danieltobon43/pcl-docker

•Updated about 4 years ago

Point cloud library 1.12.1 (Not GPU) support - adapted for deployment in Alpine Linux 3.15

Image

735

danieltobon43/pcl-docker repository overview

⁠Point Cloud Library 1.12.1 Alpine Linux

The Point Cloud Library⁠ is an open-source library of algorithms for point cloud processing tasks and 3D geometry processing. It is a standalone, large-scale, open project for 2D/3D image and point cloud processing. PCL is released under the terms of the BSD license, and thus free for commercial and research use.

⁠Environment

Package	Version	Description
VTK⁠	9.1.0	VTK - The Visualization Toolkit
PCL⁠	1.12.1	The Point Cloud Library (PCL)
Eigen⁠	3.7.7	Eigen is a library of template headers for linear algebra
Flann⁠	1.9.1	Fast Library for Approximate Nearest Neighbors
Boost⁠	1.77.0	Provides support for linear algebra, pseudorandom number generation, multithreading
OpenGL⁠	21.2.6	Programming interface for rendering 2D and 3D vector graphics.

Docker multi-stage graph generated with: dockerfilegraph⁠

The idea is that the docker image will contain all the required software and library dependencies to run a PCL application. This image is a lightweight version and is not intended for development (there is no CMake, g++, compiler).

⁠Note

Not all PCL modules were compiled --> see Dockerfile at the bottom. For a full pcl-docker-alpine image see tag: 1.12.1-alpine3.15-All⁠

Compiled Modules

Package	Description
BUILD_2d	Need it for pcl features
BUILD_geometry	contains computational geometry data structures
BUILD_visualization	visualize the results of algorithms operating on 3D point cloud data
BUILD_io	contains classes and functions for reading and writing point cloud data
BUILD_common	contains the common data structures and methods used by the majority of PCL libraries
BUILD_kdtree	provides the kd-tree data-structure, using FLANN
BUILD_octree	provides efficient methods for creating a hierarchical tree data structure from point cloud data
BUILD_sample_consensus	holds SAmple Consensus (SAC) methods like RANSAC
BUILD_search	provides methods for searching for nearest neighbors

⁠Docker image

You can either choose to build the image by yourself or pull it from the docker hub

⁠Pull from docker-hub (Option A)

docker pull danieltobon43/pcl-docker:1.12.1-alpine3.15

⁠Build it for yourself (Option B)

Build the image with Dockerfile⁠. You can pass --build-arg PCL_VERSION="your-version" to chose PCL version in the build command below.

time docker build -f Dockerfile -t pcl-docker:1.12.1-alpine3.15 .

⁠Start the container with

docker run --rm -it \
           --name="pcl-container" \
           pcl-docker:1.12.1-alpine3.15

⁠Dockerfile

# ============================
# Stage: base image
# ============================
# syntax=docker/dockerfile:1
ARG PCL_VERSION="1.12.1"
FROM alpine:3.15 AS pcl-dependencies
RUN apk add --no-cache boost-dev vtk vtk-dev eigen-dev mesa-dev mesa-dri-swrast mesa-gl \
    flann-dev --repository=https://dl-cdn.alpinelinux.org/alpine/edge/testing

# ============================
# Stage: build pcl
# ============================
FROM pcl-dependencies AS build-pcl

RUN apk add --no-cache wget cmake make g++

# Download point cloud library source code once
ARG PCL_VERSION
RUN cd /tmp && wget https://github.com/PointCloudLibrary/pcl/archive/pcl-${PCL_VERSION}.tar.gz \
    && tar -xf pcl-${PCL_VERSION}.tar.gz

# PCL build modules (be aware that some modules depend from another ones)
ENV BUILD_MODULES   -DBUILD_2d=ON \
                    -DBUILD_CUDA=OFF \
                    -DBUILD_GPU=OFF \
                    -DBUILD_apps=OFF \
                    -DBUILD_benchmarks=OFF \
                    -DBUILD_common=ON \
                    -DBUILD_examples=OFF \
                    -DBUILD_features=OFF \
                    -DBUILD_filters=ON \
                    -DBUILD_geometry=ON \
                    -DBUILD_global_tests=OFF \
                    -DBUILD_io=ON \
                    -DBUILD_kdtree=ON \
                    -DBUILD_keypoints=OFF \
                    -DBUILD_ml=OFF \
                    -DBUILD_octree=ON \
                    -DBUILD_outofcore=OFF \
                    -DBUILD_people=OFF \
                    -DBUILD_recognition=OFF \
                    -DBUILD_registration=OFF \
                    -DBUILD_sample_consensus=ON \
                    -DBUILD_search=ON \
                    -DBUILD_segmentation=OFF \
                    -DBUILD_simulation=OFF \
                    -DBUILD_stereo=OFF \
                    -DBUILD_surface=OFF \
                    -DBUILD_tools=OFF \
                    -DBUILD_tracking=OFF \
                    -DBUILD_visualization=ON

# Install pcl at /tmp/pcl-pcl-${PCL_VERSION}/install
ENV CMAKE_CONFIG -DCMAKE_INSTALL_PREFIX:PATH=/tmp/pcl-pcl-${PCL_VERSION}/install \
                 -DCMAKE_BUILD_TYPE=Release

# Set flags support
ENV WITH_CONFIG -DWITH_CUDA=OFF \
                -DWITH_DAVIDSDK=OFF \
                -DWITH_DOCS=OFF \
                -DWITH_DSSDK=OFF \
                -DWITH_ENSENSO=OFF \
                -DWITH_LIBUSB=OFF \
                -DWITH_OPENGL=ON \
                -DWITH_OPENMP=ON \
                -DWITH_OPENNI=OFF \
                -DWITH_OPENNI2=OFF \
                -DWITH_PCAP=OFF \
                -DWITH_PNG=OFF \
                -DWITH_QHULL=OFF \
                -DWITH_QT=NO \
                -DWITH_RSSDK=OFF \
                -DWITH_RSSDK2=OFF \
                -DWITH_VTK=ON

# Set vtk backend rendering
ARG VTK_CONFIG -DVTK_RENDERING_BACKEND=OpenGL2

# Compile pcl
RUN cd /tmp/pcl-pcl-${PCL_VERSION} \
    && mkdir build install && cd build \
    && cmake ${BUILD_MODULES} ${CMAKE_CONFIG} ${WITH_CONFIG} ../ \
    && make -j$(nproc) \
    && make install

# Unset ENV variables
ENV BUILD_MODULES=
ENV CMAKE_CONFIG=
ENV WITH_CONFIG=

# ============================
# Stage: runtime
# ============================
FROM pcl-dependencies as runtime
ARG PCL_VERSION
COPY --from=build-pcl /tmp/pcl-pcl-${PCL_VERSION}/install /usr

⁠PCL images tags

Image	Version	Description	Size (GB)
pcl-docker	1.12.1-alpine3.15	Lightweight image of PCL with visualization module	1.27
pcl-docker	1.12.1-alpine3.15-dev	Lightweight image of PCL with visualization module + dev tools	1.61
pcl-docker	1.12.1-alpine3.15-All	Full image of PCL with all modules	1.43
pcl-docker	1.12.1-alpine3.15-All-dev	Full image of PCL with all modules + dev tools	1.67
pcl-docker	1.12.1-alpine3.15-All-GA-v1	Full image of PCL with all modules Github Action V1	1.67
pcl-docker	1.12.1-alpine3.15-All-GA-v2-testing	Full image of PCL with all modules Github Action V2 - testing branch	1.67

⁠PCL Dockerfile Full Compiled Image (dev version)

# syntax = docker/dockerfile:1.3
FROM alpine:3.15 AS pcl-dependencies
RUN --mount=type=cache,target=/var/cache/apk apk add --no-cache boost-dev vtk vtk-dev \
    qhull qhull-dev qhull-static qt5-qtbase-dev qt5-qttools-dev eigen-dev \
    mesa mesa-dev mesa-dri-swrast mesa-gl mesa-glapi mesa-osmesa mesa-dri-classic \
    freeglut freeglut-dev clang clang-dev xorg-server\
    flann-dev --repository=https://dl-cdn.alpinelinux.org/alpine/edge/testing


FROM pcl-dependencies AS build-pcl

RUN --mount=type=cache,target=/var/cache/apk apk add --no-cache wget cmake make g++

# Download point cloud library source code once
ARG PCL_VERSION="1.12.1"
RUN wget https://github.com/PointCloudLibrary/pcl/archive/pcl-${PCL_VERSION}.tar.gz --directory-prefix=/tmp \
    && tar -xf /tmp/pcl-${PCL_VERSION}.tar.gz -C /tmp

# PCL build modules (be aware that some modules depend from another ones)
ENV BUILD_COMMANDS -DBUILD_2d=ON \
    -DBUILD_CUDA=OFF \
    -DBUILD_GPU=OFF \
    -DBUILD_apps=ON \
    -DBUILD_benchmarks=OFF \
    -DBUILD_common=ON \
    -DBUILD_examples=OFF \
    -DBUILD_features=ON \
    -DBUILD_filters=ON \
    -DBUILD_geometry=ON \
    -DBUILD_global_tests=OFF \
    -DBUILD_io=ON \
    -DBUILD_kdtree=ON \
    -DBUILD_keypoints=ON \
    -DBUILD_ml=ON \
    -DBUILD_octree=ON \
    -DBUILD_outofcore=ON \
    -DBUILD_people=ON \
    -DBUILD_recognition=ON \
    -DBUILD_registration=ON \
    -DBUILD_sample_consensus=ON \
    -DBUILD_search=ON \
    -DBUILD_segmentation=ON \
    -DBUILD_simulation=ON \
    -DBUILD_stereo=ON \
    -DBUILD_surface=ON \
    -DBUILD_tools=ON \
    -DBUILD_tracking=ON \
    -DBUILD_visualization=ON \
    # CMAKE CONFIG
    -DCMAKE_INSTALL_PREFIX:PATH=/tmp/pcl-pcl-${PCL_VERSION}/install \
    -DCMAKE_BUILD_TYPE=Release \
    # WITH_CONFIG
    -DWITH_CUDA=OFF \
    -DWITH_DAVIDSDK=OFF \
    -DWITH_DOCS=OFF \
    -DWITH_DSSDK=OFF \
    -DWITH_ENSENSO=OFF \
    -DWITH_LIBUSB=OFF \
    -DWITH_OPENGL=ON \
    -DWITH_OPENMP=ON \
    -DWITH_OPENNI=OFF \
    -DWITH_OPENNI2=OFF \
    -DWITH_PCAP=OFF \
    -DWITH_PNG=ON \
    -DWITH_QHULL=ON \
    -DWITH_QT=ON \
    -DWITH_RSSDK=OFF \
    -DWITH_RSSDK2=OFF \
    -DWITH_VTK=ON

# Compile pcl
RUN cd /tmp/pcl-pcl-${PCL_VERSION} \
    && mkdir build install && cd build \
    && cmake ${BUILD_COMMANDS} -DVTK_RENDERING_BACKEND=OpenGL2 ../ \
    && make -j$(nproc) \
    && make install

# Unset ENV variables
ENV BUILD_COMMANDS=

FROM pcl-dependencies as runtime
COPY --from=build-pcl /tmp/pcl-pcl-1.12.1/install /usr

FROM pcl-dependencies as dev
COPY --from=build-pcl /tmp/pcl-pcl-1.12.1/install /usr
RUN apk add --no-cache cmake build-base gdb zsh git sudo clang nano \
    lcov --repository=https://dl-cdn.alpinelinux.org/alpine/edge/testing
ARG USERNAME=pcluser
RUN adduser --gecos "pcluser" \
    --disabled-password \
    --shell /bin/zsh \
    --uid 1000 \
    ${USERNAME} && \
    echo "$USERNAME:1234" | chpasswd && \
    echo "$USERNAME ALL=(ALL) ALL" > /etc/sudoers.d/$USERNAME && chmod 0440 /etc/sudoers.d/$USERNAME && \
    # creates a group: docker with gid:1001
    addgroup --gid 1001 docker && \
    # add user:pcluser to docker,pcluser group
    addgroup ${USERNAME} docker
LABEL version="1.0" maintainer="Daniel T <email>" \
    description="Point Cloud Library Full Compiled v1.12.1 - Alpine Linux 3.15"
USER $USERNAME
RUN wget https://github.com/robbyrussell/oh-my-zsh/raw/master/tools/install.sh -O - | zsh || true && \
    wget https://gist.githubusercontent.com/danielTobon43/9fdbaa726a2d239b735a18c8e67d706e/raw/496deee02afc530f3b49537da04df3dbab39828d/robbyrussell.zsh-theme \
    -O /home/$USERNAME/.oh-my-zsh/themes/robbyrussell.zsh-theme && \
    echo "unset zle_bracketed_paste" >> /home/$USERNAME/.zshrc && unset DEBIAN_FRONTEND
WORKDIR /home/$USERNAME
CMD [ "zsh" ]

Build output

The C compiler identification is GNU 10.3.1
#13 1.455 -- The CXX compiler identification is GNU 10.3.1
#13 1.471 -- Detecting C compiler ABI info
#13 1.588 -- Detecting C compiler ABI info - done
#13 1.607 -- Check for working C compiler: /usr/bin/cc - skipped
#13 1.607 -- Detecting C compile features
#13 1.608 -- Detecting C compile features - done
#13 1.614 -- Detecting CXX compiler ABI info
#13 1.687 -- Detecting CXX compiler ABI info - done
#13 1.702 -- Check for working CXX compiler: /usr/bin/c++ - skipped
#13 1.703 -- Detecting CXX compile features
#13 1.704 -- Detecting CXX compile features - done
#13 1.741 -- Found PkgConfig: /usr/bin/pkg-config (found version "1.8.0") 
#13 1.867 -- Found ClangFormat: /usr/bin/clang-format (found suitable version "12.0.1", minimum required is "10") 
#13 1.867 -- Adding target 'format'
#13 1.870 -- Performing Test HAVE_MARCH
#13 1.971 -- Performing Test HAVE_MARCH - Success
#13 1.972 -- Performing Test HAVE_MM_MALLOC
#13 2.062 -- Performing Test HAVE_MM_MALLOC - Success
#13 2.063 -- Performing Test HAVE_POSIX_MEMALIGN
#13 2.147 -- Performing Test HAVE_POSIX_MEMALIGN - Success
#13 2.148 -- Performing Test HAVE_SSE4_2_EXTENSIONS
#13 2.300 -- Performing Test HAVE_SSE4_2_EXTENSIONS - Success
#13 2.300 -- Using CPU native flags for SSE optimization: -msse4.2 -mfpmath=sse -march=native
#13 2.302 -- Performing Test HAVE_AVX2
#13 2.872 -- Performing Test HAVE_AVX2 - Failed
#13 2.872 -- Performing Test HAVE_AVX
#13 3.424 -- Performing Test HAVE_AVX - Failed
#13 3.685 -- Found OpenMP_C: -fopenmp (found version "4.5") 
#13 3.780 -- Found OpenMP_CXX: -fopenmp (found version "4.5") 
#13 3.781 -- Found OpenMP: TRUE (found version "4.5") found components: C CXX 
#13 3.781 -- Found OpenMP, spec date 201511
#13 3.783 -- Looking for pthread.h
#13 3.856 -- Looking for pthread.h - found
#13 3.856 -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
#13 3.925 -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
#13 3.928 -- Found Threads: TRUE  
#13 3.934 -- Checking for module 'eigen3'
#13 3.944 --   Found eigen3, version 3.4.0
#13 3.963 -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") 
#13 3.963 -- Eigen found (include: /usr/include/eigen3, version: 3.4.0)
#13 3.977 -- Checking for module 'flann>=1.9.1'
#13 3.995 --   Found flann, version 1.9.1
#13 4.041 -- Found FLANN: /usr/lib/libflann_cpp.so (Required is at least version "1.9.1") 
#13 4.042 -- FLANN found (include: /usr/include, lib: /usr/lib/libflann_cpp.so)
#13 4.043 -- Checking for module 'metslib'
#13 4.077 --   Package 'metslib', required by 'virtual:world', not found
#13 4.101 -- Found ZLIB: /lib/libz.so (found version "1.2.12") 
#13 4.121 -- Found PNG: /usr/lib/libpng.so (found version "1.6.37") 
#13 4.124 -- Found Qhull version 8.0.2
#13 4.177 -- Found OpenGL: /usr/lib/libGL.so  found components: OpenGL missing components: GLX
#13 4.344 -- HDF5 C compiler wrapper is unable to compile a minimal HDF5 program.
#13 4.356 -- Found HDF5: /usr/lib/libhdf5.so (found version "1.12.2") found components: C HL 
#13 4.361 -- Found NetCDF: /usr/include (found version "4.8.1") 
#13 4.457 -- Found X11: /usr/include   
#13 4.458 -- Looking for XOpenDisplay in /usr/lib/libX11.so;/usr/lib/libXext.so
#13 4.552 -- Looking for XOpenDisplay in /usr/lib/libX11.so;/usr/lib/libXext.so - found
#13 4.552 -- Looking for gethostbyname
#13 4.622 -- Looking for gethostbyname - found
#13 4.622 -- Looking for connect
#13 4.726 -- Looking for connect - found
#13 4.726 -- Looking for remove
#13 4.817 -- Looking for remove - found
#13 4.818 -- Looking for shmat
#13 4.885 -- Looking for shmat - found
#13 4.885 -- Looking for IceConnectionNumber in ICE
#13 4.970 -- Looking for IceConnectionNumber in ICE - found
#13 5.021 -- VTK version: 9.1.0
#13 5.021 -- VTK rendering backend: OpenGL2
#13 5.021 -- VTK Qt support: NOTFOUND
#13 5.021 -- VTK libs: VTK::WrappingTools;VTK::ViewsInfovis;VTK::CommonColor;VTK::ViewsContext2D;VTK::loguru;VTK::TestingRendering;VTK::TestingCore;VTK::vtksys;VTK::RenderingVolumeOpenGL2;VTK::glew;VTK::opengl;VTK::RenderingLabel;VTK::octree;VTK::RenderingLOD;VTK::RenderingImage;VTK::RenderingContextOpenGL2;VTK::IOVeraOut;VTK::hdf5;VTK::IOTecplotTable;VTK::IOSegY;VTK::IOParallelXML;VTK::IOPLY;VTK::IOOggTheora;VTK::theora;VTK::ogg;VTK::IONetCDF;VTK::netcdf;VTK::IOMotionFX;VTK::pegtl;VTK::IOParallel;VTK::jsoncpp;VTK::IOMINC;VTK::IOLSDyna;VTK::IOInfovis;VTK::libxml2;VTK::zlib;VTK::IOImport;VTK::IOIOSS;VTK::ioss;VTK::exodusII;VTK::cgns;VTK::IOHDF;VTK::IOVideo;VTK::IOMovie;VTK::IOExportPDF;VTK::libharu;VTK::IOExportGL2PS;VTK::RenderingGL2PSOpenGL2;VTK::gl2ps;VTK::png;VTK::IOExport;VTK::RenderingVtkJS;VTK::IOGeometry;VTK::RenderingSceneGraph;VTK::IOExodus;VTK::IOEnSight;VTK::IOCityGML;VTK::pugixml;VTK::IOChemistry;VTK::IOCONVERGECFD;VTK::IOCGNSReader;VTK::IOAsynchronous;VTK::IOAMR;VTK::InteractionImage;VTK::ImagingStencil;VTK::ImagingStatistics;VTK::ImagingMorphological;VTK::ImagingMath;VTK::ImagingFourier;VTK::IOSQL;VTK::sqlite;VTK::GeovisCore;VTK::libproj;VTK::InfovisLayout;VTK::ViewsCore;VTK::InteractionWidgets;VTK::RenderingVolume;VTK::RenderingAnnotation;VTK::ImagingHybrid;VTK::ImagingColor;VTK::InteractionStyle;VTK::FiltersTopology;VTK::FiltersSelection;VTK::FiltersSMP;VTK::FiltersProgrammable;VTK::FiltersPoints;VTK::FiltersVerdict;VTK::verdict;VTK::FiltersParallelImaging;VTK::FiltersImaging;VTK::ImagingGeneral;VTK::FiltersHyperTree;VTK::FiltersGeneric;VTK::FiltersFlowPaths;VTK::eigen;VTK::FiltersAMR;VTK::FiltersParallel;VTK::FiltersTexture;VTK::FiltersModeling;VTK::FiltersHybrid;VTK::DomainsChemistryOpenGL2;VTK::RenderingOpenGL2;VTK::RenderingUI;VTK::DomainsChemistry;VTK::ChartsCore;VTK::InfovisCore;VTK::FiltersExtraction;VTK::ParallelDIY;VTK::diy2;VTK::IOXML;VTK::IOXMLParser;VTK::expat;VTK::ParallelCore;VTK::IOLegacy;VTK::IOCore;VTK::doubleconversion;VTK::lz4;VTK::lzma;VTK::utf8;VTK::FiltersStatistics;VTK::ImagingSources;VTK::IOImage;VTK::DICOMParser;VTK::jpeg;VTK::metaio;VTK::tiff;VTK::RenderingContext2D;VTK::RenderingFreeType;VTK::freetype;VTK::kwiml;VTK::RenderingCore;VTK::FiltersSources;VTK::ImagingCore;VTK::FiltersGeometry;VTK::FiltersGeneral;VTK::fmt;VTK::CommonComputationalGeometry;VTK::FiltersCore;VTK::CommonExecutionModel;VTK::CommonDataModel;VTK::CommonSystem;VTK::CommonMisc;VTK::exprtk;VTK::CommonTransforms;VTK::CommonMath;VTK::kissfft;VTK::CommonCore
#13 5.047 -- Qt version: 5.15.3
#13 5.140 -- Found Boost: /usr/lib/cmake/Boost-1.77.0/BoostConfig.cmake (found suitable version "1.77.0", minimum required is "1.65.0") found components: filesystem date_time iostreams system 
#13 5.316 -- Found OpenGL: /usr/lib/libGL.so   
#13 5.319 -- Found GLEW: /usr/include  
#13 5.325 -- Found GLUT: /usr/lib/libglut.so  
#13 5.365 -- DOXYGEN_FOUND 
#13 5.365 -- HTML_HELP_COMPILER 
#13 5.379 -- PCL build with following flags:
#13 5.379 --  -Wabi=11 -Wall -Wextra -Wno-unknown-pragmas -fno-strict-aliasing -Wno-format-extra-args -Wno-sign-compare -Wno-invalid-offsetof -Wno-conversion -msse4.2 -mfpmath=sse -march=native  -fopenmp
#13 5.379 -- The following subsystems will be built:
#13 5.379 --   common
#13 5.379 --   kdtree
#13 5.380 --   octree
#13 5.380 --   search
#13 5.380 --   sample_consensus
#13 5.380 --   filters
#13 5.380 --   2d
#13 5.380 --   geometry
#13 5.380 --   io
#13 5.380 --   features
#13 5.380 --   ml
#13 5.380 --   segmentation
#13 5.380 --   visualization
#13 5.380 --   surface
#13 5.380 --   registration
#13 5.380 --   keypoints
#13 5.381 --   tracking
#13 5.381 --   recognition
#13 5.381 --   stereo
#13 5.381 --   apps
#13 5.381        not building: 
#13 5.381        |_ 3d_rec_framework: Disabled by default
#13 5.381        |_ cloud_composer: Cloud composer requires QVTK
#13 5.381        |_ in_hand_scanner: Disabled by default
#13 5.381        |_ modeler: VTK was not built with Qt support.
#13 5.381        |_ point_cloud_editor: Disabled by default
#13 5.382 --   outofcore
#13 5.382 --   people
#13 5.382 --   simulation
#13 5.382 --   tools
#13 5.382 -- The following subsystems will not be built:
#13 5.384 --   benchmarks: Disabled by default
#13 5.384 --   examples: Code examples are disabled by default.
#13 5.384 --   global_tests: Disabled by default
#13 5.389 -- Configuring done
#13 6.616 -- Generating done
#13 6.649 -- Build files have been written to: /tmp/pcl-pcl-1.12.1/build

Note:

VTK-9.1 Linux Alpine package is not compiled with QT support.
mesa-gl Linux Alpine package is not compiled with GLX support.

Tag summary

Recent tags

Content type

Image

Digest

Size

523.8 MB

Last updated

about 4 years ago

docker pull danieltobon43/pcl-docker:1.12.1-alpine3.15-All-GA-v3-cmakeflags