RobotVision CMake refactor + Tracker service introduction #817
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…ent lambda to keep RobotVision warning‑free under modern C++ standards without changing behavior.
![github-advanced-security[bot]](https://avatars.githubusercontent.com/in/57789?s=60&v=4){kind=small}
jdanieck
changed the title
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Pull request overview
This PR modernizes RobotVision's CMake configuration by replacing deprecated C++ constructs, introducing per-target C++ standard settings, and creating a new Tracker service that consumes RobotVision as a library dependency.
Key changes:
- Refactored CMake to use
CMAKE_CURRENT_SOURCE_DIRfor subproject compatibility and introducedBUILD_PYTHON_BINDINGSoption - Replaced deprecated
std::bind1stwith lambda expression for modern C++ compliance - Introduced per-target C++ standard configuration (
RV_CXX_STANDARD) with C++17 default for RobotVision - Created reusable
scenescape::security_optionsINTERFACE target for consistent security hardening - Added new Tracker service with its own C++20 standard that integrates RobotVision as a library
Reviewed changes
Copilot reviewed 11 out of 11 changed files in this pull request and generated no comments.
Show a summary per file
| File | Description |
|---|---|
| tracker/src/main.cpp | New minimal tracker application demonstrating RobotVision integration |
| tracker/Makefile | Build automation for tracker service including Docker targets |
| tracker/Dockerfile | Multi-stage Docker build for tracker with distroless runtime |
| tracker/CMakeLists.txt | Tracker CMake configuration consuming RobotVision with C++20 |
| controller/src/robot_vision/test/CMakeLists.txt | Updated test configuration to use per-target C++ standard and new security target |
| controller/src/robot_vision/include/rv/apollo/gated_hungarian_bigraph_matcher.hpp | Replaced deprecated std::bind1st with lambda |
| controller/src/robot_vision/cmake/security_options.cmake | New module encapsulating security compiler/linker flags |
| controller/src/robot_vision/cmake/opencv.cmake | New module normalizing OpenCV target interface |
| controller/src/robot_vision/benchmarks/CMakeLists.txt | Updated benchmark configuration for per-target standards |
| controller/src/robot_vision/Makefile | Added cpp-tests target for C++ test execution |
| controller/src/robot_vision/CMakeLists.txt | Major refactor replacing global settings with per-target configuration |
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15 tasks
saratpoluri
reviewed
Jan 5, 2026
| # Collect all runtime library dependencies for the tracker binary | ||
| RUN mkdir -p /scenescape/runtime-libs | ||
| WORKDIR /scenescape/runtime-libs | ||
| RUN ldd /scenescape/tracker/build/tracker \ |
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Can you make sure that the intermediate build binaries are not copied and only the runtime lib files are copied? alternative is to create a deb package and dpkg install in the runtime stage.
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The current implementation already ensures only runtime shared libraries are copied, not intermediate build artifacts. Here's the step-by-step breakdown with actual output from the build:
How the pipeline works
ldd /scenescape/tracker/build/tracker \
| awk '{print $3}' \
| grep '^/' \
| xargs -I '{}' cp -v '{}' .Step 1: ldd — list all runtime dependencies
$ ldd /scenescape/tracker/build/tracker
linux-vdso.so.1 (0x00007ffff7fc5000)
libRobotVision.so => /scenescape/tracker/build/robot_vision/libRobotVision.so (0x00007ffff7f6e000)
libopencv_core.so.410 => /lib/x86_64-linux-gnu/libopencv_core.so.410 (0x00007ffff7b90000)
libstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007ffff792a000)
libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007ffff78fd000)
libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007ffff7708000)
libopencv_tracking.so.410 => /lib/x86_64-linux-gnu/libopencv_tracking.so.410 (0x00007ffff7516000)
libopencv_calib3d.so.410 => /lib/x86_64-linux-gnu/libopencv_calib3d.so.410 (0x00007ffff72b4000)
libgomp.so.1 => /lib/x86_64-linux-gnu/libgomp.so.1 (0x00007ffff725f000)
libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007ffff716f000)
libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007ffff714f000)
libGLX.so.0 => /lib/x86_64-linux-gnu/libGLX.so.0 (0x00007ffff7119000)
liblapack.so.3 => /lib/x86_64-linux-gnu/liblapack.so.3 (0x00007ffff69e0000)
libblas.so.3 => /lib/x86_64-linux-gnu/libblas.so.3 (0x00007ffff695f000)
libtbb.so.12 => /lib/x86_64-linux-gnu/libtbb.so.12 (0x00007ffff6907000)
/lib64/ld-linux-x86-64.so.2 (0x00007ffff7fc7000)
libopencv_video.so.410 => /lib/x86_64-linux-gnu/libopencv_video.so.410 (0x00007ffff6880000)
libopencv_imgproc.so.410 => /lib/x86_64-linux-gnu/libopencv_imgproc.so.410 (0x00007ffff62ad000)
libopencv_features2d.so.410 => /lib/x86_64-linux-gnu/libopencv_features2d.so.410 (0x00007ffff61db000)
libopencv_flann.so.410 => /lib/x86_64-linux-gnu/libopencv_flann.so.410 (0x00007ffff6169000)
libGLdispatch.so.0 => /lib/x86_64-linux-gnu/libGLdispatch.so.0 (0x00007ffff60b0000)
libX11.so.6 => /lib/x86_64-linux-gnu/libX11.so.6 (0x00007ffff5f68000)
libopenblas.so.0 => /lib/x86_64-linux-gnu/libopenblas.so.0 (0x00007ffff3988000)
libgfortran.so.5 => /lib/x86_64-linux-gnu/libgfortran.so.5 (0x00007ffff3684000)
libopencv_dnn.so.410 => /lib/x86_64-linux-gnu/libopencv_dnn.so.410 (0x00007ffff314e000)
libxcb.so.1 => /lib/x86_64-linux-gnu/libxcb.so.1 (0x00007ffff3123000)
libprotobuf.so.32 => /lib/x86_64-linux-gnu/libprotobuf.so.32 (0x00007ffff2dc6000)
libXau.so.6 => /lib/x86_64-linux-gnu/libXau.so.6 (0x00007ffff5f61000)
libXdmcp.so.6 => /lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007ffff2dbc000)
Step 2: awk '{print $3}' — extract library paths (3rd column)
/scenescape/tracker/build/robot_vision/libRobotVision.so
/lib/x86_64-linux-gnu/libopencv_core.so.410
/lib/x86_64-linux-gnu/libstdc++.so.6
/lib/x86_64-linux-gnu/libgcc_s.so.1
/lib/x86_64-linux-gnu/libc.so.6
/lib/x86_64-linux-gnu/libopencv_tracking.so.410
/lib/x86_64-linux-gnu/libopencv_calib3d.so.410
/lib/x86_64-linux-gnu/libgomp.so.1
/lib/x86_64-linux-gnu/libm.so.6
/lib/x86_64-linux-gnu/libz.so.1
/lib/x86_64-linux-gnu/libGLX.so.0
/lib/x86_64-linux-gnu/liblapack.so.3
/lib/x86_64-linux-gnu/libblas.so.3
/lib/x86_64-linux-gnu/libtbb.so.12
/lib/x86_64-linux-gnu/libopencv_video.so.410
/lib/x86_64-linux-gnu/libopencv_imgproc.so.410
/lib/x86_64-linux-gnu/libopencv_features2d.so.410
/lib/x86_64-linux-gnu/libopencv_flann.so.410
/lib/x86_64-linux-gnu/libGLdispatch.so.0
/lib/x86_64-linux-gnu/libX11.so.6
/lib/x86_64-linux-gnu/libopenblas.so.0
/lib/x86_64-linux-gnu/libgfortran.so.5
/lib/x86_64-linux-gnu/libopencv_dnn.so.410
/lib/x86_64-linux-gnu/libxcb.so.1
/lib/x86_64-linux-gnu/libprotobuf.so.32
/lib/x86_64-linux-gnu/libXau.so.6
/lib/x86_64-linux-gnu/libXdmcp.so.6
Step 3: grep '^/' — filter to absolute paths only
This removes virtual entries like linux-vdso.so.1 which have no filesystem path.
Step 4: xargs ... cp -v — copy only these .so files
'/scenescape/tracker/build/robot_vision/libRobotVision.so' -> './libRobotVision.so'
'/lib/x86_64-linux-gnu/libopencv_core.so.410' -> './libopencv_core.so.410'
'/lib/x86_64-linux-gnu/libstdc++.so.6' -> './libstdc++.so.6'
'/lib/x86_64-linux-gnu/libgcc_s.so.1' -> './libgcc_s.so.1'
'/lib/x86_64-linux-gnu/libc.so.6' -> './libc.so.6'
'/lib/x86_64-linux-gnu/libopencv_tracking.so.410' -> './libopencv_tracking.so.410'
'/lib/x86_64-linux-gnu/libopencv_calib3d.so.410' -> './libopencv_calib3d.so.410'
'/lib/x86_64-linux-gnu/libgomp.so.1' -> './libgomp.so.1'
'/lib/x86_64-linux-gnu/libm.so.6' -> './libm.so.6'
'/lib/x86_64-linux-gnu/libz.so.1' -> './libz.so.1'
'/lib/x86_64-linux-gnu/libGLX.so.0' -> './libGLX.so.0'
'/lib/x86_64-linux-gnu/liblapack.so.3' -> './liblapack.so.3'
'/lib/x86_64-linux-gnu/libblas.so.3' -> './libblas.so.3'
'/lib/x86_64-linux-gnu/libtbb.so.12' -> './libtbb.so.12'
'/lib/x86_64-linux-gnu/libopencv_video.so.410' -> './libopencv_video.so.410'
'/lib/x86_64-linux-gnu/libopencv_imgproc.so.410' -> './libopencv_imgproc.so.410'
'/lib/x86_64-linux-gnu/libopencv_features2d.so.410' -> './libopencv_features2d.so.410'
'/lib/x86_64-linux-gnu/libopencv_flann.so.410' -> './libopencv_flann.so.410'
'/lib/x86_64-linux-gnu/libGLdispatch.so.0' -> './libGLdispatch.so.0'
'/lib/x86_64-linux-gnu/libX11.so.6' -> './libX11.so.6'
'/lib/x86_64-linux-gnu/libopenblas.so.0' -> './libopenblas.so.0'
'/lib/x86_64-linux-gnu/libgfortran.so.5' -> './libgfortran.so.5'
'/lib/x86_64-linux-gnu/libopencv_dnn.so.410' -> './libopencv_dnn.so.410'
'/lib/x86_64-linux-gnu/libxcb.so.1' -> './libxcb.so.1'
'/lib/x86_64-linux-gnu/libprotobuf.so.32' -> './libprotobuf.so.32'
'/lib/x86_64-linux-gnu/libXau.so.6' -> './libXau.so.6'
'/lib/x86_64-linux-gnu/libXdmcp.so.6' -> './libXdmcp.so.6'
Final result: files in /scenescape/runtime-libs
total 82888
-rw-r--r-- 1 root root 141744 libGLX.so.0
-rw-r--r-- 1 root root 723248 libGLdispatch.so.0
-rwxr-xr-x 1 root root 357072 libRobotVision.so
-rw-r--r-- 1 root root 1342984 libX11.so.6
-rw-r--r-- 1 root root 14472 libXau.so.6
-rw-r--r-- 1 root root 26728 libXdmcp.so.6
-rw-r--r-- 1 root root 522656 libblas.so.3
-rwxr-xr-x 1 root root 1999312 libc.so.6
-rw-r--r-- 1 root root 182856 libgcc_s.so.1
-rw-r--r-- 1 root root 3157224 libgfortran.so.5
-rw-r--r-- 1 root root 348056 libgomp.so.1
-rw-r--r-- 1 root root 7572240 liblapack.so.3
-rw-r--r-- 1 root root 977112 libm.so.6
-rw-r--r-- 1 root root 39608152 libopenblas.so.0
-rw-r--r-- 1 root root 2496832 libopencv_calib3d.so.410
-rw-r--r-- 1 root root 3971840 libopencv_core.so.410
-rw-r--r-- 1 root root 5457000 libopencv_dnn.so.410
-rw-r--r-- 1 root root 846080 libopencv_features2d.so.410
-rw-r--r-- 1 root root 461392 libopencv_flann.so.410
-rw-r--r-- 1 root root 5450368 libopencv_imgproc.so.410
-rw-r--r-- 1 root root 2030752 libopencv_tracking.so.410
-rw-r--r-- 1 root root 547136 libopencv_video.so.410
-rw-r--r-- 1 root root 3524496 libprotobuf.so.32
-rw-r--r-- 1 root root 2497768 libstdc++.so.6
-rw-r--r-- 1 root root 268800 libtbb.so.12
-rw-r--r-- 1 root root 170936 libxcb.so.1
-rw-r--r-- 1 root root 125376 libz.so.1
What is NOT copied
| Artifact | Reason |
|---|---|
.o object files |
Not linked into final binary, ldd doesn't see them |
.a static archives |
Already linked, not runtime deps |
| CMake cache/build files | Not libraries, ldd ignores them |
Headers (.h, .hpp) |
Not executables or libraries |
| Source files | Not in ldd output |
Why not a .deb package?
The runtime stage uses distroless/cc-debian13 which doesn't include dpkg or any package manager. The ldd + copy approach is the standard pattern for distroless images — it's essentially a manual "shrink-wrap" of runtime dependencies without adding packaging complexity.
Summary
Only 27 shared library files (all .so files) totaling ~83MB are copied to the runtime image. No intermediate build artifacts (object files, CMake files, headers, etc.) are included.
saratpoluri
approved these changes
Jan 5, 2026
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📝 Description
This PR modernizes RobotVision’s CMake configuration around per‑target C++ standards and shared helpers, and introduces a new minimal Tracker service that consumes the RobotVision library via the updated targets.
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