     add-apt-repository ppa:kelleyk/emacs && \
-     wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | apt-key add - && \
-     wget --no-check-certificate -O - https://apt.llvm.org/llvm-snapshot.gpg.key | apt-key add - && \ 
-     add-apt-repository 'deb http://apt.llvm.org/bionic/   llvm-toolchain-bionic-10  main' && \
-     apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'  && apt update &&\
-     apt install -y emacs27 python3-pip clang-10 clangd-10 llvm-10 lldb-10 llvm-10-dev libllvm10 llvm-10-runtime bear mlocate global cmake && \
-     apt clean  && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* 
+# emacs tools. Feel free to comment them out of you don't use emacs and llvm tools
+# RUN  apt update && \
+#      add-apt-repository ppa:kelleyk/emacs && \
+#      wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | apt-key add - && \
+#      wget --no-check-certificate -O - https://apt.llvm.org/llvm-snapshot.gpg.key | apt-key add - && \
+#      add-apt-repository 'deb http://apt.llvm.org/bionic/   llvm-toolchain-bionic-10  main' && \
+#      apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'  && apt update &&\
+#      apt install -y emacs27 python3-pip clang-10 clangd-10 llvm-10 lldb-10 llvm-10-dev libllvm10 llvm-10-runtime bear mlocate global cmake && \
+#      apt clean  && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
 
 RUN updatedb
 # USER original_user

cvo_gpu/README.md

@@ -1,5 +1,5 @@
 ## CVO
-This docker file sets up the environment for CVO. It aims at installing all non-conflicting related softwares, and encourages download-and-run. We use Nvidia-Docker 2
+This docker file sets up the environment for CVO. It aims at installing all non-conflicting related softwares, and encourages download-and-run. Please install [Nvidia-Docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker)
 
 
 ### How to build the docker image from `Dockerfile`?

cvo_gpu/run_cuda_docker.bash

@@ -1,6 +1,9 @@
 container_name=$1
 
 xhost +local:
+
+## Note: a) update  -v "/home/$USER/code/docker_home/cvo/:/home/$USER/" for specifying your home directory inside docker
+##       b) update "/run/media/$USER/Samsung_T5/:/home/$USER/media/Samsung_T5"  to your own external hard drive if any
 docker run -it --net=host --gpus all  -e DISPLAY=${DISPLAY} \
   -e QT_GRAPHICSSYSTEM=native \
   -e NVIDIA_DRIVER_CAPABILITIES=all \

elastic_fusion/.zshrc

@@ -0,0 +1,54 @@
+# Enable Powerlevel10k instant prompt. Should stay close to the top of ~/.zshrc.
+# Initialization code that may require console input (password prompts, [y/n]
+# confirmations, etc.) must go above this block, everything else may go below.
+if [[ -r "${XDG_CACHE_HOME:-$HOME/.cache}/p10k-instant-prompt-${(%):-%n}.zsh" ]]; then
+  source "${XDG_CACHE_HOME:-$HOME/.cache}/p10k-instant-prompt-${(%):-%n}.zsh"
+fi
+
+# If you come from bash you might have to change your $PATH.
+# export PATH=$HOME/bin:/usr/local/bin:$PATH
+
+# Path to your oh-my-zsh installation.
+export ZSH=$HOME/.oh-my-zsh
+
+# Set name of the theme to load --- if set to "random", it will
+# load a random theme each time oh-my-zsh is loaded, in which case,
+# to know which specific one was loaded, run: echo $RANDOM_THEME
+# See https://github.com/ohmyzsh/ohmyzsh/wiki/Themes
+
+ZSH_THEME="powerlevel10k/powerlevel10k"
+
+# Which plugins would you like to load?
+# Standard plugins can be found in ~/.oh-my-zsh/plugins/*
+# Custom plugins may be added to ~/.oh-my-zsh/custom/plugins/
+# Example format: plugins=(rails git textmate ruby lighthouse)
+# Add wisely, as too many plugins slow down shell startup.
+
+plugins=(git cp z cp extract history colorize command-not-found sudo zsh-autosuggestions zsh-syntax-highlighting)
+
+POWERLEVEL9K_LEFT_PROMPT_ELEMENTS=(user anaconda dir)
+POWERLEVEL9K_RIGHT_PROMPT_ELEMENTS=(nvm pyenv time)
+POWERLEVEL9K_DISABLE_GITSTATUS=true
+
+source $ZSH/oh-my-zsh.sh
+
+# User configuration
+
+export SSH_KEY_PATH="~/.ssh/rsa_id"
+
+# Set personal aliases, overriding those provided by oh-my-zsh libs,
+# plugins, and themes. Aliases can be placed here, though oh-my-zsh
+# users are encouraged to define aliases within the ZSH_CUSTOM folder.
+# For a full list of active aliases, run `alias`.
+
+
+alias ll='ls -alF'
+alias la='ls -A'
+alias l='ls -CF'
+
+# To customize prompt, run `p10k configure` or edit ~/.p10k.zsh.
+[[ ! -f ~/.p10k.zsh ]] || source ~/.p10k.zsh
+source ~/.oh-my-zsh/custom/plugins/zsh-syntax-highlighting/zsh-syntax-highlighting.zsh
+source /opt/ros/noetic/setup.zsh
+source ~/ws/cassie_ros/catkin_ws/devel/setup.zsh
+source /opt/intel/bin/compilervars.sh intel64

elastic_fusion/Dockerfile

@@ -0,0 +1,143 @@
+FROM nvidia/cudagl:11.4.2-devel-ubuntu20.04
+LABEL org.opencontainers.image.authors="[email protected]"
+LABEL description="Container for Elastic Bridge (ROS wrapper for ElasticFusion)"
+LABEL version="0.1"
+
+ENV DEBIAN_FRONTEND noninteractive
+RUN apt-get update \
+    && DEBIAN_FRONTEND=noninteractive apt-get install -y locales \
+    && sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
+    && dpkg-reconfigure --frontend=noninteractive locales \
+    && update-locale LANG=en_US.UTF-8
+
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES \
+    ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES \
+    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics,compute,utility,display
+
+
+# install libraries and tools
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    sudo \
+    dialog \
+    apt-utils \
+    git \
+    mercurial \
+    pkg-config \
+    mesa-utils \
+    libxau-dev \
+    libxdmcp-dev \
+    libxcb1-dev \
+    libxext-dev \
+    libx11-dev \ 
+    git \
+    tmux \
+    wget \
+    curl \
+    cmake \
+    vim \ 
+    build-essential \
+    unzip \
+    autoconf \
+    autogen \
+    automake \
+    libtool \
+    mlocate \
+    zlib1g-dev \
+    libopenblas-dev \
+    libflann-dev \
+    libpcl-dev \
+    libboost-all-dev \
+    libsuitesparse-dev \
+    libtbb-dev \
+    libusb-1.0-0-dev \
+    libgtest-dev \
+    pkg-config \
+    cmake-curses-gui \
+    gdb \
+    clang \
+    emacs \
+    libpcap-dev \
+    gnupg2 \
+    x11-xserver-utils \
+    lsb-release \
+    tilix \
+    && apt clean \
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* 
+
+# install ROS
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+
+RUN apt-get update
+
+RUN apt-get install -y --no-install-recommends ros-noetic-desktop-full
+
+# install zsh
+RUN git clone https://github.com/tccoin/easy-linux.git /root/easy-linux \
+    && cd /root/easy-linux \
+    && bash zsh.sh \
+    && touch /root/.z \
+    && rm -r /root/easy-linux
+
+# install gitstatus
+# https://github.com/romkatv/gitstatus/releases/tag/v1.3.1
+RUN mkdir -p /root/.cache/gitstatus \
+    && wget https://github.com/romkatv/gitstatus/releases/download/v1.5.1/gitstatusd-linux-x86_64.tar.gz -O - \
+    | tar -zx -C /root/.cache/gitstatus/
+
+# install slam libraries
+
+RUN sudo apt install libpcl-dev
+
+RUN mkdir /root/elstic_ws/src -p
+WORKDIR /root/elstic_ws/src
+
+# Download libraries
+RUN git clone https://github.com/RMonica/elastic_bridge.git \
+    && git clone https://github.com/RMonica/init_fake_opengl_context.git \
+    && git clone https://github.com/mp3guy/ElasticFusion.git elastic_bridge/deps/ElasticFusion
+
+# Compile ElasticFusion Core module
+## Update cmake
+RUN sudo apt-get install -y --no-install-recommends software-properties-common \
+    && wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add - \
+    && sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main' \
+    && sudo apt-get update \
+    && sudo apt-get install -y --no-install-recommends cmake
+
+## Compile dependencies
+RUN cd /root/elstic_ws/src/elastic_bridge/deps/ElasticFusion/ \
+    && git submodule update --init \
+    && cd third-party/Pangolin/ \
+    && mkdir build \
+    && cd build \
+    && cmake .. -DEIGEN_INCLUDE_DIR=/root/elstic_ws/src/elastic_bridge/deps/ElasticFusion/third-party/Eigen/ -DBUILD_PANGOLIN_PYTHON=false \
+    && make -j8
+
+
+RUN sudo apt-get install -y --no-install-recommends cmake-qt-gui git build-essential libusb-1.0-0-dev libudev-dev openjdk-11-jdk freeglut3-dev libglew-dev libsuitesparse-dev zlib1g-dev libjpeg-dev \
+    && cd /root/elstic_ws/src/elastic_bridge/deps/ElasticFusion/third-party/OpenNI2/ \
+    && make -j8
+
+## Install CUDA
+# RUN sudo DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends cuda
+
+## Compile elastic fusion
+RUN cd /root/elstic_ws/src/elastic_bridge/deps/ElasticFusion/ \
+    && mkdir build \
+    && cd build \
+    && cmake .. \
+    && make -j8
+
+# Compile the package
+RUN cd /root/elstic_ws \
+    && . /opt/ros/noetic/setup.sh \
+    && catkin_make
+
+# Apply the GUID patch
+# COPY guid.patch /root/elstic_ws/src/elastic_bridge/patches/guid.patch
+# RUN cd /root/elstic_ws/src/elastic_bridge/deps/ElasticFusion \
+#     && patch -p1 -i ../../patches/guid.patch

elastic_fusion/build.sh

@@ -0,0 +1 @@
+docker build --tag umrobotics/elastic_fusion .

elastic_fusion/docker-compose.yml

@@ -0,0 +1,55 @@
+version: '3.9'
+
+networks:
+  ros:
+    driver: bridge
+
+services:
+  ros-master:
+    image: umrobotics/elastic_fusion:latest
+    entrypoint: /bin/zsh
+    command: -c "source /opt/ros/melodic/setup.zsh && stdbuf -o L roscore"
+    networks:
+      - ros
+    restart: always
+    container_name: ros-master
+
+  elastic_fusion:
+    image: umrobotics/elastic_fusion:latest
+    # depends_on:
+    #   - ros-master
+    container_name: slam
+    networks:
+      - ros
+    environment:
+      - "DISPLAY=${DISPLAY}"
+      - "QT_GRAPHICSSYSTEM=native"
+      - "NVIDIA_DRIVER_CAPABILITIES=all"
+      - "TERM=xterm-256color"
+      - "XAUTHORITY"
+    working_dir: "/root/ws/"
+    privileged: true
+    devices:
+      - /dev/nvidia0
+      - /dev/nvidia-modeset
+      - /dev/nvidiactl
+      - /dev/nvidia-uvm
+      - /dev/nvidia-uvm-tools
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - .zshrc:/root/.zshrc:rw
+      - .zsh_history:/root/.zsh_history:rw
+      # - /home/$USER/Projects/curly/:/root/ws/
+      # - /run/media/$USER/CTOS-Storage/rosbag/:/root/ws/rosbag/
+    ulimits:
+      nofile:
+        soft: 65536
+        hard: 65536
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [ gpu ]
+    entrypoint: /bin/zsh