add Dockerfile

cfg/cem_vino_params.cfg

@@ -40,7 +40,7 @@ visualize_results = 1
 # nn_radius: the radius for the neighborhood search
 # num_orientations: the number of robot hand orientations to evaluate
 # rotation_axes: the axes about which the point neighborhood gets rotated
-num_threads = 4
+num_threads = 24
 nn_radius = 0.01
 num_orientations = 8
 num_finger_placements = 10

cfg/eigen_params.cfg

@@ -32,7 +32,7 @@ sample_above_plane = 0
 # friction_coeff: angle of friction cone in degrees
 # min_viable: minimum number of points required on each side to be antipodal
 num_samples = 30
-num_threads = 4
+num_threads = 24
 nn_radius = 0.01
 num_orientations = 8
 num_finger_placements = 10

cfg/generate_data.cfg

@@ -1,6 +1,6 @@
-data_root = /home/andreas/data/gpd/bigbird_pcds/
-objects_file_location = /home/andreas/data/gpd/bigbird_pcds/objects.txt
-output_root = /home/andreas/data/gpd/models/test/
+data_root = /opt/ply/input/
+objects_file_location = /opt/ply/objects.txt
+output_root = /opt/ply/test/
 chunk_size = 1000
 max_in_memory = 80000
 num_views_per_object = 20
@@ -42,7 +42,7 @@ reverse_view_normals = 1
 # friction_coeff: angle of friction cone in degrees
 # min_viable: minimum number of points required on each side to be antipodal
 num_samples = 400
-num_threads = 4
+num_threads = 24
 nn_radius = 0.01
 num_orientations = 8
 num_finger_placements = 10

docker/Dockerfile

@@ -0,0 +1,125 @@
+FROM nvidia/cuda:9.1-cudnn7-runtime-ubuntu16.04
+
+# Install neccessary tools
+RUN apt-get update
+RUN apt-get install -y \
+ software-properties-common \ 
+ ca-certificates \
+ wget
+RUN wget -O - http://apt.llvm.org/llvm-snapshot.gpg.key | apt-key add -
+RUN apt-add-repository "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-4.0 main"
+RUN apt-get update
+RUN apt-get install -y \ 
+ build-essential \
+ g++ \
+ python-dev \
+ autotools-dev \
+ libicu-dev \
+ libbz2-dev \
+ libboost-all-dev 
+
+RUN apt-get install -y \
+ mc \
+ lynx \
+ libqhull* \
+ pkg-config \
+ libxmu-dev \
+ libxi-dev \
+ --no-install-recommends --fix-missing
+
+RUN apt-get install -y \
+ mesa-common-dev \
+ vim \
+ git \
+ unzip \
+ mercurial \
+ freeglut3-dev \
+ libflann-dev \
+ --no-install-recommends --fix-missing
+
+RUN apt-get install -y \
+ libboost1.58-all-dev \
+ libeigen3-dev \
+ python \
+ libusb-1.0-0-dev \
+ libudev-dev \
+ doxygen \
+ graphviz \
+ libpng12-dev \
+ libgtest-dev \
+ libpcap-dev \
+ libvtk5-qt4-dev \
+ python-vtk \
+ libvtk-java
+
+RUN apt-get install -y \
+ libgtk2.0-dev \
+ libavcodec-dev \
+ libavformat-dev \
+ libjpeg.dev \
+ libtiff4.dev \
+ libswscale-dev \
+ libjasper-dev 
+
+# Install new cmake
+RUN cd /opt \
+ && wget https://cmake.org/files/v3.9/cmake-3.9.1-Linux-x86_64.tar.gz \
+ && tar zxvf cmake-3.9.1-Linux-x86_64.tar.gz \
+ && mv cmake-3.9.1-Linux-x86_64 /opt/cmake-3.9.1 \
+ && ln -sf /opt/cmake-3.9.1/bin/* /usr/bin/ 
+
+RUN apt-get autoremove
+
+# Install Eigen
+RUN cd /opt \
+ && git clone https://github.com/eigenteam/eigen-git-mirror eigen \
+ && cd eigen \
+ && git checkout tags/3.2.0 \
+ && mkdir build \
+ && cd build \
+ && cmake .. \
+ && make -j 24 \
+ && make install
+
+# Install VTK
+RUN cd /opt \
+ && git clone https://github.com/Kitware/VTK VTK \
+ && cd VTK \
+ && git checkout tags/v8.0.0 \
+ && mkdir build \
+ && cd build \
+ && cmake -DCMAKE_BUILD_TYPE:STRING=Release -D VTK_RENDERING_BACKEND=OpenGL .. \
+ && make -j 24 \
+ && make install
+
+# Install PCL
+RUN cd /opt \
+ && wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.9.0.zip \
+ && unzip pcl-1.9.0.zip \
+ && cd pcl-pcl-1.9.0 \
+ && mkdir build \
+ && cd build \
+ && cmake -D CMAKE_BUILD_TYPE=None -D BUILD_GPU=ON -D BUILD_apps=ON -D BUILD_examples=ON .. \
+ && make -j 24 \
+ && make install
+
+# Install Opencv
+RUN cd /opt \
+ && wget https://github.com/opencv/opencv/archive/3.4.3.zip \
+ && unzip 3.4.3.zip \
+ && cd opencv-3.4.3 \
+ && mkdir build \
+ && cd build \
+ && cmake -D WITH_OPENMP=ON -D ENABLE_PRECOMPILED_HEADERS=OFF ..\
+ && make -j 24 \
+ && make install
+
+# Install gpd
+RUN cd /opt \
+ && git clone https://github.com/atenpas/gpd gpd \
+ && cd gpd \
+ && mkdir build \
+ && cd build \
+ && cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local .. \
+ && make -j24
+