[MERGE] Merged master into feat_particle_filter

lagadic · Jul 7, 2024 · f228e1e · f228e1e
2 parents 5dabd56 + ef77e09
commit f228e1e
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diff --git a/.github/workflows/ubuntu-dep-src.yml b/.github/workflows/ubuntu-dep-src.yml
@@ -13,6 +13,10 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref || github.run_id }}
   cancel-in-progress: true
 
+env:
+  # Function to get the most recent tag of a remote repository without having to clone it, excluding tag with 'pr' as in Pre Release
+  FUNCTION_GET_LATEST: 'git -c "versionsort.suffix=-" ls-remote --exit-code --refs --sort="version:refname" --tags ${GIT_ADDRESS} "*.*.*" | cut --delimiter="/" --fields=3 | grep -v -e pr | tail --lines=1'
+
 jobs:
   build-ubuntu-dep-src:
     runs-on: ${{ matrix.os }}
@@ -59,7 +63,10 @@ jobs:
       run: |
         pwd
         echo $GITHUB_WORKSPACE
-        git clone --depth 1 https://github.com/xianyi/OpenBLAS.git ${HOME}/OpenBLAS
+        GIT_ADDRESS=https://github.com/xianyi/OpenBLAS.git
+        LATEST_TAG=`eval ${FUNCTION_GET_LATEST}`
+        echo "Newest tag is ${LATEST_TAG}"
+        git clone --depth 1 --branch ${LATEST_TAG} ${GIT_ADDRESS} ${HOME}/OpenBLAS
         cd ${HOME}/OpenBLAS
         mkdir install
         make -j$(nproc)
@@ -74,7 +81,10 @@ jobs:
         pwd
         echo "GIT_CLONE_PROTECTION_ACTIVE=false" >> $GITHUB_ENV
         export GIT_CLONE_PROTECTION_ACTIVE=false
-        git clone --recursive --depth 1 --branch v9.3.0 https://github.com/Kitware/VTK.git ${HOME}/VTK
+        GIT_ADDRESS="https://github.com/Kitware/VTK.git"
+        LATEST_TAG=`eval ${FUNCTION_GET_LATEST}`
+        echo "Newest tag is ${LATEST_TAG}"
+        git clone --recursive --depth 1 --branch ${LATEST_TAG} ${GIT_ADDRESS}  ${HOME}/VTK
         cd ${HOME}/VTK
         mkdir build && cd build && mkdir install
         cmake .. -DVTK_ANDROID_BUILD=OFF -DVTK_BUILD_DOCUMENTATION=OFF -DVTK_BUILD_EXAMPLES=OFF -DVTK_BUILD_EXAMPLES=OFF -DCMAKE_BUILD_TYPE=Release \
@@ -86,7 +96,10 @@ jobs:
     - name: Build OpenCV from source
       run: |
         pwd
-        git clone --depth 1 https://github.com/opencv/opencv.git ${HOME}/opencv
+        GIT_ADDRESS="https://github.com/opencv/opencv.git"
+        LATEST_TAG=`eval ${FUNCTION_GET_LATEST}`
+        echo "Newest tag is ${LATEST_TAG}"
+        git clone --depth 1 --branch ${LATEST_TAG} ${GIT_ADDRESS} ${HOME}/opencv
         cd ${HOME}/opencv
         mkdir build && cd build && mkdir install
         cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$(pwd)/install
@@ -97,7 +110,10 @@ jobs:
     - name: Build librealsense2 from source
       run: |
         pwd
-        git clone --depth 1 https://github.com/IntelRealSense/librealsense.git ${HOME}/librealsense
+        GIT_ADDRESS="https://github.com/IntelRealSense/librealsense.git"
+        LATEST_TAG=`eval ${FUNCTION_GET_LATEST}`
+        echo "Newest tag is ${LATEST_TAG}"
+        git clone --depth 1 --branch ${LATEST_TAG} ${GIT_ADDRESS} ${HOME}/librealsense
         cd ${HOME}/librealsense
         mkdir build && cd build && mkdir install
         cmake .. -DBUILD_EXAMPLES=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$(pwd)/install
@@ -108,7 +124,10 @@ jobs:
     - name: Build PCL from source
       run: |
         pwd
-        git clone --depth 1 https://github.com/PointCloudLibrary/pcl.git ${HOME}/pcl
+        GIT_ADDRESS="https://github.com/PointCloudLibrary/pcl.git"
+        LATEST_TAG=`eval ${FUNCTION_GET_LATEST}`
+        echo "Newest tag is ${LATEST_TAG}"
+        git clone --depth 1 --branch ${LATEST_TAG} ${GIT_ADDRESS}  ${HOME}/pcl
         cd ${HOME}/pcl
         mkdir build && cd build && mkdir install
         cmake .. -DBUILD_tools=OFF -DBUILD_global_tests=OFF -DPCL_DISABLE_GPU_TESTS=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$(pwd)/install

diff --git a/ChangeLog.txt b/ChangeLog.txt
@@ -38,7 +38,8 @@ ViSP 3.x.x (Version in development)
     . New tutorials in tutorial/segmentation/color folder to show how to use HSV color segmentation to
       extract the corresponding point cloud
     . New scene renderer based on Panda3D. See inheritance diagram for vpPanda3DBaseRenderer class and corresponding
-      tutorial.
+      tutorial
+    . New docker image for Ubuntu 24.04 in docker folder
   - Applications
     . Migrate eye-to-hand tutorials in apps
   - Tutorials

diff --git a/ci/docker/ubuntu-18.04/Dockerfile b/ci/docker/ubuntu-18.04/Dockerfile
@@ -1,50 +1,88 @@
 FROM ubuntu:18.04
-MAINTAINER Fabien Spindler <[email protected]>
 
 ARG DEBIAN_FRONTEND=noninteractive
-ARG VISPCI_USER_UID=1001
-ARG DOCKER_GROUP_GID=130
+ARG USER_UID=1001
 ENV TZ=Europe/Paris
 
-# Update aptitude with new repo
-RUN apt-get update
+# Update aptitude with default packages
+RUN apt-get update \
+    && apt-get install -y \
+      build-essential \
+      cmake \
+      cmake-curses-gui \
+      curl \
+      gedit \
+      gdb \
+      git \
+      iputils-ping \
+      locales \
+      locate \
+      lsb-release \
+      mercurial \
+      nano \
+      net-tools \
+      python3 \
+      python3-dev \
+      python3-pip \
+      python3-dbg \
+      python3-empy \
+      python3-numpy \
+      python3-pip \
+      python3-psutil \
+      python3-venv \
+      software-properties-common \
+      sudo \
+      tzdata \
+      vim \
+      wget \
+    && apt-get clean
 
-# Install packages
-RUN apt-get install -y \
-    sudo \
-    build-essential \
-    cmake \
-    git \
-    net-tools \
-    iputils-ping \
-    # Recommended ViSP 3rd parties
-    libopencv-dev \
-    libx11-dev \
-    liblapack-dev \
-    libeigen3-dev \
-    libdc1394-22-dev \
-    libv4l-dev \
-    libzbar-dev \
-    libpthread-stubs0-dev \
-    # Other optional 3rd parties
-    libpcl-dev \
-    libcoin80-dev \
-    libjpeg-dev \
-    libpng-dev \
-    libogre-1.9-dev \
-    libois-dev \
-    libdmtx-dev \
-    libgsl-dev
+# Update aptitude with recommended ViSP 3rd parties
+RUN apt-get update \
+    && apt-get install -y \
+      libdc1394-22-dev \
+      libeigen3-dev \
+      liblapack-dev \
+      libopencv-dev \
+      libv4l-dev \
+      libx11-dev \
+      libzbar-dev \
+    && apt-get clean
 
-RUN adduser --disabled-password --gecos "" --uid $VISPCI_USER_UID vispci \
-    && groupadd docker --gid $DOCKER_GROUP_GID \
-    && usermod -aG sudo vispci \
-    && usermod -aG docker vispci \
-    && echo "%sudo   ALL=(ALL:ALL) NOPASSWD:ALL" > /etc/sudoers \
-    && echo "Defaults env_keep += \"DEBIAN_FRONTEND\"" >> /etc/sudoers \
-    && adduser vispci video
+# Update aptitude with other optional ViSP 3rd parties
+RUN apt-get update \
+    && apt-get install -y \
+      libpcl-dev \
+      libcoin80-dev \
+      libjpeg-dev \
+      libpng-dev \
+      libogre-1.9-dev \
+      libois-dev \
+      libdmtx-dev \
+      libgsl-dev \
+    && apt-get clean
 
-ENV HOME=/home/vispci
+# Set Locale
+RUN locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+    export LANG=en_US.UTF-8
+
+ENV USERNAME vispci
+
+RUN useradd -U --uid $USER_UID -ms /bin/bash ${USERNAME} \
+    && echo "${USERNAME}:${USERNAME}" | chpasswd \
+    && adduser ${USERNAME} sudo \
+    && echo "$USERNAME ALL=NOPASSWD: ALL" >> /etc/sudoers.d/${USERNAME} \
+    && adduser ${USERNAME} video
+
+# Commands below are now run as normal user
+USER ${USERNAME}
+
+# When running a container start in the home folder
+WORKDIR /home/$USERNAME
+
+# Create visp workspace
+ENV VISP_WS /home/$USERNAME/visp-ws
 
 # Install visp-images
 RUN mkdir -p ${HOME}/visp-ws \
@@ -54,16 +92,14 @@ RUN mkdir -p ${HOME}/visp-ws \
     && echo "export VISP_INPUT_IMAGE_PATH=${HOME}/visp-ws/visp-images" >> ${HOME}/.bashrc
 
 # Get visp
-RUN cd ${HOME}/visp-ws \
+RUN cd ${VISP_WS} \
     && git clone https://github.com/lagadic/visp
 
 # Build visp
-RUN cd ${HOME}/visp-ws \
+RUN cd ${VISP_WS} \
     && mkdir visp-build \
     && cd visp-build \
     && cmake ../visp \
-    && make -j4
-
-USER vispci
+    && make -j$(nproc)
 
-WORKDIR /home/vispci
+CMD ["/bin/bash"]
diff --git a/ci/docker/ubuntu-20.04/Dockerfile b/ci/docker/ubuntu-20.04/Dockerfile
@@ -1,50 +1,92 @@
 FROM ubuntu:20.04
-MAINTAINER Fabien Spindler <[email protected]>
 
 ARG DEBIAN_FRONTEND=noninteractive
-ARG VISPCI_USER_UID=1001
-ARG DOCKER_GROUP_GID=130
+ARG USER_UID=1001
 ENV TZ=Europe/Paris
 
-# Update aptitude with new repo
-RUN apt-get update
+# Update aptitude with default packages
+RUN apt-get update \
+    && apt-get install -y \
+      build-essential \
+      cmake \
+      cmake-curses-gui \
+      curl \
+      gedit \
+      gdb \
+      git \
+      iputils-ping \
+      locales \
+      locate \
+      lsb-release \
+      mercurial \
+      nano \
+      net-tools \
+      python3 \
+      python3-dev \
+      python3-pip \
+      python3-dbg \
+      python3-empy \
+      python3-numpy \
+      python3-pip \
+      python3-psutil \
+      python3-venv \
+      software-properties-common \
+      sudo \
+      tzdata \
+      vim \
+      wget \
+    && apt-get clean
 
-# Install packages
-RUN apt-get install -y \
-    sudo \
-    build-essential \
-    cmake \
-    git \
-    net-tools \
-    iputils-ping \
-    # Recommended ViSP 3rd parties
-    libopencv-dev \
-    libx11-dev \
-    liblapack-dev \
-    libeigen3-dev \
-    libdc1394-22-dev \
-    libv4l-dev \
-    libzbar-dev \
-    libpthread-stubs0-dev \
-    # Other optional 3rd parties
-    libpcl-dev \
-    libcoin-dev \
-    libjpeg-dev \
-    libpng-dev \
-    libogre-1.9-dev \
-    libois-dev \
-    libdmtx-dev \
-    libgsl-dev
+# Update aptitude with recommended ViSP 3rd parties
+RUN apt-get update \
+    && apt-get install -y \
+      libdc1394-22-dev \
+      libeigen3-dev \
+      liblapack-dev \
+      libopencv-dev \
+      libv4l-dev \
+      libx11-dev \
+      libzbar-dev \
+      nlohmann-json3-dev \
+    && apt-get clean
 
-RUN adduser --disabled-password --gecos "" --uid $VISPCI_USER_UID vispci \
-    && groupadd docker --gid $DOCKER_GROUP_GID \
-    && usermod -aG sudo vispci \
-    && usermod -aG docker vispci \
-    && echo "%sudo   ALL=(ALL:ALL) NOPASSWD:ALL" > /etc/sudoers \
-    && echo "Defaults env_keep += \"DEBIAN_FRONTEND\"" >> /etc/sudoers \
-    && adduser vispci video
+# Update aptitude with other optional ViSP 3rd parties
+RUN apt-get update \
+    && apt-get install -y \
+      libcoin-dev \
+      libdmtx-dev \
+      libgsl-dev \
+      libjpeg-dev \
+      libogre-1.9-dev \
+      libois-dev \
+      libpcl-dev \
+      libpng-dev \
+    && apt-get clean
 
-ENV HOME=/home/vispci
+# Set Locale
+RUN locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+    export LANG=en_US.UTF-8
+
+ENV USERNAME vispci
+
+RUN useradd -U --uid $USER_UID -ms /bin/bash ${USERNAME} \
+    && echo "${USERNAME}:${USERNAME}" | chpasswd \
+    && adduser ${USERNAME} sudo \
+    && echo "$USERNAME ALL=NOPASSWD: ALL" >> /etc/sudoers.d/${USERNAME} \
+    && adduser ${USERNAME} video
+
+# Commands below are now run as normal user
+USER ${USERNAME}
+
+# When running a container start in the home folder
+WORKDIR /home/$USERNAME
+
+# Some apps don't show controls without this
+ENV QT_X11_NO_MITSHM 1
+
+# Create visp workspace
+ENV VISP_WS /home/$USERNAME/visp-ws
 
 # Install visp-images
 RUN mkdir -p ${HOME}/visp-ws \
@@ -54,16 +96,14 @@ RUN mkdir -p ${HOME}/visp-ws \
     && echo "export VISP_INPUT_IMAGE_PATH=${HOME}/visp-ws/visp-images" >> ${HOME}/.bashrc
 
 # Get visp
-RUN cd ${HOME}/visp-ws \
+RUN cd ${VISP_WS} \
     && git clone https://github.com/lagadic/visp
 
 # Build visp
-RUN cd ${HOME}/visp-ws \
+RUN cd ${VISP_WS} \
     && mkdir visp-build \
     && cd visp-build \
     && cmake ../visp \
-    && make -j4
-
-USER vispci
+    && make -j$(nproc)
 
-WORKDIR /home/vispci
+CMD ["/bin/bash"]