mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
167 lines
6.7 KiB
Docker
167 lines
6.7 KiB
Docker
# Image: introlab3it/rtabmap:focal-foxy
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FROM osrf/ros:foxy-desktop
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# Install build dependencies
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RUN apt-get update && \
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apt-get install -y git software-properties-common ros-foxy-rtabmap-ros && \
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apt-get remove -y ros-foxy-rtabmap
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WORKDIR /root/
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# GTSAM
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RUN add-apt-repository ppa:borglab/gtsam-release-4.0 -y
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RUN apt-get update && apt install libgtsam-dev libgtsam-unstable-dev -y
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# MRPT
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RUN add-apt-repository ppa:joseluisblancoc/mrpt-stable -y
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RUN apt-get update && apt install libmrpt-poses-dev -y
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# PDAL
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RUN apt-get install -y libpdal-dev
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# RealSense2
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RUN apt-get install -y ros-foxy-librealsense2
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ARG TARGETPLATFORM
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ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
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RUN echo "I am building for $TARGETPLATFORM"
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ENV DEBIAN_FRONTEND=noninteractive
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# Azure Kinect DK
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# Taken from https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1190#issuecomment-822772494
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# K4A binaries on 20.04 not released yet, we should take those from 18.04
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing k4a..." && \
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apt-get update && apt-get install -y curl && \
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echo "Download libk4a1.3_1.3.0_amd64.deb..." && \
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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 && \
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echo "Download libk4a1.3-dev_1.3.0_amd64.deb..." && \
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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 && \
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echo "Download libk4abt1.0_1.0.0_amd64.deb..." && \
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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 && \
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echo "Download libk4abt1.0-dev_1.0.0_amd64.deb..." && \
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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 && \
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echo "Download k4a-tools_1.3.0_amd64.deb..." && \
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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 && \
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echo "Accept license..." && \
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echo 'libk4a1.3 libk4a1.3/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections && \
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echo 'libk4abt1.0 libk4abt1.0/accepted-eula-hash string 03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections && \
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dpkg -i /tmp/libk4a1.3_1.3.0_amd64.deb && \
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dpkg -i /tmp/libk4a1.3-dev_1.3.0_amd64.deb && \
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dpkg -i /tmp/libk4abt1.0_1.0.0_amd64.deb && \
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dpkg -i /tmp/libk4abt1.0-dev_1.0.0_amd64.deb && \
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apt-get install -y libsoundio1 && \
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dpkg -i /tmp/k4a-tools_1.3.0_amd64.deb && \
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rm /tmp/libk4a* /tmp/k4a*; fi
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# libfreenect2
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
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apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
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git clone https://github.com/OpenKinect/libfreenect2 && \
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cd libfreenect2 && \
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mkdir build && \
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cd build && \
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cmake .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r libfreenect2; fi
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# zed open capture
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
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apt-get update && apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
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git clone https://github.com/stereolabs/zed-open-capture.git && \
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cd zed-open-capture && \
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mkdir build && \
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cd build && \
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cmake .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r zed-open-capture; fi
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# AliceVision v2.4.0 modified (Sept 13 2021)
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing AliceVision..." && \
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apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
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libsuitesparse-dev \
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libceres-dev \
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xorg-dev \
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libglu1-mesa-dev \
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wget; fi
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/OpenImageIO/oiio.git && \
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cd oiio && \
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git checkout Release-2.0.12 && \
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mkdir build && \
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cd build && \
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cmake -DUSE_PYTHON=OFF -DOIIO_BUILD_TESTS=OFF -DOIIO_BUILD_TOOLS=OFF .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r oiio; fi
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/assimp/assimp.git && \
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cd assimp && \
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git checkout 71a87b653cd4b5671104fe49e2e38cf5dd4d8675 && \
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mkdir build && \
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cd build && \
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cmake .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r assimp; fi
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/alicevision/geogram.git && \
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cd geogram && \
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git checkout v1.7.6 && \
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wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/geogram_8b2ae61.patch && \
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git apply geogram_8b2ae61.patch && \
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./configure.sh && \
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cd build/Linux64-gcc-dynamic-Release && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r geogram; fi
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/alicevision/AliceVision.git --recursive && \
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cd AliceVision && \
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git checkout 0f6115b6af6183c524aa7fcf26141337c1cf3872 && \
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git submodule update -i && \
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wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/alicevision_0f6115b.patch && \
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git apply alicevision_0f6115b.patch && \
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mkdir build && \
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cd build && \
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cmake -DALICEVISION_USE_CUDA=OFF -DALICEVISION_USE_APRILTAG=OFF -DALICEVISION_BUILD_SOFTWARE=OFF .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r AliceVision; fi
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#commit Aug 6 2020
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RUN apt-get update && apt install wget
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RUN git clone https://github.com/laurentkneip/opengv.git && \
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cd opengv && \
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git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
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wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
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git apply opengv_disable_march_native.patch && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r opengv
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RUN rm /bin/sh && ln -s /bin/bash /bin/sh
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# Copy current source code
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COPY . /root/rtabmap
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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_ALICE_VISION=ON -DWITH_OPENGV=ON .. && \
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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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