CI: moving back opengv to deps image

docker/focal/Dockerfile

@@ -2,22 +2,6 @@
 
 FROM introlab3it/rtabmap:focal-deps
 
-# June 19 2023: moved opengv here so that focal-deps can be built on my computer. Not sure why but on my machine opengv arm64 fails, but not on CI.
-#commit Aug 6 2020
-RUN apt-get update && apt install wget && apt-get clean && rm -rf /var/lib/apt/lists/
-RUN git clone https://github.com/laurentkneip/opengv.git && \
-    cd opengv && \
-    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
-    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
-    git apply opengv_disable_march_native.patch && \
-    mkdir build && \
-    cd build && \
-    cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j4 && \
-    make install && \
-    cd && \
-    rm -r opengv
-
 # Will be used to read/store databases on host
 RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
 

docker/focal/deps/Dockerfile

@@ -176,6 +176,20 @@ RUN git clone --branch 4.2.0 https://github.com/opencv/opencv.git && \
     cd ../.. && \
     rm -rf opencv opencv_contrib
 
+RUN if [ "$TARGETPLATFORM" = "linux/arm64" ]; then apt-get update && apt install wget && apt-get clean && rm -rf /var/lib/apt/lists/; fi
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
 RUN rm /bin/sh && ln -s /bin/bash /bin/sh
 
 # for jetson (https://github.com/introlab/rtabmap/issues/776)

docker/noble-kilted/Dockerfile

@@ -2,20 +2,6 @@
 
 FROM introlab3it/rtabmap:noble-kilted-deps
 
-# OpenGV (issue seg fault on my computer, moved here from noble-deps to be built on ci)
-RUN git clone https://github.com/laurentkneip/opengv.git && \
-    cd opengv && \
-    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
-    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
-    git apply opengv_disable_march_native.patch && \
-    mkdir build && \
-    cd build && \
-    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. && \
-    make -j4 && \
-    make install && \
-    cd && \
-    rm -r opengv
-
 # Will be used to read/store databases on host
 RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
 

docker/noble-kilted/deps/Dockerfile

@@ -105,6 +105,19 @@ RUN git clone --branch 4.6.0 https://github.com/opencv/opencv.git && \
     cd ../.. && \
     rm -rf opencv opencv_contrib
 
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
 RUN rm /bin/sh && ln -s /bin/bash /bin/sh
 
 RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/kilted/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh

docker/noble/Dockerfile

@@ -2,20 +2,6 @@
 
 FROM introlab3it/rtabmap:noble-deps
 
-# OpenGV (issue seg fault on my computer, moved here from noble-deps to be built on ci)
-RUN git clone https://github.com/laurentkneip/opengv.git && \
-    cd opengv && \
-    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
-    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
-    git apply opengv_disable_march_native.patch && \
-    mkdir build && \
-    cd build && \
-    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. && \
-    make -j4 && \
-    make install && \
-    cd && \
-    rm -r opengv
-
 # Will be used to read/store databases on host
 RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
 

docker/noble/deps/Dockerfile

@@ -104,6 +104,19 @@ RUN git clone --branch 4.6.0 https://github.com/opencv/opencv.git && \
     cd ../.. && \
     rm -rf opencv opencv_contrib
 
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
 RUN rm /bin/sh && ln -s /bin/bash /bin/sh
 
 RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/jazzy/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh