mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
82 lines
2.4 KiB
Docker
82 lines
2.4 KiB
Docker
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# Image: introlab3it/rtabmap:jammy
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FROM osrf/ros:humble-desktop
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# Install build dependencies
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RUN apt-get update && \
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apt-get install -y git software-properties-common ros-humble-rtabmap-ros && \
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apt-get remove -y ros-humble-rtabmap
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WORKDIR /root/
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# PDAL
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RUN apt-get install -y libpdal-dev
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# RealSense2
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RUN apt-get install -y ros-humble-librealsense2
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ARG TARGETPLATFORM
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ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
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RUN echo "I am building for $TARGETPLATFORM"
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ENV DEBIAN_FRONTEND=noninteractive
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# libfreenect2
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
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apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
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git clone https://github.com/OpenKinect/libfreenect2 && \
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cd libfreenect2 && \
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mkdir build && \
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cd build && \
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cmake .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r libfreenect2; fi
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# zed open capture
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
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apt-get update && apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
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git clone https://github.com/stereolabs/zed-open-capture.git && \
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cd zed-open-capture && \
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mkdir build && \
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cd build && \
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cmake .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r zed-open-capture; fi
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#commit Aug 6 2020
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RUN apt-get update && apt install wget
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RUN git clone https://github.com/laurentkneip/opengv.git && \
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cd opengv && \
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git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
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wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
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git apply opengv_disable_march_native.patch && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r opengv
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RUN rm /bin/sh && ln -s /bin/bash /bin/sh
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# Copy current source code
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COPY . /root/rtabmap
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ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/humble/lib/x86_64-linux-gnu
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# Build RTAB-Map project
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RUN source /ros_entrypoint.sh && \
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cd rtabmap/build && \
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cmake -DWITH_OPENGV=ON .. && \
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make -j$(nproc) && \
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make install && \
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cd ../.. && \
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rm -rf rtabmap && \
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ldconfig
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