Fix OpenCV and Ceres versions (#87)

rameau-fr · Oct 29, 2024 · 09a7a8c · 09a7a8c
1 parent a999bdc
commit 09a7a8c
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Showing 3 changed files with 42 additions and 30 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -16,6 +16,10 @@ on:
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 
+env:
+  MC_CALIB_PROD_DOCKER_IMG: bailool/mc-calib-prod:opencv420
+  MC_CALIB_DEV_DOCKER_IMG: bailool/mc-calib-dev:opencv420
+
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
   clang-format-lint:
@@ -42,7 +46,7 @@ jobs:
       - name: Run cppcheck
         uses: addnab/docker-run-action@v3
         with:
-          image: bailool/mc-calib-dev:latest
+          image: ${{env.MC_CALIB_DEV_DOCKER_IMG}}
           options: -v ${{ github.workspace }}:/home/MC-Calib
           run: |
             cppcheck MC-Calib/McCalib/include
@@ -58,7 +62,7 @@ jobs:
       - name: Run clang-tidy
         uses: addnab/docker-run-action@v3
         with:
-          image: bailool/mc-calib-dev:latest
+          image: ${{env.MC_CALIB_DEV_DOCKER_IMG}}
           options: -v ${{ github.workspace }}:/home/MC-Calib
           run: |
             mkdir MC-Calib/build && cd MC-Calib/build
@@ -90,7 +94,7 @@ jobs:
       - name: Run tests
         uses: addnab/docker-run-action@v3
         with:
-          image: bailool/mc-calib-dev:latest
+          image: ${{env.MC_CALIB_DEV_DOCKER_IMG}}
           options: -v ${{ github.workspace }}:/home/MC-Calib
           run: |
             mkdir MC-Calib/build && cd MC-Calib/build
@@ -122,7 +126,7 @@ jobs:
       - name: Run tests
         uses: addnab/docker-run-action@v3
         with:
-          image: bailool/mc-calib-dev:latest
+          image: ${{env.MC_CALIB_DEV_DOCKER_IMG}}
           options: -v ${{ github.workspace }}:/home/MC-Calib
           run: |
             mkdir MC-Calib/build && cd MC-Calib/build
@@ -165,7 +169,7 @@ jobs:
       - name: Run tests
         uses: addnab/docker-run-action@v3
         with:
-          image: bailool/mc-calib-prod:latest
+          image: ${{env.MC_CALIB_PROD_DOCKER_IMG}}
           options: -v ${{ github.workspace }}:/home/MC-Calib:rw
           run: |
             mkdir MC-Calib/build && cd MC-Calib/build
@@ -228,7 +232,7 @@ jobs:
       - name: Run tests
         uses: addnab/docker-run-action@v3
         with:
-          image: bailool/mc-calib-dev:latest
+          image: ${{env.MC_CALIB_DEV_DOCKER_IMG}}
           options: -v ${{ github.workspace }}:${{ github.workspace }}
           run: |
             mkdir ${{ github.workspace }}/build && cd ${{ github.workspace }}/build
@@ -266,7 +270,7 @@ jobs:
       - name: Run python linters
         uses: addnab/docker-run-action@v3
         with:
-          image: bailool/mc-calib-dev:latest
+          image: ${{env.MC_CALIB_DEV_DOCKER_IMG}}
           options: -v ${{ github.workspace }}:/home/MC-Calib
           run: |
             cd MC-Calib/python_utils
@@ -292,7 +296,7 @@ jobs:
       - name: Run python utils
         uses: addnab/docker-run-action@v3
         with:
-          image: bailool/mc-calib-prod:latest
+          image: ${{env.MC_CALIB_PROD_DOCKER_IMG}}
           options: -v ${{ github.workspace }}:/home/MC-Calib:rw
           run: |
             cd MC-Calib/python_utils

diff --git a/Dockerfile b/Dockerfile
@@ -3,7 +3,7 @@ FROM ubuntu:20.04 as prod
 ENV DEBIAN_FRONTEND noninteractive
 RUN apt update && apt install -y --no-install-recommends apt-utils && \
 	apt upgrade -y && apt autoremove -y && \
-	apt install -y build-essential cmake && \
+	apt install -y build-essential cmake wget unzip git && \
 	apt install -y python-is-python3 python3-pip && \
 	rm -rf /var/lib/apt/lists/*
 
@@ -15,7 +15,14 @@ WORKDIR /home
 #------------------------------	#
 #     INSTALL OPENCV 4		    #
 #------------------------------	#
-RUN apt update && apt install -y libopencv-dev && \
+RUN wget -O opencv.zip https://github.com/opencv/opencv/archive/4.2.0.zip && \
+	wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.2.0.zip && \
+	unzip opencv.zip && unzip opencv_contrib.zip && \
+	mkdir -p build && cd build && \
+	cmake -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib-4.2.0/modules ../opencv-4.2.0 && \
+	cmake --build . --target install -- -j4 && \
+	cd /home && rm opencv.zip && rm opencv_contrib.zip && \ 
+	rm -rf opencv-4.2.0 && rm -rf opencv_contrib-4.2.0 && rm -rf build && \
 	rm -rf /var/lib/apt/lists/*
 
 #------------------------------	#
@@ -27,36 +34,37 @@ RUN apt update && apt install -y libboost-all-dev && \
 #------------------------------	#
 #     Install Ceres		        #
 #------------------------------	#
-RUN apt update && \
-	apt install -y libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev && \
+RUN apt update && apt install -y libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev && \
 	rm -rf /var/lib/apt/lists/*
-RUN apt update && apt install -y git && \
-	/bin/bash -c "git clone https://ceres-solver.googlesource.com/ceres-solver && \
+RUN git clone --branch 20240722.0 --single-branch https://github.com/abseil/abseil-cpp.git && \
+	cd abseil-cpp && mkdir build && cd build && \
+	cmake .. && cmake --build . --target install -- -j4 && \
+	cd /home && rm -rf abseil-cpp && \
+	rm -rf /var/lib/apt/lists/*
+RUN git clone --branch 2.2.0 --single-branch https://github.com/ceres-solver/ceres-solver.git && \
 	cd ceres-solver && mkdir build && cd build && cmake .. && \
-	make && make install && \
-	cd /home && rm -rf ceres-solver" && \
+	make -j4 && make -j4 install && \
+	cd /home && rm -rf ceres-solver && \
 	rm -rf /var/lib/apt/lists/*
 
 # Install python requirements for python_utils scripts
 RUN --mount=type=bind,source=python_utils/requirements_prod.txt,target=/tmp/requirements.txt \
-    pip install --requirement /tmp/requirements.txt && \
+    apt update && apt install -y libgl1 && \
+    python -m pip install --requirement /tmp/requirements.txt && \
 	rm -rf /var/lib/apt/lists/*
 
 FROM prod as dev
 
-RUN apt update && apt install -y python3-opencv && \
-	rm -rf /var/lib/apt/lists/*
-
 #------------------------------	#
 #     Doxygen				    #
 #------------------------------	#
 RUN apt update && apt install -y flex bison && \ 
-	/bin/bash -c "git clone https://github.com/doxygen/doxygen.git && \
+	git clone https://github.com/doxygen/doxygen.git && \
 	cd doxygen && mkdir build && cd build &&\
 	cmake -G 'Unix Makefiles' .. && \
-	make && \ 
-	make install && \
-	cd /home && rm -rf doxygen" && \
+	make -j4 && \ 
+	make -j4 install && \
+	cd /home && rm -rf doxygen && \
 	rm -rf /var/lib/apt/lists/*
 
 #------------------------------	#
@@ -67,5 +75,5 @@ RUN apt update && apt install -y cppcheck clang-tidy valgrind lcov && \
 
 # Install python requirements for python_utils scripts
 RUN --mount=type=bind,source=python_utils/requirements_dev.txt,target=/tmp/requirements.txt \
-    pip install --requirement /tmp/requirements.txt && \
+    python -m pip install --requirement /tmp/requirements.txt && \
 	rm -rf /var/lib/apt/lists/*
diff --git a/README.md b/README.md
@@ -7,7 +7,7 @@ Toolbox described in the paper ["MC-Calib: A generic and robust calibration tool
 
 # Installation
 
-Requirements: Ceres, Boost, OpenCV {4.2.x, 4.5.x}, c++17 
+Requirements: Ceres, Boost, OpenCV 4.2.0, c++17 
 
 For Windows users, follow [this installation guide](/docs/Windows.md)
 
@@ -20,8 +20,8 @@ There are several ways to get the environment ready. Choose any of them:
    - Pull the image:
 
      ```bash
-     docker pull bailool/mc-calib-prod # production environment
-     docker pull bailool/mc-calib-dev  # development environment
+     docker pull bailool/mc-calib-prod:opencv420 # production environment
+     docker pull bailool/mc-calib-dev:opencv420  # development environment
      ```
 
    - Run pulled image (set `PATH_TO_REPO_ROOT` and `PATH_TO_DATA` appropriately):
@@ -31,14 +31,14 @@ There are several ways to get the environment ready. Choose any of them:
                   -ti --rm \
                   --volume="$PATH_TO_REPO_ROOT:/home/MC-Calib" \
                   --volume="$PATH_TO_DATA:/home/MC-Calib/data" \
-                  bailool/mc-calib-prod
+                  bailool/mc-calib-prod:opencv420
       ```
 
 2. It is also possible to build the docker environment manually (see [instructions](/docs/Docker.md))
 
 3. Alternatively, every dependency can be installed independently without docker:
 
-   - [Install](https://docs.opencv.org/4.5.2/d7/d9f/tutorial_linux_install.html) OpenCV 4.5.x. Either instal system-wide with `sudo make install` or link to your `build` in `CmakeLists.txt`.
+   - [Install](https://docs.opencv.org/4.2.0/d7/d9f/tutorial_linux_install.html) OpenCV 4.2.0. Either instal system-wide with `sudo make install` or link to your `build` in `CmakeLists.txt`.
 
    - Follow [installation guidelines](http://ceres-solver.org/installation.html#linux) to install Ceres.