Add Dockerfile and its scripts

Dockerfile

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+FROM nvidia/cuda:8.0-devel-ubuntu14.04
+
+# This Dockerfile attempts to run ORB_VIO
+# Prerequisite:
+# Currently, I could not find any easier method to manage GUI with Docker.
+# 0. nvidia graphic card to handle GUI (X11 and OpenGL context) using nvidia's Docker image
+# 1. Install docker and nvidia-docker
+# https://github.com/NVIDIA/nvidia-docker
+# 2. Modify ORB_VIO part in build.sh
+# It would look like this:
+# rosdep update
+# source /opt/ros/$ROS_DISTRO/setup.bash
+# export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/${DOCKER_USER}/LearnVIORB/VIORB/Examples/ROS/ORB_VIO
+# echo $ROS_PACKAGE_PATH
+# cd Examples/ROS/ORB_VIO
+# mkdir -p build
+# cd build
+# ..
+# 3. Edit config/euroc.yaml
+# E.g. test.InitVIOTmpPath: "/home/yourname/opensourcecode/OpenSourceORBVIO/tmp/"
+# bagfile: "/home/yourname/LearnVIORB/dataset/V1_01_easy.bag"
+# 4. You should have V1_01_easy.bag and mav0 under LearnVIORB directory
+# 5. Run docker build . -t viorb
+# 6. Then run ./run_docker.sh
+# 7. I tried to make rosbag run automatically, but it still does not work.
+# Here you need to run it manually. Open a new terminal and run
+# docker ps (to get container id)
+# docker exec -it <container_id> /bin/bash
+# cd LearnVIORB
+# ./run_rosbag
+
+# set your username, uid, and gid
+# you can run id command to get uid and gid
+# from your host machine
+# username also should be the same as your host machine
+ENV DOCKER_USER=your_username
+ENV UID=1002
+ENV GID=1003
+
+ENV ROS_DISTRO indigo
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+ENV APP "glxgears"
+
+RUN apt-key adv --keyserver hkp://p80.pool.sks-keyservers.net:80 --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116
+RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list
+RUN apt-get -qq update && \
+    apt-get -qq upgrade -y
+RUN DEBIAN_FRONTEND=noninteractive apt-get install -y \
+    mesa-utils \
+    google-perftools \
+    libgoogle-perftools-dev \
+    sudo \
+    libglew-dev \
+    cmake \
+    libpython2.7-dev \
+    libav-tools \
+    libavcodec-dev \
+    libavutil-dev \ 
+    libavformat-dev \
+    libswscale-dev \
+    libjpeg-dev \ 
+    libpng12-dev \
+    libtiff5-dev \
+    libopenexr-dev \
+    git-core \
+    libusb-1.0-0-dev \
+    libblas-dev \
+    liblapack-dev \
+    qt5-default \
+    libsuitesparse-dev \
+    libboost-all-dev \
+    build-essential \
+    cmake \
+    wget \
+    unzip \
+    git \
+    libgtk2.0-dev \
+    pkg-config \
+    libavcodec-dev \
+    libavformat-dev \
+    libswscale-dev \
+    python-dev \
+    python-numpy \
+    libtbb2 \
+    libtbb-dev \
+    libjpeg-dev \
+    libpng-dev \
+    libtiff-dev \
+    libjasper-dev \
+    libdc1394-22-dev \
+    libcanberra-gtk-module \
+    libdc1394-22 \
+    python-rosdep \
+    python-rosinstall \
+    python-vcstools \
+    ros-indigo-desktop-full
+
+RUN rosdep init \
+    && rosdep update
+
+RUN groupadd --gid ${GID} ${DOCKER_USER}
+RUN export uid=${UID} gid=${GID} && \
+    mkdir -p /home/${DOCKER_USER} && \
+    echo "${DOCKER_USER}:x:${uid}:${gid}:Teera,,,:/home/${DOCKER_USER}:/bin/bash" >> /etc/passwd && \
+    echo "${DOCKER_USER}:x:${uid}:" >> /etc/group
+
+RUN echo "${DOCKER_USER} ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/${DOCKER_USER} && \
+    chmod 0440 /etc/sudoers.d/${DOCKER_USER} && \
+    chown ${uid}:${gid} -R /home/${DOCKER_USER}
+
+RUN wget https://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.4.13/opencv-2.4.13.zip && \
+    unzip opencv-2.4.13.zip && \
+    cd opencv-2.4.13/ && \
+    mkdir build && \
+    cd build && \
+    cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_PYTHON_SUPPORT=ON -D WITH_XINE=ON -D WITH_TBB=ON .. && \
+    make -j$(nproc) && make install -j$(nproc) && \
+    cd ../.. && \
+    rm opencv-2.4.13.zip
+
+RUN git clone https://github.com/ktossell/libuvc && \
+    cd libuvc && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make && \
+    make install
+
+RUN git clone https://github.com/stevenlovegrove/Pangolin.git && \
+    cd Pangolin && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make install
+
+RUN wget http://bitbucket.org/eigen/eigen/get/3.2.10.zip && \
+    unzip 3.2.10.zip && \
+    cd eigen-eigen-b9cd8366d4e8 && \
+    mkdir builddir && \
+    cd builddir && \
+    cmake .. && \
+    make && \
+    make install
+
+RUN ln -s /usr/local/cuda/lib64/libcudart.so /usr/lib/libcudart.so
+RUN ln -s /usr/local/cuda/lib64/libcudart.a /usr/lib/libcudart.a
+RUN ln -s /usr/local/cuda/lib64/libcudart.so /usr/lib/libopencv_dep_cudart.so
+
+ADD . /home/${DOCKER_USER}/LearnVIORB
+ENV ROS_PACKAGE_PATH /home/${DOCKER_USER}/LearnVIORB/Examples/ROS/ORB_VIO
+RUN ln -s /home/${DOCKER_USER}/LearnVIORB/Examples/ROS/ORB_VIO /opt/ros/${ROS_DISTRO}/share/ORB_VIO
+RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash ;\
+                  cd /home/${DOCKER_USER}/LearnVIORB ;\
+                  ./build.sh"
+
+USER ${DOCKER_USER}
+ENV HOME /home/${DOCKER_USER}
+WORKDIR /home/${DOCKER_USER}
+RUN sudo chown ${UID}:${GID} -R /home/${DOCKER_USER}
+
+ADD run_rosbag /home/${DOCKER_USER}/run_rosbag
+ADD run /home/${DOCKER_USER}/run
+CMD /home/${DOCKER_USER}/run

run

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+ #!/bin/bash
+
+/bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash ; export ROS_PACKAGE_PATH=/opt/ros/indigo/share:/opt/ros/indigo/stacks:/home/${DOCKER_USER}/LearnVIORB/VIORB/Examples/ROS/ORB_VIO ; cd LearnVIORB ; ln -s /dev/null /dev/raw1394;  nohup run_rosbag &"
+/bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash ; export ROS_PACKAGE_PATH=/opt/ros/indigo/share:/opt/ros/indigo/stacks:/home/${DOCKER_USER}/LearnVIORB/VIORB/Examples/ROS/ORB_VIO ; cd LearnVIORB ; /opt/ros/indigo/bin/roslaunch Examples/ROS/ORB_VIO/launch/testeuroc.launch"

run_docker.sh

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+nvidia-docker run -ti --rm \
+       -e DISPLAY=$DISPLAY \
+       -v /tmp/.X11-unix:/tmp/.X11-unix \
+       viorb

run_rosbag

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+#!/bin/bash
+
+/bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash ; export ROS_PACKAGE_PATH=/opt/ros/indigo/share:/opt/ros/indigo/stacks:/home/${DOCKER_USER}/LearnVIORB/VIORB/Examples/ROS/ORB_VIO; sleep 3; rosbag play V1_01_easy.bag"