Merge pull request #110 from koide3/fix

fix for using newer iridescence
koide3 · Sep 21, 2024 · f679d0b · f679d0b
2 parents ab1ae59 + 4c39279
commit f679d0b
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Showing 9 changed files with 44 additions and 30 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5.2)
+cmake_minimum_required(VERSION 3.16)
 project(direct_visual_lidar_calibration)
 
 add_compile_options(-std=c++17)
@@ -72,7 +72,6 @@ target_include_directories(direct_visual_lidar_calibration PUBLIC
   ${GTSAM_INCLUDE_DIRS}
   ${PCL_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
-  ${Iridescence_INCLUDE_DIRS}
 )
 target_link_libraries(direct_visual_lidar_calibration
   fmt
@@ -81,7 +80,7 @@ target_link_libraries(direct_visual_lidar_calibration
   ${CERES_LIBRARIES}
   ${GTSAM_LIBRARIES}
   ${OpenCV_LIBRARIES}
-  ${Iridescence_LIBRARIES}
+  Iridescence::Iridescence
 )
 
 

diff --git a/cmake/FindIridescence.cmake b/cmake/FindIridescence.cmake
diff --git a/docker/humble/Dockerfile b/docker/humble/Dockerfile
@@ -8,13 +8,16 @@ RUN apt-fast update \
 
 WORKDIR /root
 RUN git clone https://github.com/ceres-solver/ceres-solver \
-  && mkdir ceres-solver/build \
-  && cd ceres-solver/build \
+  && cd ceres-solver \
+  && git checkout e47a42c2957951c9fafcca9995d9927e15557069 \
+  && mkdir build \
+  && cd build \
   && cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF \
   && make -j$(nproc) \
   && make install \
   && rm -rf /root/ceres-solver
 
+
 COPY . /root/ros2_ws/src/direct_visual_lidar_calibration
 
 WORKDIR /root/ros2_ws

diff --git a/docker/humble/Dockerfile_with_superglue b/docker/humble/Dockerfile_with_superglue
@@ -8,13 +8,16 @@ RUN apt-fast update \
 
 WORKDIR /root
 RUN git clone https://github.com/ceres-solver/ceres-solver \
-  && mkdir ceres-solver/build \
-  && cd ceres-solver/build \
+  && cd ceres-solver \
+  && git checkout e47a42c2957951c9fafcca9995d9927e15557069 \
+  && mkdir build \
+  && cd build \
   && cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF \
   && make -j$(nproc) \
   && make install \
   && rm -rf /root/ceres-solver
 
+
 COPY . /root/ros2_ws/src/direct_visual_lidar_calibration
 
 WORKDIR /root/ros2_ws

diff --git a/docker/jazzy/Dockerfile b/docker/jazzy/Dockerfile
@@ -12,10 +12,12 @@ RUN apt-fast update \
   && apt-fast clean \
   && rm -rf /var/lib/apt/lists/*
 
-  WORKDIR /root
+WORKDIR /root
 RUN git clone https://github.com/ceres-solver/ceres-solver \
-  && mkdir ceres-solver/build \
-  && cd ceres-solver/build \
+  && cd ceres-solver \
+  && git checkout e47a42c2957951c9fafcca9995d9927e15557069 \
+  && mkdir build \
+  && cd build \
   && cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF \
   && make -j$(nproc) \
   && make install \

diff --git a/docker/jazzy/Dockerfile_with_superglue b/docker/jazzy/Dockerfile_with_superglue
@@ -8,8 +8,10 @@ RUN apt-fast update \
 
 WORKDIR /root
 RUN git clone https://github.com/ceres-solver/ceres-solver \
-  && mkdir ceres-solver/build \
-  && cd ceres-solver/build \
+  && cd ceres-solver \
+  && git checkout e47a42c2957951c9fafcca9995d9927e15557069 \
+  && mkdir build \
+  && cd build \
   && cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF \
   && make -j$(nproc) \
   && make install \

diff --git a/docker/noetic/Dockerfile b/docker/noetic/Dockerfile
@@ -8,13 +8,24 @@ RUN apt-fast update \
 
 WORKDIR /root
 RUN git clone https://github.com/ceres-solver/ceres-solver \
-  && mkdir ceres-solver/build \
-  && cd ceres-solver/build \
+  && cd ceres-solver \
+  && git checkout e47a42c2957951c9fafcca9995d9927e15557069 \
+  && mkdir build \
+  && cd build \
   && cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF \
   && make -j$(nproc) \
   && make install \
   && rm -rf /root/ceres-solver
 
+RUN test -f /usr/share/doc/kitware-archive-keyring/copyright || wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null 
+RUN echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | tee /etc/apt/sources.list.d/kitware.list >/dev/null
+RUN echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal-rc main' | tee -a /etc/apt/sources.list.d/kitware.list >/dev/null
+
+RUN apt-get update \
+  && apt-get upgrade -y \
+  && apt-fast clean \
+  && rm -rf /var/lib/apt/lists/*
+
 COPY . /root/catkin_ws/src/direct_visual_lidar_calibration
 
 WORKDIR /root/catkin_ws

diff --git a/docker/noetic/Dockerfile_with_superglue b/docker/noetic/Dockerfile_with_superglue
@@ -8,8 +8,10 @@ RUN apt-fast update \
 
 WORKDIR /root
 RUN git clone https://github.com/ceres-solver/ceres-solver \
-  && mkdir ceres-solver/build \
-  && cd ceres-solver/build \
+  && cd ceres-solver \
+  && git checkout e47a42c2957951c9fafcca9995d9927e15557069 \
+  && mkdir build \
+  && cd build \
   && cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF \
   && make -j$(nproc) \
   && make install \

diff --git a/docs/installation.md b/docs/installation.md
@@ -3,6 +3,9 @@
 !!!note
     We provide docker images so that the user can do calibration without installation: [Docker images](docker.md)
 
+!!!warn
+    On Ubuntu 20.04, [install a newer cmake](https://apt.kitware.com/).
+
 ## Dependencies
 
 - [ROS1/ROS2](https://www.ros.org/)
@@ -32,9 +35,10 @@ make -j$(nproc)
 sudo make install
 
 # Install Ceres
-# git clone https://github.com/ceres-solver/ceres-solver
 git clone --recurse-submodules https://github.com/ceres-solver/ceres-solver
-mkdir ceres-solver/build && cd ceres-solver/build
+cd ceres-solver
+git checkout e47a42c2957951c9fafcca9995d9927e15557069
+mkdir build && cd build
 cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF
 make -j$(nproc)
 sudo make install