docker: remixed where deps are built for convenience

2026-09-02 01:20:25 +08:00 · 2023-06-19 15:17:02 -07:00
parent ab3ade0309
commit 59d5675fe6
9 changed files with 206 additions and 197 deletions
--- a/docker/focal-foxy/Dockerfile
+++ b/docker/focal-foxy/Dockerfile
@@ -2,6 +2,23 @@

 FROM introlab3it/rtabmap:focal-foxy-deps

+# June 19 2023: moved opengv here so that focal-foxy-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 -y 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 -j$(nproc) && \
+    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

--- a/docker/focal-foxy/deps/Dockerfile
+++ b/docker/focal-foxy/deps/Dockerfile
@@ -165,22 +165,6 @@ RUN git clone --branch 4.2.0 https://github.com/opencv/opencv.git && \
    cd ../.. && \
    rm -rf opencv opencv_contrib

-#commit Aug 6 2020
-RUN apt-get update && apt install -y 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 -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r opengv
-
 RUN rm /bin/sh && ln -s /bin/bash /bin/sh

 COPY ./docker/focal-foxy/deps/ros_entrypoint.sh /ros_entrypoint.sh
--- a/docker/focal/Dockerfile
+++ b/docker/focal/Dockerfile
@@ -1,149 +1,8 @@
 # Image: introlab3it/rtabmap:focal

-FROM ros:noetic-perception
+FROM introlab3it/rtabmap:focal-deps

-# 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* && \
-    apt-get clean && rm -rf /var/lib/apt/lists/
-
-WORKDIR /root/
-
-# GTSAM
-RUN add-apt-repository ppa:borglab/gtsam-release-4.0 -y
-RUN apt-get update && apt install libgtsam-dev libgtsam-unstable-dev -y && \
-    apt-get clean && rm -rf /var/lib/apt/lists/
-
-# MRPT
-RUN add-apt-repository ppa:joseluisblancoc/mrpt-stable -y
-RUN apt-get update && apt install libmrpt-poses-dev -y && \
-    apt-get clean && rm -rf /var/lib/apt/lists/
-
-# PDAL
-RUN apt-get update && apt-get install -y libpdal-dev && \
-    apt-get clean && rm -rf /var/lib/apt/lists/
-
-# RealSense2
-RUN apt-get update && apt-get install -y ros-noetic-librealsense2 && \
-    apt-get clean && rm -rf /var/lib/apt/lists/
-
-ARG TARGETPLATFORM
-ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
-RUN echo "I am building for $TARGETPLATFORM"
-
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Azure Kinect DK
-# Taken from https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1190#issuecomment-822772494
-# K4A binaries on 20.04 not released yet, we should take those from 18.04
-RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing k4a..." && \
-    apt-get update && apt-get install -y curl && \
-    echo "Download libk4a1.3_1.3.0_amd64.deb..." && \
-    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 && \
-    echo "Download libk4a1.3-dev_1.3.0_amd64.deb..." && \
-    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 && \
-    echo "Download libk4abt1.0_1.0.0_amd64.deb..." && \
-    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 && \
-    echo "Download libk4abt1.0-dev_1.0.0_amd64.deb..." && \
-    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 && \
-    echo "Download k4a-tools_1.3.0_amd64.deb..." && \
-    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 && \
-    echo "Accept license..." && \
-    echo 'libk4a1.3 libk4a1.3/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections && \
-    echo 'libk4abt1.0	libk4abt1.0/accepted-eula-hash	string	03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections && \
-    dpkg -i /tmp/libk4a1.3_1.3.0_amd64.deb && \
-    dpkg -i /tmp/libk4a1.3-dev_1.3.0_amd64.deb && \
-    dpkg -i /tmp/libk4abt1.0_1.0.0_amd64.deb && \
-    dpkg -i /tmp/libk4abt1.0-dev_1.0.0_amd64.deb && \
-    apt-get install -y libsoundio1 && \
-    dpkg -i /tmp/k4a-tools_1.3.0_amd64.deb && \
-    rm /tmp/libk4a* /tmp/k4a* && \
-    apt-get clean && rm -rf /var/lib/apt/lists/; fi
-
-# libfreenect2 
-RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
-    apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
-    apt-get clean && rm -rf /var/lib/apt/lists/ && \
-    git clone https://github.com/OpenKinect/libfreenect2 && \
-    cd libfreenect2 && \
-    mkdir build && \
-    cd build && \
-    cmake .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r libfreenect2; fi
-
-# zed open capture
-RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
-    apt-get update && apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
-    apt-get clean && rm -rf /var/lib/apt/lists/ && \
-    git clone https://github.com/stereolabs/zed-open-capture.git && \
-    cd zed-open-capture && \
-    mkdir build && \
-    cd build && \
-    cmake .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r zed-open-capture; fi
-
-# AliceVision v2.4.0 modified (Sept 13 2021)
-RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing AliceVision..." && \
-      apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
-      libsuitesparse-dev \
-      libceres-dev \
-      xorg-dev \
-      libglu1-mesa-dev \
-      wget && apt-get clean && rm -rf /var/lib/apt/lists/; fi
-RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/OpenImageIO/oiio.git && \
-    cd oiio && \
-    git checkout Release-2.0.12 && \
-    mkdir build && \
-    cd build && \
-    cmake -DUSE_PYTHON=OFF -DOIIO_BUILD_TESTS=OFF -DOIIO_BUILD_TOOLS=OFF .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r oiio; fi
-RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/assimp/assimp.git && \
-    cd assimp && \
-    git checkout 71a87b653cd4b5671104fe49e2e38cf5dd4d8675 && \
-    mkdir build && \
-    cd build && \
-    cmake .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r assimp; fi
-# Ignore assimp installed from ros, as it has invalid "/usr/lib/include" in its target, making rtabmap's cmake fails
-RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then rm -rf /usr/lib/x86_64-linux-gnu/cmake/assimp*; fi
-RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/alicevision/geogram.git && \
-    cd geogram && \
-    git checkout v1.7.6 && \
-    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/geogram_8b2ae61.patch && \
-    git apply geogram_8b2ae61.patch && \
-    ./configure.sh && \
-    cd build/Linux64-gcc-dynamic-Release && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r geogram; fi
-RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/alicevision/AliceVision.git --recursive && \
-    cd AliceVision && \
-    git checkout 0f6115b6af6183c524aa7fcf26141337c1cf3872 && \
-    git submodule update -i && \
-    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/alicevision_0f6115b.patch && \
-    git apply alicevision_0f6115b.patch && \
-    mkdir build && \
-    cd build && \
-    cmake -DALICEVISION_USE_CUDA=OFF -DALICEVISION_USE_APRILTAG=OFF -DALICEVISION_BUILD_SOFTWARE=OFF .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r AliceVision; fi
-    
+# 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 && \
@@ -159,21 +18,8 @@ RUN git clone https://github.com/laurentkneip/opengv.git && \
    cd && \
    rm -r opengv

-RUN git clone --branch 4.2.0 https://github.com/opencv/opencv.git && \
-    git clone --branch 4.2.0 https://github.com/opencv/opencv_contrib.git && \
-    cd opencv && \
-    mkdir build && \
-    cd build && \
-    cmake -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd ../.. && \
-    rm -rf opencv opencv_contrib
-
 # Will be used to read/store databases on host
-RUN mkdir -p /root/Documents/RTAB-Map
-
-RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map

 # Copy current source code
 COPY . /root/rtabmap
@@ -187,6 +33,3 @@ RUN source /ros_entrypoint.sh && \
    cd ../.. && \
    rm -rf rtabmap && \
    ldconfig
-
-# for jetson (https://github.com/introlab/rtabmap/issues/776)
-ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
--- a/docker/focal/deps/Dockerfile
+++ b/docker/focal/deps/Dockerfile
@@ -0,0 +1,161 @@
+# Image: introlab3it/rtabmap:focal
+
+FROM ros:noetic-perception
+
+# Install build dependencies
+RUN apt-get update && \
+    apt-get install -y git software-properties-common ros-noetic-rtabmap-ros && \
+    apt-get remove -y ros-noetic-rtabmap* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# GTSAM
+RUN add-apt-repository ppa:borglab/gtsam-release-4.0 -y
+RUN apt-get update && apt install libgtsam-dev libgtsam-unstable-dev -y && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# MRPT
+RUN add-apt-repository ppa:joseluisblancoc/mrpt-stable -y
+RUN apt-get update && apt install libmrpt-poses-dev -y && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# PDAL
+RUN apt-get update && apt-get install -y libpdal-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# RealSense2
+RUN apt-get update && apt-get install -y ros-noetic-librealsense2 && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Azure Kinect DK
+# Taken from https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1190#issuecomment-822772494
+# K4A binaries on 20.04 not released yet, we should take those from 18.04
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing k4a..." && \
+    apt-get update && apt-get install -y curl && \
+    echo "Download libk4a1.3_1.3.0_amd64.deb..." && \
+    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 && \
+    echo "Download libk4a1.3-dev_1.3.0_amd64.deb..." && \
+    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 && \
+    echo "Download libk4abt1.0_1.0.0_amd64.deb..." && \
+    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 && \
+    echo "Download libk4abt1.0-dev_1.0.0_amd64.deb..." && \
+    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 && \
+    echo "Download k4a-tools_1.3.0_amd64.deb..." && \
+    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 && \
+    echo "Accept license..." && \
+    echo 'libk4a1.3 libk4a1.3/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections && \
+    echo 'libk4abt1.0	libk4abt1.0/accepted-eula-hash	string	03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections && \
+    dpkg -i /tmp/libk4a1.3_1.3.0_amd64.deb && \
+    dpkg -i /tmp/libk4a1.3-dev_1.3.0_amd64.deb && \
+    dpkg -i /tmp/libk4abt1.0_1.0.0_amd64.deb && \
+    dpkg -i /tmp/libk4abt1.0-dev_1.0.0_amd64.deb && \
+    apt-get install -y libsoundio1 && \
+    dpkg -i /tmp/k4a-tools_1.3.0_amd64.deb && \
+    rm /tmp/libk4a* /tmp/k4a* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/; fi
+
+# libfreenect2 
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
+    apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/OpenKinect/libfreenect2 && \
+    cd libfreenect2 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r libfreenect2; fi
+
+# zed open capture
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
+    apt-get update && apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/stereolabs/zed-open-capture.git && \
+    cd zed-open-capture && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r zed-open-capture; fi
+
+# AliceVision v2.4.0 modified (Sept 13 2021)
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing AliceVision..." && \
+      apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+      libsuitesparse-dev \
+      libceres-dev \
+      xorg-dev \
+      libglu1-mesa-dev \
+      wget && apt-get clean && rm -rf /var/lib/apt/lists/; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/OpenImageIO/oiio.git && \
+    cd oiio && \
+    git checkout Release-2.0.12 && \
+    mkdir build && \
+    cd build && \
+    cmake -DUSE_PYTHON=OFF -DOIIO_BUILD_TESTS=OFF -DOIIO_BUILD_TOOLS=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r oiio; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/assimp/assimp.git && \
+    cd assimp && \
+    git checkout 71a87b653cd4b5671104fe49e2e38cf5dd4d8675 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r assimp; fi
+# Ignore assimp installed from ros, as it has invalid "/usr/lib/include" in its target, making rtabmap's cmake fails
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then rm -rf /usr/lib/x86_64-linux-gnu/cmake/assimp*; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/alicevision/geogram.git && \
+    cd geogram && \
+    git checkout v1.7.6 && \
+    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/geogram_8b2ae61.patch && \
+    git apply geogram_8b2ae61.patch && \
+    ./configure.sh && \
+    cd build/Linux64-gcc-dynamic-Release && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r geogram; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/alicevision/AliceVision.git --recursive && \
+    cd AliceVision && \
+    git checkout 0f6115b6af6183c524aa7fcf26141337c1cf3872 && \
+    git submodule update -i && \
+    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/alicevision_0f6115b.patch && \
+    git apply alicevision_0f6115b.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DALICEVISION_USE_CUDA=OFF -DALICEVISION_USE_APRILTAG=OFF -DALICEVISION_BUILD_SOFTWARE=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r AliceVision; fi
+    
+RUN git clone --branch 4.2.0 https://github.com/opencv/opencv.git && \
+    git clone --branch 4.2.0 https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# for jetson (https://github.com/introlab/rtabmap/issues/776)
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
--- a/docker/focal/hooks/build
+++ b/docker/focal/hooks/build
@@ -1,2 +0,0 @@
-#!/bin/bash 
-docker build --build-arg CACHE_DATE="$(date)" --cache-from $IMAGE_NAME -f $DOCKERFILE_PATH -t $IMAGE_NAME -t $DOCKER_REPO:20.04 .
--- a/docker/focal/hooks/post_push
+++ b/docker/focal/hooks/post_push
@@ -1,2 +0,0 @@
-#!/bin/bash 
-docker push $DOCKER_REPO:20.04
--- a/docker/jammy/Dockerfile
+++ b/docker/jammy/Dockerfile
@@ -2,6 +2,23 @@

 FROM introlab3it/rtabmap:jammy-deps

+# June 19 2023: moved opengv here so that jammy-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 -y 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 -j$(nproc) && \
+    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

--- a/docker/jammy/deps/Dockerfile
+++ b/docker/jammy/deps/Dockerfile
@@ -63,22 +63,6 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-cap
    cd && \
    rm -r zed-open-capture; fi
    
-#commit Aug 6 2020
-RUN apt-get update && apt install -y 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 -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r opengv
-
 RUN git clone --branch 4.5.4 https://github.com/opencv/opencv.git && \
    git clone --branch 4.5.4 https://github.com/opencv/opencv_contrib.git && \
    cd opencv && \