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Detectcone cleanup #3
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688308f
Repository refactoring and cleanup
arbulgazar e5ad740
Adds automatic cluon get from server
arbulgazar a0ff580
Removes static cluon header
arbulgazar a5091b5
Add some comments in main function
ruguangyou 5c8ffcd
Update README.md
ruguangyou 3e8b9c8
Merge branch 'detectcone_cleanup' of https://github.com/chalmersfsd/c…
ruguangyou 1305f5f
Update README.md, add od4 message input and output
ruguangyou 0153e52
Update README.md
ruguangyou 0666785
Update README.md (cone color labels)
ruguangyou c1ae065
Fix missing thirdparty dir
arbulgazar d191825
Cleaned up some temporary files
bjornborg 01b5f3a
Removed the config file
bjornborg 580d74d
Cleaned up cmake module mess, turns out that we didn't need them
bjornborg 50c575e
Disabled upx compression for binary
bjornborg ca24691
slim down by only copying dependent libraries (image size: 393MB -> 7…
ruguangyou efbea17
Merge pull request #4 from chalmersfsd/detectcone_cleanup.patch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,2 +1,3 @@ | ||
| build | ||
| command | ||
| tmp |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -13,47 +13,46 @@ | |
| # You should have received a copy of the GNU General Public License | ||
| # along with this program. If not, see <http://www.gnu.org/licenses/>. | ||
|
|
||
| # Part to build opendlv-perception-vision-orbslam2. | ||
| FROM alpine:edge as builder | ||
| MAINTAINER Christian Berger "[email protected]" | ||
| # Part to build opendlv-perception-vision-orbslam2. | ||
| FROM alpine:3.8 as builder | ||
| # Deprecated, use label (see docker docs) | ||
| # MAINTAINER Christian Berger "[email protected]" | ||
| #Get OS stuff | ||
| RUN echo "@testing http://nl.alpinelinux.org/alpine/edge/testing" >> /etc/apk/repositories | ||
| RUN apk update && \ | ||
| RUN apk update && apk upgrade && \ | ||
| apk --no-cache add \ | ||
| cmake \ | ||
| #bash \ | ||
| g++ \ | ||
| make \ | ||
| upx \ | ||
| git \ | ||
| mercurial \ | ||
| # mercurial \ | ||
| libmount \ | ||
| libtbb@testing \ | ||
| libtbb-dev@testing \ | ||
| opencv-dev@testing | ||
| opencv@testing \ | ||
| opencv-dev@testing \ | ||
| libgomp \ | ||
| libtbb@testing \ | ||
| libtbb-dev@testing \ | ||
| openblas \ | ||
| openblas-dev | ||
|
|
||
| WORKDIR /tmp | ||
| ADD ./config.h /opt/sources/config.h | ||
|
|
||
| RUN git clone https://github.com/justusc/FindTBB.git && \ | ||
| cp FindTBB/FindTBB.cmake /usr/share/cmake/Modules/ | ||
|
|
||
| RUN git clone https://github.com/tiny-dnn/tiny-dnn.git && \ | ||
| mkdir -p tiny-dnn/build && \ | ||
| cp /opt/sources/config.h tiny-dnn/tiny_dnn/config.h && \ | ||
| cd tiny-dnn/build && \ | ||
| cmake .. && \ | ||
| make install | ||
|
|
||
| RUN git clone https://github.com/eigenteam/eigen-git-mirror.git && \ | ||
| RUN git clone --depth 1 https://github.com/eigenteam/eigen-git-mirror.git && \ | ||
| mkdir -p eigen-git-mirror/build && \ | ||
| cd eigen-git-mirror/build && \ | ||
| cmake .. && \ | ||
| make install | ||
| RUN echo "@testing http://nl.alpinelinux.org/alpine/edge/testing" >> /etc/apk/repositories | ||
| RUN apk update && \ | ||
| apk --no-cache add \ | ||
| opencv@testing | ||
|
|
||
| RUN git clone --depth 10 https://github.com/tiny-dnn/tiny-dnn.git && \ | ||
| mkdir -p tiny-dnn/build && \ | ||
| cd tiny-dnn/build && \ | ||
| # Temp fix for the recent compilation error | ||
| git checkout 1aec6a1ece0ba7a5e018a070bd52e045d49d1411 && \ | ||
| cmake -DUSE_TBB=ON -DUSE_OMP=ON .. && \ | ||
| make install | ||
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||
| ADD . /opt/sources/ | ||
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@@ -62,17 +61,98 @@ WORKDIR /opt/sources | |
| RUN mkdir -p build && \ | ||
| cd build && \ | ||
| cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/tmp/cfsd18-perception-detectcone-dest .. && \ | ||
| make -j3 && make test && make install && upx -9 /tmp/cfsd18-perception-detectcone-dest/bin/cfsd18-perception-detectcone | ||
| make -j3 && make test && make install | ||
| # mkdir -p /usr/lib/dependency && \ | ||
| # cp $(ldd cfsd18-perception-detectcone | awk '/\/usr\/bin/ {print $3}') /usr/lib/dependency/ | ||
| # && upx -9 /tmp/cfsd18-perception-detectcone-dest/bin/cfsd18-perception-detectcone | ||
|
|
||
| # Part to deploy opendlv-perception-vision-orbslam2 | ||
| FROM alpine:edge | ||
| MAINTAINER Christian Berger "[email protected]" | ||
| # Deprecated, use label (see docker docs) | ||
| # MAINTAINER Christian Berger "[email protected]" | ||
| RUN apk update && \ | ||
| apk --no-cache add \ | ||
| glib | ||
|
|
||
| #Start microservice | ||
| WORKDIR /usr/bin | ||
| COPY --from=builder /usr/local/include/ /usr/include/ | ||
| COPY --from=builder /usr/local/lib/ /usr/lib/ | ||
| COPY --from=builder /usr/lib/ /usr/lib/ | ||
| # This will make the image heavy... Do we need all of them? | ||
| # This could be slimmed down | ||
| # Nothing in the builder's /usr/local/lib | ||
| # COPY --from=builder /usr/local/lib/ /usr/lib/ | ||
| # COPY --from=builder /usr/lib/ /usr/lib/ | ||
|
|
||
| # COPY --from=builder /usr/lib/dependency/ /usr/lib/ | ||
| # Tried to copy from /usr/lib/dependency/ | ||
| # but " ldd cfsd18-perception-detectcone | awk '{print $3}' " output nothing (i.e. line 66 failed) | ||
| # instead, use the manual and tedious way | ||
| # image size: 393MB -> 79.1MB | ||
| COPY --from=builder /usr/lib/libopencv_calib3d.so.3.2 \ | ||
| /usr/lib/libopencv_features2d.so.3.2 \ | ||
| /usr/lib/libopencv_flann.so.3.2 \ | ||
| /usr/lib/libopencv_highgui.so.3.2 \ | ||
| /usr/lib/libopencv_imgcodecs.so.3.2 \ | ||
| /usr/lib/libopencv_imgproc.so.3.2 \ | ||
| /usr/lib/libopencv_core.so.3.2 \ | ||
| /usr/lib/libstdc++.so.6 \ | ||
| /usr/lib/libgcc_s.so.1 \ | ||
| /usr/lib/libgtk-3.so.0 \ | ||
| /usr/lib/libgdk-3.so.0 \ | ||
| /usr/lib/libcairo.so.2 \ | ||
| /usr/lib/libgdk_pixbuf-2.0.so.0 \ | ||
| /usr/lib/libgobject-2.0.so.0 \ | ||
| /usr/lib/libglib-2.0.so.0 \ | ||
| /usr/lib/libjpeg.so.8 \ | ||
| /usr/lib/libwebp.so.7 \ | ||
| /usr/lib/libpng16.so.16 \ | ||
| /usr/lib/libtiff.so.5 \ | ||
| /usr/lib/libjasper.so.4 \ | ||
| /usr/lib/libIlmImf-2_2.so.23 \ | ||
| /usr/lib/libHalf.so.12 \ | ||
| /usr/lib/libgomp.so.1 \ | ||
| /usr/lib/libgmodule-2.0.so.0 \ | ||
| /usr/lib/libpangocairo-1.0.so.0 \ | ||
| /usr/lib/libX11.so.6 \ | ||
| /usr/lib/libXi.so.6 \ | ||
| /usr/lib/libXfixes.so.3 \ | ||
| /usr/lib/libcairo-gobject.so.2 \ | ||
| /usr/lib/libatk-1.0.so.0 \ | ||
| /usr/lib/libatk-bridge-2.0.so.0 \ | ||
| /usr/lib/libepoxy.so.0 \ | ||
| /usr/lib/libpangoft2-1.0.so.0 \ | ||
| /usr/lib/libpango-1.0.so.0 \ | ||
| /usr/lib/libfontconfig.so.1 \ | ||
| /usr/lib/libgio-2.0.so.0 \ | ||
| /usr/lib/libintl.so.8 \ | ||
| /usr/lib/libXinerama.so.1 \ | ||
| /usr/lib/libXrandr.so.2 \ | ||
| /usr/lib/libXcursor.so.1 \ | ||
| /usr/lib/libXcomposite.so.1 \ | ||
| /usr/lib/libXdamage.so.1 \ | ||
| /usr/lib/libxkbcommon.so.0 \ | ||
| /usr/lib/libwayland-cursor.so.0 \ | ||
| /usr/lib/libwayland-egl.so.1 \ | ||
| /usr/lib/libwayland-client.so.0 \ | ||
| /usr/lib/libXext.so.6 \ | ||
| /usr/lib/libpixman-1.so.0 \ | ||
| /usr/lib/libfreetype.so.6 \ | ||
| /usr/lib/libxcb-shm.so.0 \ | ||
| /usr/lib/libxcb.so.1 \ | ||
| /usr/lib/libxcb-render.so.0 \ | ||
| /usr/lib/libXrender.so.1 \ | ||
| /usr/lib/libffi.so.6 \ | ||
| /usr/lib/libpcre.so.1 \ | ||
| /usr/lib/libIex-2_2.so.12 \ | ||
| /usr/lib/libIlmThread-2_2.so.12 \ | ||
| /usr/lib/libatspi.so.0 \ | ||
| /usr/lib/libdbus-1.so.3 \ | ||
| /usr/lib/libharfbuzz.so.0 \ | ||
| /usr/lib/libexpat.so.1 \ | ||
| /usr/lib/libbz2.so.1 \ | ||
| /usr/lib/libXau.so.6 \ | ||
| /usr/lib/libXdmcp.so.6 \ | ||
| /usr/lib/libgraphite2.so.3 \ | ||
| /usr/lib/libbsd.so.0 \ | ||
| /usr/lib/ | ||
| COPY --from=builder /tmp/cfsd18-perception-detectcone-dest/bin/cfsd18-perception-detectcone . | ||
| RUN apk update && apk add glib | ||
| CMD ["/usr/bin/cfsd18-perception-detectcone"] | ||
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You might want to change the header author to Cfsd instead of Christian :D @chrberger .
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Yes, please :-)