FROM osrf/ros:humble-desktop

# Install build dependencies
RUN apt-get update && \
    apt-get install -y git software-properties-common ros-humble-rtabmap-ros libqt6* qt6* && \
    apt-get remove -y ros-humble-rtabmap libpcl* libqt5* qt5* libvtk* libopencv* && \
    apt-get clean && rm -rf /var/lib/apt/lists/

WORKDIR /root/

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

# ros2 seems not sourcing by default its multi-arch folders
ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/humble/lib/x86_64-linux-gnu

# Build latest VTK with Qt6
RUN git clone https://github.com/Kitware/VTK.git && \
    cd VTK && \
    mkdir build && \
    cd build && \
    cmake -DVTK_GROUP_ENABLE_Qt=YES .. && \
    make -j$(nproc) && \
    make install && \
    cd ../.. && \
    rm -rf VTK
    
# Build latest PCL with latest VTK
RUN git clone https://github.com/PointCloudLibrary/pcl.git && \
    cd pcl && \
    mkdir build && \
    cd build && \
    cmake -DBUILD_tools=OFF .. && \
    make -j$(nproc) && \
    make install && \
    cd ../.. && \
    rm -rf pcl
    
# Build latest OpenCV
RUN git clone https://github.com/opencv/opencv.git && \
    git clone 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_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
    make -j$(nproc) && \
    make install && \
    cd ../.. && \
    rm -rf opencv

# Copy current source code
COPY . /root/rtabmap

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