# Ubuntu20.04
FROM ros:noetic

RUN apt-get update
RUN apt-get install -y iputils-ping unzip

COPY ./setup.bash ./setup.bash
RUN echo "source ./setup.bash" >> /root/.bashrc
RUN echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc

#RUN echo "Install OpenCV v4.2.0:" \
#    && set -x \
#    && apt-get update \
#    && apt-get install -y libopencv-dev python3-opencv \
#    && python3 -c "import cv2; print(cv2.__version__)"

RUN echo "Install OpenCV v4.5.3 Dependencies:" \
    && set -x \
    && apt-get update \
    && apt-get install -y cmake build-essential pkg-config ant \
    && apt-get install -y libtiff5-dev libopenexr-dev libwebp-dev libpng-dev \
    && apt-get install -y libdc1394-22-dev libavcodec-dev libavformat-dev libswscale-dev libavresample-dev libv4l-dev \
    && apt-get install -y libgtk-3-dev \
    && apt-get install -y libtesseract-dev \
    && apt-get install -y libhdf5-dev \
    && apt-get install -y libopenblas-dev libopenblas-base liblapacke-dev \
    && apt-get install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev \
    && apt-get install -y libtbb-dev \
    && apt-get install -y python-numpy \
    && echo "End."

COPY ./download/opencv-v4.5.3.zip /opt/opencv-v4.5.3.zip
COPY ./download/opencv-contrib-v4.5.3.zip /opt/opencv-contrib-v4.5.3.zip
RUN echo "Install OpenCV v4.5.3:" \
    && set -x \
    && unzip -o /opt/opencv-v4.5.3.zip -d /opt/ \
    && rm -f /opt/opencv-v4.5.3.zip \
    && unzip -o /opt/opencv-contrib-v4.5.3.zip -d /opt/ \
    && rm -f /opt/opencv-contrib-v4.5.3.zip \
    && sed -i '56a\\  /usr/include/aarch64-linux-gnu' /opt/opencv/cmake/OpenCVFindOpenBLAS.cmake \
    && sed -i '73a\\        /usr/lib/aarch64-linux-gnu' /opt/opencv/cmake/OpenCVFindOpenBLAS.cmake \
    && cat /opt/opencv/cmake/OpenCVFindOpenBLAS.cmake \
    && cd /opt/opencv \
    && mkdir build \
    && cd build \
    && cmake -D CMAKE_BUILD_TYPE=RELEASE \
        -D CMAKE_INSTALL_PREFIX=/usr/local \
        -D WITH_CUDA=OFF \
        -D INSTALL_PYTHON_EXAMPLES=ON \
        -D INSTALL_C_EXAMPLES=OFF \
        -D OPENCV_EXTRA_MODULES_PATH=/opt/opencv_contrib/modules \
        -D PYTHON_EXECUTABLE=/usr/bin/python \
        -D BUILD_opencv_python3=ON \
        -D PYTHON3_EXECUTABLE=/usr/bin/python3.6 \
        -D WITH_GSTREAMER=ON \
        -D WITH_TBB=ON \
        -D WITH_LIBV4L=ON .. \
        -D OPENCV_ENABLE_NONFREE=ON \
        -D WITH_PROTOBUF=ON \
        -D BUILD_EXAMPLES=ON .. \
    && make -j $(nproc) \
    && make install \
    && ldconfig \
    && echo "End."