From 56d399348faac3e2297fe7309874a924ea1724b2 Mon Sep 17 00:00:00 2001
From: Tim Korjakow <you@example.com>
Date: Fri, 31 Mar 2023 16:27:14 +0200
Subject: [PATCH] Added working Docker setup

---
 .gitignore         |  3 +++
 .gitmodules        |  3 +++
 Dockerfile         | 27 +++++++++++++++++++++++++++
 docker-compose.yml |  8 ++++++++
 livox_camera_calib |  1 +
 5 files changed, 42 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 .gitmodules
 create mode 100644 Dockerfile
 create mode 100644 docker-compose.yml
 create mode 160000 livox_camera_calib

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..01a4e65
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,3 @@
+data/
+output/
+.vscode/
\ No newline at end of file
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..96f75a4
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "livox_camera_calib"]
+	path = livox_camera_calib
+	url = ./livox_camera_calib/
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..e8487f2
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,27 @@
+FROM ros:melodic-perception  
+
+RUN apt-get update && apt-get install -y apt-transport-https ca-certificates gnupg software-properties-common wget libeigen3-dev ros-melodic-cv-bridge ros-melodic-pcl-conversions libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev libpcl-dev \
+    && wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | apt-key add - \
+    && apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main' \
+    && apt-get update \
+    && apt-get install -y cmake
+
+# Install ceres
+RUN git clone --depth 1 --branch 2.0.0 https://ceres-solver.googlesource.com/ceres-solver \
+    && mkdir ceres-bin \
+    && cd ceres-bin \
+    && cmake ../ceres-solver \
+    && make -j`nproc` \
+    && make install
+
+# install calibrator
+RUN mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak \
+    && mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak \
+    && ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h \
+    && ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h
+
+WORKDIR /catkin_ws
+ADD ./livox_camera_calib ./src/livox_camera_calib
+RUN . /opt/ros/melodic/setup.sh \
+    && catkin_make \
+    && . /catkin_ws/devel/setup.sh
diff --git a/docker-compose.yml b/docker-compose.yml
new file mode 100644
index 0000000..02e1271
--- /dev/null
+++ b/docker-compose.yml
@@ -0,0 +1,8 @@
+version: "3.9"
+services:
+  calibrator:
+    build: .
+    volumes:
+      - ./data:/data
+      - ./output:/output
+    command: /catkin_ws/devel/env.sh roslaunch livox_camera_calib calib.launch
diff --git a/livox_camera_calib b/livox_camera_calib
new file mode 160000
index 0000000..499dac4
--- /dev/null
+++ b/livox_camera_calib
@@ -0,0 +1 @@
+Subproject commit 499dac4d4ae1a5935bd24ca440d801a6a18a320d