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Use cuda-efficient-features (experimental)
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‎Dockerfile.cuda‎

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FROM nvidia/cuda:11.8.0-devel-ubuntu22.04
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ENV DEBIAN_FRONTEND noninteractive
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# install dependencies via apt
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ENV DEBCONF_NOWARNINGS yes
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RUN set -x && \
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apt-get update -y -qq && \
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apt-get upgrade -y -qq --no-install-recommends && \
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: "basic dependencies" && \
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apt-get install -y -qq \
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build-essential \
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pkg-config \
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cmake \
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git \
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wget \
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curl \
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tar \
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unzip && \
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: "g2o dependencies" && \
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apt-get install -y -qq \
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libatlas-base-dev \
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libsuitesparse-dev \
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libglew-dev && \
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: "OpenCV dependencies" && \
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apt-get install -y -qq \
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libgtk-3-dev \
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libjpeg-dev \
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libpng++-dev \
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libtiff-dev \
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libopenexr-dev \
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libwebp-dev \
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ffmpeg \
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libavcodec-dev \
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libavformat-dev \
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libavutil-dev \
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libswscale-dev \
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libtbb-dev && \
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: "backward-cpp dependencies" && \
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apt install -y -qq binutils-dev && \
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: "other dependencies" && \
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apt-get install -y -qq \
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libyaml-cpp-dev \
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sqlite3 \
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libsqlite3-dev && \
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: "remove cache" && \
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apt-get autoremove -y -qq && \
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rm -rf /var/lib/apt/lists/*
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ARG CMAKE_INSTALL_PREFIX=/usr/local
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ARG NUM_THREADS=1
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ENV CPATH=${CMAKE_INSTALL_PREFIX}/include:${CPATH}
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ENV C_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${C_INCLUDE_PATH}
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ENV CPLUS_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${CPLUS_INCLUDE_PATH}
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ENV LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LIBRARY_PATH}
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ENV LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LD_LIBRARY_PATH}
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ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
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ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
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# Eigen
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ARG EIGEN3_VERSION=3.3.7
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WORKDIR /tmp
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RUN set -x && \
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wget -q https://gitlab.com/libeigen/eigen/-/archive/${EIGEN3_VERSION}/eigen-${EIGEN3_VERSION}.tar.bz2 && \
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tar xf eigen-${EIGEN3_VERSION}.tar.bz2 && \
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rm -rf eigen-${EIGEN3_VERSION}.tar.bz2 && \
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cd eigen-${EIGEN3_VERSION} && \
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mkdir -p build && \
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cd build && \
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cmake \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
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.. && \
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make -j${NUM_THREADS} && \
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make install && \
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cd /tmp && \
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rm -rf *
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ENV Eigen3_DIR=${CMAKE_INSTALL_PREFIX}/share/eigen3/cmake
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# g2o
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ARG G2O_COMMIT=20230223_git
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WORKDIR /tmp
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RUN set -x && \
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git clone https://github.com/RainerKuemmerle/g2o.git && \
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cd g2o && \
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git checkout ${G2O_COMMIT} && \
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mkdir -p build && \
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cd build && \
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cmake \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
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-DBUILD_SHARED_LIBS=ON \
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-DBUILD_UNITTESTS=OFF \
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-DG2O_USE_CHOLMOD=OFF \
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-DG2O_USE_CSPARSE=ON \
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-DG2O_USE_OPENGL=OFF \
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-DG2O_USE_OPENMP=OFF \
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-DG2O_BUILD_APPS=OFF \
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-DG2O_BUILD_EXAMPLES=OFF \
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-DG2O_BUILD_LINKED_APPS=OFF \
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.. && \
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make -j${NUM_THREADS} && \
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make install && \
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cd /tmp && \
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rm -rf *
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ENV g2o_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/g2o
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# OpenCV
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ARG OPENCV_VERSION=4.7.0
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WORKDIR /tmp
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RUN set -x && \
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wget -q https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip && \
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unzip -q ${OPENCV_VERSION}.zip && \
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rm -rf ${OPENCV_VERSION}.zip && \
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wget -q https://github.com/opencv/opencv_contrib/archive/refs/tags/${OPENCV_VERSION}.zip -O opencv_contrib-${OPENCV_VERSION}.zip && \
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unzip -q opencv_contrib-${OPENCV_VERSION}.zip && \
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rm -rf opencv_contrib-${OPENCV_VERSION}.zip && \
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mkdir extra && \
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mv opencv_contrib-${OPENCV_VERSION}/modules/cudev extra && \
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mv opencv_contrib-${OPENCV_VERSION}/modules/cudafilters extra && \
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mv opencv_contrib-${OPENCV_VERSION}/modules/cudaimgproc extra && \
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mv opencv_contrib-${OPENCV_VERSION}/modules/cudawarping extra && \
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mv opencv_contrib-${OPENCV_VERSION}/modules/cudaarithm extra && \
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rm -rf opencv_contrib-${OPENCV_VERSION} && \
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cd opencv-${OPENCV_VERSION} && \
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mkdir -p build && \
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cd build && \
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cmake \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
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-DBUILD_DOCS=OFF \
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-DBUILD_EXAMPLES=OFF \
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-DBUILD_JASPER=OFF \
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-DBUILD_OPENEXR=OFF \
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-DBUILD_PERF_TESTS=OFF \
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-DBUILD_TESTS=OFF \
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-DBUILD_PROTOBUF=OFF \
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-DBUILD_opencv_apps=OFF \
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-DBUILD_opencv_dnn=OFF \
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-DBUILD_opencv_ml=OFF \
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-DBUILD_opencv_python_bindings_generator=OFF \
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-DENABLE_CXX11=ON \
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-DENABLE_FAST_MATH=ON \
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-DWITH_EIGEN=ON \
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-DWITH_FFMPEG=ON \
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-DWITH_TBB=ON \
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-DWITH_OPENMP=ON \
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-DWITH_CUDA=ON \
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-DBUILD_opencv_cudev=ON \
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-DBUILD_opencv_cudafilters=ON \
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-DBUILD_opencv_cudaimgproc=ON \
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-DBUILD_opencv_cudawarping=ON \
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-DOPENCV_EXTRA_MODULES_PATH=/tmp/extra \
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.. && \
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make -j${NUM_THREADS} && \
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make install && \
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cd /tmp && \
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rm -rf *
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ENV OpenCV_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/opencv4
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# Pangolin
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ARG PANGOLIN_COMMIT=eab3d3449a33a042b1ee7225e1b8b593b1b21e3e
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WORKDIR /tmp
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RUN set -x && \
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git clone https://github.com/stevenlovegrove/Pangolin.git && \
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cd Pangolin && \
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git checkout ${PANGOLIN_COMMIT} && \
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mkdir -p build && \
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cd build && \
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cmake \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
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-DBUILD_EXAMPLES=OFF \
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-DBUILD_PANGOLIN_DEPTHSENSE=OFF \
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-DBUILD_PANGOLIN_FFMPEG=OFF \
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-DBUILD_PANGOLIN_LIBDC1394=OFF \
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-DBUILD_PANGOLIN_LIBJPEG=OFF \
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-DBUILD_PANGOLIN_LIBOPENEXR=OFF \
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-DBUILD_PANGOLIN_LIBPNG=OFF \
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-DBUILD_PANGOLIN_LIBTIFF=OFF \
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-DBUILD_PANGOLIN_LIBUVC=OFF \
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-DBUILD_PANGOLIN_LZ4=OFF \
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-DBUILD_PANGOLIN_OPENNI=OFF \
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-DBUILD_PANGOLIN_OPENNI2=OFF \
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-DBUILD_PANGOLIN_PLEORA=OFF \
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-DBUILD_PANGOLIN_PYTHON=OFF \
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-DBUILD_PANGOLIN_TELICAM=OFF \
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-DBUILD_PANGOLIN_UVC_MEDIAFOUNDATION=OFF \
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-DBUILD_PANGOLIN_V4L=OFF \
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-DBUILD_PANGOLIN_ZSTD=OFF \
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.. && \
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make -j${NUM_THREADS} && \
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make install && \
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cd /tmp && \
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rm -rf *
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ENV Pangolin_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/Pangolin
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# backward-cpp
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ARG BACKWARD_CPP_COMMIT=5ffb2c879ebdbea3bdb8477c671e32b1c984beaa
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WORKDIR /tmp
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RUN set -x && \
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git clone https://github.com/bombela/backward-cpp.git && \
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cd backward-cpp && \
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git checkout ${BACKWARD_CPP_COMMIT} && \
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mkdir -p build && \
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cd build && \
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cmake \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
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.. && \
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make -j${NUM_THREADS} && \
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make install && \
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cd /tmp && \
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rm -rf *
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# cuda-efficient-features
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ARG CUDA_EFFICIENT_FEATURES_COMMIT=8cf047a4bed6c1ee56fcde81d4a953b57744ed85
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WORKDIR /tmp
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RUN set -x && \
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git clone https://github.com/fixstars/cuda-efficient-features.git && \
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cd cuda-efficient-features && \
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git checkout -q ${CUDA_EFFICIENT_FEATURES_COMMIT} && \
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mkdir -p build && \
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cd build && \
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cmake \
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-DCMAKE_BUILD_TYPE=RelWithDebInfo \
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
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-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
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.. && \
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make -j${NUM_THREADS} && \
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make install && \
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cd /tmp && \
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rm -rf *
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# stella_vslam
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COPY . /stella_vslam/
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WORKDIR /stella_vslam/
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RUN set -x && \
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mkdir -p build && \
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cd build && \
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cmake \
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-DCMAKE_BUILD_TYPE=RelWithDebInfo \
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.. && \
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make -j${NUM_THREADS} && \
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make install && \
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rm -rf CMakeCache.txt CMakeFiles Makefile cmake_install.cmake example src && \
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chmod -R 777 ./*
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ARG PANGOLIN_VIEWER_COMMIT=f3564675d420bcdbe6380b29b5e2f2b623987dd0
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WORKDIR /tmp
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RUN set -x && \
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git clone https://github.com/stella-cv/pangolin_viewer.git && \
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cd pangolin_viewer && \
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git checkout -q ${PANGOLIN_VIEWER_COMMIT} && \
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git submodule update --init --recursive && \
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mkdir -p build && \
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cd build && \
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cmake \
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-DCMAKE_BUILD_TYPE=RelWithDebInfo \
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
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.. && \
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make -j${NUM_THREADS} && \
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make install && \
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cd /tmp && \
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rm -rf *
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ARG EXAMPLES_COMMIT=defc69eecc36e51cdda22885bb86954f08ad6887
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WORKDIR /
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RUN set -x && \
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git clone https://github.com/stella-cv/stella_vslam_examples.git && \
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cd stella_vslam_examples && \
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git checkout -q ${EXAMPLES_COMMIT} && \
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git submodule update --init --recursive && \
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mkdir -p build && \
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cd build && \
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cmake \
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-DCMAKE_BUILD_TYPE=RelWithDebInfo \
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
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-DUSE_STACK_TRACE_LOGGER=ON \
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.. && \
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make -j${NUM_THREADS}
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WORKDIR /stella_vslam_examples/build/
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ENTRYPOINT ["/bin/bash"]

‎src/stella_vslam/CMakeLists.txt‎

Lines changed: 13 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -69,6 +69,16 @@ else()
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message(FATAL_ERROR "Invalid BoW framework: ${BOW_FRAMEWORK}")
7070
endif()
7171

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find_path(cuda_efficient_features_INCLUDE_DIR NAMES cuda_efficient_features.h)
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find_library(cuda_efficient_features_LIBRARY NAMES cuda_efficient_features)
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find_package_handle_standard_args(cuda_efficient_features DEFAULT_MSG cuda_efficient_features_LIBRARY cuda_efficient_features_INCLUDE_DIR)
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if (cuda_efficient_features_FOUND)
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find_package(OpenCV REQUIRED core features2d cudev cudafilters cudaimgproc cudawarping)
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find_package(CUDAToolkit REQUIRED)
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target_compile_definitions(${PROJECT_NAME} PUBLIC USE_CUDA_EFFICIENT_DESCRIPTORS)
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message(STATUS "cuda_efficient_features: ENABLED")
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endif ()
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7282
# ----- Create stella_vslam library -----
7383

7484
add_library(${PROJECT_NAME}
@@ -222,8 +232,10 @@ target_link_libraries(${PROJECT_NAME}
222232
${SUITESPARSE_LIBRARIES}
223233
${BoW_LIBRARY}
224234
"$<$<BOOL:${spdlog_FOUND}>:spdlog::spdlog>"
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"$<$<BOOL:${cuda_efficient_features_FOUND}>:${cuda_efficient_features_LIBRARY};opencv_cudafilters;opencv_cudawarping>"
225236
PRIVATE
226-
${LAPACK_LIBRARIES})
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${LAPACK_LIBRARIES}
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"$<$<BOOL:${cuda_efficient_features_FOUND}>:CUDA::cudart;CUDA::cublas>")
227239

228240
# ----- Install configuration -----
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‎src/stella_vslam/feature/orb_extractor.cc‎

Lines changed: 19 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -15,10 +15,14 @@ namespace feature {
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1616
orb_extractor::orb_extractor(const orb_params* orb_params,
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const unsigned int min_area,
18+
const descriptor_type desc_type,
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const std::vector<std::vector<float>>& mask_rects)
19-
: orb_params_(orb_params), mask_rects_(mask_rects), min_area_sqrt_(std::sqrt(min_area)) {
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: orb_params_(orb_params), mask_rects_(mask_rects), min_area_sqrt_(std::sqrt(min_area)), desc_type_(desc_type) {
2021
// resize buffers according to the number of levels
2122
image_pyramid_.resize(orb_params_->num_levels_);
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#ifdef USE_CUDA_EFFICIENT_DESCRIPTORS
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hash_sift_ = cv::cuda::HashSIFT::create(1.0, cv::cuda::HashSIFT::SIZE_256_BITS);
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#endif
2226
}
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2428
void orb_extractor::extract(const cv::_InputArray& in_image, const cv::_InputArray& in_image_mask,
@@ -102,11 +106,23 @@ void orb_extractor::extract(const cv::_InputArray& in_image, const cv::_InputArr
102106
descriptors_at_level = cv::Mat::zeros(num_keypts_at_level, 32, CV_8UC1);
103107

104108
// To enable parallelization, set the environment variable OMP_MAX_ACTIVE_LEVELS to 2.
109+
if (desc_type_ == feature::descriptor_type::ORB) {
105110
#ifdef USE_OPENMP
106111
#pragma omp parallel for schedule(static)
107112
#endif
108-
for (unsigned int i = 0; i < keypts_at_level.size(); ++i) {
109-
compute_orb_descriptor(keypts_at_level[i], blurred_image, descriptors_at_level.ptr(i));
113+
for (unsigned int i = 0; i < keypts_at_level.size(); ++i) {
114+
compute_orb_descriptor(keypts_at_level[i], blurred_image, descriptors_at_level.ptr(i));
115+
}
116+
}
117+
else if (desc_type_ == feature::descriptor_type::HASH_SIFT) {
118+
#ifdef USE_CUDA_EFFICIENT_DESCRIPTORS
119+
hash_sift_->compute(blurred_image, keypts_at_level, descriptors_at_level);
120+
#else
121+
throw std::runtime_error("cuda_efficient_features is not available");
122+
#endif
123+
}
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else {
125+
throw std::runtime_error("Invalid descriptor_type");
110126
}
111127

112128
correct_keypoint_scale(keypts_at_level, level);

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