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