mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
matlabbe
16fb2f0541
* CI: use ubuntu arm runners instead of QEMU * removed focal deps docker image ci * run tests in docker ci * revert temporary test * trigger ci jobs with modified files * ldconfig * arm64 ldconfig order * No response filtering here: cv::goodFeaturesToTrack() already applies GFTT/QualityLevel, relative to the best corner's measure. Re-applying it as an absolute floor on KeyPoint::response double-filtered (~86% of keypoints ropped on OpenCV 4.5), and dropped *every* keypoint on OpenCV < 4.5, whose GFTTDetector leaves response at 0. * fixing ExtractXYZCorrespondencesRANSAC ci error * increased windows timeout (probably caused by gftt fix now extracting more features)
25 lines
712 B
Docker
25 lines
712 B
Docker
# Image: introlab3it/rtabmap:noble-kilted
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FROM introlab3it/rtabmap:noble-kilted-deps
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# Will be used to read/store databases on host
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RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
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# Copy current source code
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COPY . /root/rtabmap
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ARG RUN_TESTS=0
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# Build RTAB-Map project
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RUN source /ros_entrypoint.sh && \
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cd rtabmap/build && \
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cmake -DWITH_OPENGV=ON -DBUILD_TESTING=$RUN_TESTS .. && \
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make -j4 && \
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# ldconfig first: source-installed deps (GTSAM) are not yet in the loader cache.
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if [ "$RUN_TESTS" = "1" ]; then ldconfig && ctest --output-on-failure -LE "long|performance"; fi && \
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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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