mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
79 lines
1.9 KiB
Docker
79 lines
1.9 KiB
Docker
# Image: introlab3it/rtabmap:bionic
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FROM ubuntu:18.04
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# Install build dependencies
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RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
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libsqlite3-dev \
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libpcl-dev \
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git \
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cmake \
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libopencv-dev \
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libproj-dev \
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libqt5svg5-dev \
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libfreenect-dev \
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libopenni2-dev \
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ffmpeg \
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software-properties-common
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WORKDIR /root/
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# GTSAM
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RUN git clone https://bitbucket.org/gtborg/gtsam.git
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RUN cd gtsam && \
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git checkout 4.0.0-alpha2 && \
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mkdir build && \
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cd build && \
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cmake -DMETIS_SHARED=ON -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r gtsam
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# g2o
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RUN git clone https://github.com/RainerKuemmerle/g2o.git
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RUN cd g2o && \
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git checkout 20170730_git && \
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mkdir build && \
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cd build && \
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cmake -DBUILD_LGPL_SHARED_LIBS=ON -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r g2o
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# libpointmatcher
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RUN git clone https://github.com/ethz-asl/libnabo.git
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RUN cd libnabo && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r libnabo
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RUN git clone https://github.com/ethz-asl/libpointmatcher.git
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RUN cd libpointmatcher && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r libpointmatcher
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# Clone source code
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RUN git clone https://github.com/introlab/rtabmap.git
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# Build RTAB-Map project
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RUN cd rtabmap/build && \
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cmake .. && \
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make -j$(nproc) && \
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make install && \
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cd ../.. && \
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rm -rf rtabmap && \
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ldconfig
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WORKDIR /root
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