Set up Assignment 01-introduction

.dockerignore

@@ -0,0 +1,3 @@
+doc
+ubuntu-setup
+workspace

.gitignore

@@ -0,0 +1 @@
+.vscode

README.md

@@ -1,20 +1,30 @@
-# 基于激光的多传感器融合定位与建图
+# Multi-Sensor Fusion for Localization & Mapping -- 多传感器融合定位与建图
 
-深蓝学院[多传感器融合定位/Sensor Fusion](https://www.shenlanxueyuan.com/my/course/261)学习环境.
+深蓝学院[多传感器融合定位与建图/Multi-Sensor Fusion for Localization & Mapping](https://www.shenlanxueyuan.com/course/324)学习环境.
+
+Maintained by **Ge Yao**, [email protected]
 
 ---
 
 ## Overview
 
-本Repo为基于**ROS melodic** @ **Ubuntu 18.04**的[多传感器融合定位/Sensor Fusion](https://www.shenlanxueyuan.com/my/course/261)学习环境. 
+本Repo为基于**ROS melodic** @ **Ubuntu 18.04**的[多传感器融合定位与建图/Multi-Sensor Fusion for Localization & Mapping](https://www.shenlanxueyuan.com/course/324)学习环境. 
+
+定位与建图是一个复杂的工程. **每一个解决方案, 都有较为复杂的环境依赖**. 然而:
+
+* 部分依赖项由于网络原因(Great Fire Wall & Server IP Block)难以直接获得
+
+* 由于课程依赖项的版本, 与本地现有依赖项的版本, 可能有所不同, 直接冒然安装, 可能会导致本地开发环境被破坏
+
+故: 本课程的学习环境将以**Docker Image**的形式提供, 以实现与Native PC环境的隔离. 
 
-为了节约安装配置的时间:
+* 本项目Native PC的操作系统选择**Ubuntu**. Windows与Mac不推荐使用, 若有意尝试, 请自行搜索相关解决方案.
 
-* 部分依赖项由于网络原因难以取得
 
-* 新依赖的引入可能会导致与本地依赖的冲突
+**若您坚持在Native PC上进行开发**, 此处**将默认您有足够的定位&建图开发环境运维经验, 能够自定义开发环境, 并且自主解决由于环境依赖冲突导致的各种问题**. 请您
 
-上述环境将以**Docker Image**的形式提供, 实现与Native PC环境的隔离. 本项目Native PC的操作系统选择**Ubuntu**. Windows与Mac不推荐使用, 若有意尝试, 请自行搜索相关解决方案.
+* 根据Dockerfile[here](docker/cpu.Dockerfile)自行准备开发环境
+* 熟悉其中的各个依赖库, 有能力在出现依赖问题时, 自行查询相关资料, 修复依赖冲突
 
 ---
 
@@ -26,15 +36,15 @@
 
 ### 获取Docker开发环境
 
-本课程推荐使用官方Docker环境[点击链接进入](docker/README.md)完成课程学习. Docker提供了一个轻量级的标准化开发环境, 能够避免环境配置差异导致的诸多问题.
+本课程推荐使用配套的Docker环境[点击链接进入](docker/README.md)完成课程学习. Docker提供了一个轻量级的标准化开发环境, 能够避免环境配置差异导致的诸多问题.
 
 ---
 
 ### Workspace
 
 当Native PC与Course Docker Environment均准备就绪时, 即可开始使用本开发环境:
 
-* 第一次使用时, 请首先下载课程配套的KITTI测试数据.
+* **第一次使用时, 请首先下载课程配套的KITTI测试数据**[here](workspace/data/kitti/README.md).
 
 * 之后, 即可通过**本地VSCode开发, Docker内部编译测试**的模式, 完成课程作业.
 
@@ -52,7 +62,7 @@
 
 <img src="doc/development-environment.png" alt="Development Environment, Native VS Code in Mounting Point" width="100%">
 
-* 在**Docker /workspace**下, 进行编译. 具体的编译方法, 请参考[作业0 Hello, KITTI](workspace/assignments/00-hello-kitti/README.md)
+* 在**Docker /workspace**下, 进行编译. 具体的编译方法, 请参考[作业1 环境搭建](workspace/assignments/01-introduction/README.md)
 
 
 ---

docker/.dockerignore

@@ -0,0 +1 @@
+doc

docker/cpu.Dockerfile

@@ -1,5 +1,9 @@
 FROM ubuntu:18.04
 
+# ------ powered by Ge Yao, [email protected] ------
+
+LABEL maintainer="[email protected]"
+
 # ------ USER ROOT HAS BEEN ACTIVATED ------
 
 # use root for dependency installation:
@@ -67,58 +71,66 @@ RUN apt-fast update --fix-missing && \
         git mercurial subversion \
         # daemon & services:
         supervisor nginx \
+        # dev. tools:
+        terminator \
+        firefox \
         # potential image & rich text IO:
+        libsdl1.2-dev libsdl-net1.2-dev libsdl-image1.2-dev \
         lxde \
+        gnome-themes-standard \
         xvfb dbus-x11 x11-utils libxext6 libsm6 x11vnc \
         gtk2-engines-pixbuf gtk2-engines-murrine pinta ttf-ubuntu-font-family \
         mesa-utils libgl1-mesa-dri libxrender1 \
+        gnuplot \
         texlive-latex-extra \
-        # c++:
+        #
+        # general development:
+        #
+        # a. c++:
         gcc g++ \
         make cmake build-essential autoconf automake libtool \
-        libglib2.0-dev libboost-dev libboost-all-dev libtbb-dev \
-        # python 2:
+        libglib2.0-dev libboost-dev libboost-all-dev \
+        libomp-dev libtbb-dev \
+        libgoogle-glog-dev \
+        # b. Python 2:
         python-pip python-dev python-tk \
-        # ROS melodic:
-        ros-melodic-desktop-full \
-        ros-melodic-rosbridge-server \
-        ros-melodic-tf2 ros-melodic-tf2-ros ros-melodic-tf2-sensor-msgs \
-        ros-melodic-teleop-twist-keyboard \
-        python-catkin-tools python-rosdep python-rosinstall python-rosinstall-generator python-wstool \
-        ninja-build \
-        # development common:
+        # c. lua:
         lua5.3 liblua5.3-dev libluabind-dev \
-        libgoogle-glog-dev \
-        libsdl1.2-dev \
-        libsdl-image1.2-dev \
-        ros-melodic-ecl-threads \
-        ros-melodic-rviz-visual-tools \
-        ros-melodic-plotjuggler \ 
+        # 
         # numerical optimization:
+        # 
         coinor-libcoinutils-dev \
         coinor-libcbc-dev \
         libeigen3-dev \
         gfortran \
         libopenblas-dev liblapack-dev \
         libdw-dev libatlas-base-dev libsuitesparse-dev \
+        libcholmod3 libcxsparse3 \
         libmetis-dev \
-        # graph optimization -- https://github.com/RainerKuemmerle/g2o
-        # a. visualization:
+        #
+        # 3D graphics:
+        #
+        freeglut3-dev \
         libqt4-dev libqt4-opengl-dev \
-        qt5-default qt5-qmake qtdeclarative5-dev libqglviewer-dev-qt5 \
-        # b. numerical optimization:
-        libcholmod3 libcxsparse3 \
+        qt5-default qt5-qmake \
+        qtdeclarative5-dev libqglviewer-dev-qt5 \
+        #
+        # ROS melodic:
+        # 
+        ros-melodic-desktop-full \
+        ros-melodic-ecl-threads \
+        ros-melodic-rosbridge-server \
+        ros-melodic-tf2 ros-melodic-tf2-ros ros-melodic-tf2-sensor-msgs \
+        ros-melodic-teleop-twist-keyboard \
+        ros-melodic-rviz-visual-tools \
+        ros-melodic-plotjuggler \ 
+        python-catkin-tools python-rosdep python-rosinstall python-rosinstall-generator python-wstool \
+        ninja-build \
         # imu:
         ros-melodic-imu-complementary-filter ros-melodic-imu-filter-madgwick ros-melodic-rviz-imu-plugin \
         # lidar:
         ros-melodic-laser-pipeline \
-        ros-melodic-perception-pcl \
-        # GUI tools:
-        freeglut3-dev \
-        gnuplot \
-        gnome-themes-standard \
-        terminator \
-        firefox && \
+        ros-melodic-perception-pcl && \
     apt-fast autoclean && \
     apt-fast autoremove && \
     rm -rf /var/lib/apt/lists/*

ubuntu-setup/README.md

@@ -6,11 +6,7 @@
 
 ## Overview
 
-本文档旨在提供Ubuntu操作系统Native安装配置指导, 支持某些对系统性能要求较高, 使用虚拟机无法满足性能要求的Linux开发工作，譬如:
-
-* Deep Learning
-
-* ROS Development
+本文档旨在提供Ubuntu操作系统Native安装配置指导, 支持某些对系统性能要求较高, 使用虚拟机无法满足性能要求的Linux开发工作
 
 ---
 

workspace/assignments/.gitignore

@@ -0,0 +1,2 @@
+image_based_modelling
+ImageBasedModellingEdu