# desktop includes everything, excluding the 'perception' variant, which would install PCL 1.7 related packages
FROM osrf/ros:indigo-desktop


# install PCL prerequisites
RUN echo "deb http://ppa.launchpad.net/v-launchpad-jochen-sprickerhof-de/pcl/ubuntu trusty main" >> /etc/apt/sources.list.d/jochen-pcl.list && \
    apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 19274DEF && \
    apt-get update && \
    apt-get install -y --no-install-recommends \
      libeigen3-dev \
      libflann-dev \
      libboost-all-dev \
      libopenni-dev \
      libopenni2-dev \
    && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*


# install other deps
RUN apt-get update && apt-get install -y --no-install-recommends \
  build-essential \
  cmake \
  cmake-gui \
  doxygen   \
  freeglut3-dev \
  g++ \
  git-core \
  graphviz \
  less \
  libboost-all-dev \
  libeigen3-dev \
  libflann-dev \
  libflann1.8 \
  libgtest-dev \
  libqhull* \
  libusb-1.0-0-dev \
  libusb-dev \
  libvtk5-dev \
  libvtk5-qt4-dev \
  libvtk5.8 \
  libvtk5.8-qt4 \
  libvtk-java \
  libxi-dev \
  libxmu-dev \
  mono-complete \
  mpi-default-dev \
  nano \
  openmpi-bin \
  openmpi-common   \
  phonon-backend-gstreamer \
  phonon-backend-vlc \
  pkg-config \
  python-catkin-tools \
  python-vtk \
  software-properties-common \
  tcl-vtk \
  wget \
  && \
  apt-get clean && \
  rm -rf /var/lib/apt/lists/*


ENV PCL_ROOT=/tmp/pcl-1.8.0-build

WORKDIR $PCL_ROOT
RUN git clone https://github.com/PointCloudLibrary/pcl.git . && \
    git checkout pcl-1.8.0

WORKDIR $PCL_ROOT/build
RUN cmake \
      -DCMAKE_BUILD_TYPE=RelWithDebInfo \
      -DBUILD_examples=OFF \
      -DBUILD_global_tests=OFF \
      -DBUILD_simulation=OFF \
      -DBUILD_surface_on_nurbs=OFF \
      .. \
    && \
    make -j28 && \
    make install && \
    rm -rf $PCL_ROOT


# continue with ROS underlay workspace for perception_pcl
ENV UNDERLAY_ROOT=/opt/perception_pcl_ws
WORKDIR $UNDERLAY_ROOT/src

RUN git clone -b indigo-devel https://github.com/ros-perception/perception_pcl.git && \
    git clone -b indigo-devel https://github.com/ros-perception/pcl_msgs.git && \
    git clone -b indigo-devel https://github.com/ros-perception/pcl_conversions.git && \
    cd $UNDERLAY_ROOT && \
    rosdep update && \
    apt-get update && \
    rosdep install --from-paths src --ignore-src -y --skip-keys="libpcl-all-dev libpcl-all" --rosdistro=indigo && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/* && \
    bash -c "source /opt/ros/indigo/setup.bash && \
      catkin config --init --install && \
      catkin build --summarize --no-status && \
      catkin clean --logs --build --devel -y"