FROM rapidposetriangulation
WORKDIR /

# Install ONNX runtime
# See: https://github.com/microsoft/onnxruntime/blob/main/dockerfiles/Dockerfile.tensorrt
RUN pip3 uninstall -y onnxruntime-gpu
RUN git clone --recursive --depth=1 --branch=v1.20.1 https://github.com/Microsoft/onnxruntime.git
ENV PATH=/usr/local/nvidia/bin:/usr/local/cuda/bin:/cmake-3.30.1-linux-x86_64/bin:${PATH}
ARG CMAKE_CUDA_ARCHITECTURES=75;80;90
ENV TRT_VERSION=10.5.0.18
RUN /bin/sh onnxruntime/dockerfiles/scripts/install_common_deps.sh
RUN /bin/sh onnxruntime/dockerfiles/scripts/checkout_submodules.sh ${trt_version}
RUN ls
RUN cd onnxruntime && \
    /bin/sh build.sh --allow_running_as_root --parallel --build_shared_lib \
      --cuda_home /usr/local/cuda --cudnn_home /usr/lib/x86_64-linux-gnu/ --use_tensorrt \
      --tensorrt_home /usr/lib/x86_64-linux-gnu/ --config Release --build_wheel --skip_tests \
      --skip_submodule_sync --cmake_extra_defines '"CMAKE_CUDA_ARCHITECTURES='${CMAKE_CUDA_ARCHITECTURES}'"'
RUN cd onnxruntime && pip install build/Linux/Release/dist/*.whl

# Install ROS2
# https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
RUN apt-get update && apt-get install -y --no-install-recommends locales
RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
RUN apt-get update && apt-get install -y --no-install-recommends software-properties-common
RUN add-apt-repository universe
RUN apt-get update && apt-get install -y --no-install-recommends curl
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list
RUN apt-get update && apt-get install -y --no-install-recommends ros-humble-ros-base python3-argcomplete
RUN apt-get update && apt-get install -y --no-install-recommends ros-dev-tools
RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

# Create ROS2 workspace for basic packages
RUN mkdir -p /project/base/src/
RUN cd /project/base/; colcon build
RUN echo "source /project/base/install/setup.bash" >> ~/.bashrc

# Install opencv and cv_bridge
RUN apt-get update && apt-get install -y --no-install-recommends libboost-dev
RUN apt-get update && apt-get install -y --no-install-recommends libboost-python-dev
RUN apt-get update && apt-get install -y --no-install-recommends libopencv-dev
RUN cd /project/base/src/; git clone --branch humble --depth=1 https://github.com/ros-perception/vision_opencv.git
RUN /bin/bash -i -c 'cd /project/base/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'

# Install ROS2 image viewer
RUN cd /project/base/src/; git clone --branch=humble --depth=1 https://github.com/ros-perception/image_pipeline.git
RUN cd /project/base/src/; git clone --branch=humble --depth=1 https://github.com/ros-perception/image_common.git
RUN /bin/bash -i -c 'cd /project/base/; colcon build --symlink-install --packages-select camera_calibration_parsers image_transport image_view --cmake-args -DCMAKE_BUILD_TYPE=Release'

# Fix module not found error when displaying images
RUN apt-get update && apt-get install -y --no-install-recommends libcanberra-gtk-module libcanberra-gtk3-module

# Create ROS2 workspace for project packages
RUN mkdir -p /project/dev_ws/src/
RUN cd /project/dev_ws/; colcon build
RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc

# Fix ros package building error
RUN pip3 install --no-cache-dir "setuptools<=58.2.0"

# Copy modules
COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
COPY ./scripts/ /RapidPoseTriangulation/scripts/
COPY ./extras/ros/pose2d_visualizer/ /RapidPoseTriangulation/extras/ros/pose2d_visualizer/
COPY ./extras/ros/rpt2d_wrapper_cpp/ /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/

# Link and build as ros package
RUN ln -s  /RapidPoseTriangulation/extras/ros/pose2d_visualizer/ /project/dev_ws/src/pose2d_visualizer
RUN ln -s  /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/ /project/dev_ws/src/rpt2d_wrapper_cpp
RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'

# Update ros packages -> autocompletion and check
RUN /bin/bash -i -c 'ros2 pkg list'

# Clear cache to save space, only has an effect if image is squashed
RUN apt-get autoremove -y \
  && apt-get clean \
  && rm -rf /var/lib/apt/lists/*

WORKDIR /RapidPoseTriangulation/
CMD ["/bin/bash"]