docker: remixed where deps are built for convenience

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