# Copyright (C) 2021, Yubao Liu, AISL, TOYOHASHI UNIVERSITY of TECHNOLOGY 
# Email: yubao.liu.ra@tut.jp 

FROM nvidia/cudagl:10.2-devel-ubuntu18.04
# FROM yubaoliu/root:ros-cuda10.0-cudnn7-ubuntu18.04
MAINTAINER yubao.liu.ra@tut.jp 


ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

# Setup timezone
RUN echo 'Etc/UTC' > /etc/timezone && \
    rm -f /etc/localtime && \
    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
    apt-get update && apt-get install -y tzdata

RUN apt update \
    &&  apt install -f \
    && apt install -y  libglew-dev \
       libxkbcommon-dev \
       libgoogle-glog-dev \
       caffe-cpu \
       libsnappy-dev \
       libatlas-base-dev \
       build-essential \
       liblmdb-dev  \
       libleveldb-dev \
       automake \
       autotools-dev \
       bison \
       byacc \
       curl \
       git \
       zip \
       unzip \
       wget \
       python-dev \
       python-pip \
       python3-dev \
       python3-pip  \
       libeigen3-dev \
       libboost-all-dev \
       protobuf-compiler \
       libprotobuf-dev \
       libhdf5-dev \
       libopencv-dev \
       python3-opencv \
       lsb-core  \
       openssh-server  \
       libssl-dev \
       libevent-dev \
       g++ \
       gdb \
       sudo \
   && rm -rf /var/lib/apt/lists/*

# Install cmake
RUN apt-get purge -y cmake \
    && cd /tmp \
    && wget -c https://github.com/Kitware/CMake/releases/download/v3.18.1/cmake-3.18.1.tar.gz \
    && tar -xzvf cmake-3.18.1.tar.gz \
    && cd cmake-3.18.1 \
    && ./bootstrap && make && make install \
    && rm cmake-3.18.1 -rf 

## update pip
RUN curl -kL https://bootstrap.pypa.io/pip/2.7/get-pip.py | python  \
    && curl -kL https://bootstrap.pypa.io/get-pip.py | python3 

# Install mask rcnn dependencies
COPY requirements.txt /root/requirements.txt
RUN  pip2 install  -r /root/requirements.txt --ignore-installed enum34
RUN  pip3 install  -r /root/requirements.txt

# Add ROS repository
RUN /bin/bash -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
# Keys for ROS repository
    apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
# Install ROS-Base packages
    apt-get update && apt install -f && apt-get install -y ros-melodic-desktop-full

# Install ROS bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    python-rosdep \
    python-rosinstall \
    python-vcstools \
    python-rosinstall-generator \
    python-wstool

# Set up rosdep
RUN rosdep init
RUN rosdep update

### Create catkin workspace ###
RUN mkdir -p /root/catkin_ws/src
WORKDIR /root/catkin_ws
RUN bash -c "source /opt/ros/melodic/setup.bash && \
             catkin_make -DCMAKE_BUILD_TYPE=Release"

# Load ROS environment at docker exec bash
RUN echo "source /opt/ros/melodic/setup.bash" >> /root/.bashrc
RUN echo "source /root/catkin_ws/devel/setup.bash" >> /root/.bashrc
##############################################3

## coco API
RUN pip2 install git+https://github.com/philferriere/cocoapi.git#subdirectory=PythonAPI
RUN pip3 install git+https://github.com/philferriere/cocoapi.git#subdirectory=PythonAPI

# Download Maskrcnn modle
RUN mkdir /root/cnnmodel \
    && cd /root/cnnmodel \
    && wget -c https://github.com/matterport/Mask_RCNN/releases/download/v1.0/mask_rcnn_coco.h5 \
    && wget -c http://mi.eng.cam.ac.uk/~agk34/resources/SegNet/segnet_pascal.caffemodel 

# Sophus
RUN git clone https://github.com/yubaoliu/Sophus.git \
    && cd Sophus \
    && git checkout master \
    && mkdir build \
    && cd build \
    && cmake .. -DCMAKE_BUILD_TYPE=Release \
    && make -j3 \
    && make install 

# G2O
RUN git clone https://github.com/yubaoliu/g2o.git \
    && cd g2o \
    && mkdir build \
    && cd build \
    && cmake .. -DCMAKE_BUILD_TYPE=Release \
    && make -j 3 \
    && make install

# TUM Benchmark
# RUN cd /root \
#     && svn checkout https://svncvpr.in.tum.de/cvpr-ros-pkg/trunk/rgbd_benchmark/rgbd_benchmark_tools


# caffe-segnet
RUN cd /root/ \
    && git clone https://github.com/yubaoliu/semseg.git \
    && cd semseg/SegNet/caffe-segnet/ \
    && mkdir build \
    && cd build \
    && cmake .. && make install

#Pangolin
RUN git clone https://github.com/stevenlovegrove/Pangolin.git \
    && cd Pangolin \
    && mkdir build && cd build \
    && cmake .. -DCMAKE_BUILD_TYPE=Release \
    && make -j 3 \
    && make install
 
# Tools
RUN apt update && \
    apt install -y vim tmux xterm lxterminal

# # Install dependencies
# # Newer CUDA was installed in base image, so rosdep keys of CUDA are skipped
# RUN /bin/bash -c "source /opt/ros/melodic/setup.bash && \
#                   rosdep install --from-paths src -r -y --skip-keys=\"nvidia-cuda-dev nvidia-cuda\""
#                   
# # Build
# RUN /bin/bash -c "source /opt/ros/melodic/setup.bash && \
#                   catkin_make -DCMAKE_BUILD_TYPE=Release"
 
# # Load ROS environment at each run
COPY ./ros_entrypoint.sh /
RUN chmod 755 /ros_entrypoint.sh
ENTRYPOINT ["/ros_entrypoint.sh"]

CMD ["bash"]

WORKDIR /root/catkin_ws/src