rtabmap/docker/focal/Dockerfile

# Image: introlab3it/rtabmap:focal

FROM ros:noetic-perception

# Install build dependencies
RUN apt-get update && \
    apt-get install -y git software-properties-common ros-noetic-rtabmap-ros && \
    apt-get remove -y ros-noetic-rtabmap && \
    rm -rf /var/lib/apt/lists/

WORKDIR /root/

# GTSAM
RUN add-apt-repository ppa:borglab/gtsam-release-4.0 -y
RUN apt install libgtsam-dev libgtsam-unstable-dev -y

# libpointmatcher 
RUN git clone https://github.com/ethz-asl/libnabo.git
#commit Apr 25 2018
RUN cd libnabo && \
    git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release .. && \
    make -j$(nproc) && \
    make install && \
    cd && \
    rm -r libnabo
RUN git clone https://github.com/ethz-asl/libpointmatcher.git
#commit Jan 19 2018
RUN cd libpointmatcher && \
    git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release .. && \
    make -j$(nproc) && \
    make install && \
    cd && \
    rm -r libpointmatcher
    
# libfreenect2 
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev
RUN git clone https://github.com/OpenKinect/libfreenect2
RUN cd libfreenect2 && \
    mkdir build && \
    cd build && \
    cmake .. && \
    make -j$(nproc) && \
    make install && \
    cd && \
    rm -r libfreenect2
    
# RealSense2
RUN apt-get install -y ros-noetic-realsense2-camera

# Azure Kinect DK
# Taken from https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1190#issuecomment-822772494
# K4A binaries on 20.04 not released yet, we should take those from 18.04
RUN curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.3/libk4a1.3_1.3.0_amd64.deb > /tmp/libk4a1.3_1.3.0_amd64.deb
RUN curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.3-dev/libk4a1.3-dev_1.3.0_amd64.deb > /tmp/libk4a1.3-dev_1.3.0_amd64.deb
RUN curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.0/libk4abt1.0_1.0.0_amd64.deb > /tmp/libk4abt1.0_1.0.0_amd64.deb
RUN curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.0-dev/libk4abt1.0-dev_1.0.0_amd64.deb > /tmp/libk4abt1.0-dev_1.0.0_amd64.deb
RUN curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/k/k4a-tools/k4a-tools_1.3.0_amd64.deb > /tmp/k4a-tools_1.3.0_amd64.deb
RUN echo 'libk4a1.3 libk4a1.3/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections
RUN echo 'libk4abt1.0	libk4abt1.0/accepted-eula-hash	string	03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections
RUN dpkg -i /tmp/libk4a1.3_1.3.0_amd64.deb
RUN dpkg -i /tmp/libk4a1.3-dev_1.3.0_amd64.deb
RUN dpkg -i /tmp/libk4abt1.0_1.0.0_amd64.deb
RUN dpkg -i /tmp/libk4abt1.0-dev_1.0.0_amd64.deb
RUN apt-get install -y libsoundio1
RUN dpkg -i /tmp/k4a-tools_1.3.0_amd64.deb

# zed open capture
RUN apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget
RUN git clone https://github.com/stereolabs/zed-open-capture.git
RUN cd zed-open-capture && \
    mkdir build && \
    cd build && \
    cmake .. && \
    make -j$(nproc) && \
    make install && \
    cd && \
    rm -r zed-open-capture

# Clone source code
ARG CACHE_DATE=2016-01-01
RUN git clone https://github.com/introlab/rtabmap.git

RUN rm /bin/sh && ln -s /bin/bash /bin/sh

# Build RTAB-Map project
RUN source /ros_entrypoint.sh && \
    cd rtabmap/build && \
    cmake .. && \
    make && \
    make install && \
    cd ../.. && \
    rm -rf rtabmap && \
    ldconfig