2020-06-09 21:15:54 -04:00
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# Image: introlab3it/rtabmap:focal
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2023-06-19 15:17:02 -07:00
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FROM introlab3it/rtabmap:focal-deps
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2020-06-09 21:15:54 -04:00
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2023-05-07 18:41:44 -07:00
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# Will be used to read/store databases on host
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2023-06-19 15:17:02 -07:00
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RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
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2021-10-16 18:14:24 -04:00
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2022-05-28 16:11:52 -04:00
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# Copy current source code
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COPY . /root/rtabmap
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2020-06-09 21:15:54 -04:00
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2026-09-21 19:22:11 -07:00
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ARG RUN_TESTS=0
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2020-06-09 21:15:54 -04:00
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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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2026-09-21 19:22:11 -07:00
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cmake -DWITH_ALICE_VISION=ON -DWITH_OPENGV=ON -DBUILD_TESTING=$RUN_TESTS .. && \
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2025-06-01 18:36:36 -07:00
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make -j4 && \
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2026-09-21 19:22:11 -07:00
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if [ "$RUN_TESTS" = "1" ]; then ctest --output-on-failure -LE "long|performance"; fi && \
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2020-06-09 21:15:54 -04:00
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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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