mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
234 lines
9.8 KiB
Docker
234 lines
9.8 KiB
Docker
# Image: introlab3it/rtabmap:jfr2018
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FROM ubuntu:16.04
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WORKDIR /root/
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# Install build dependencies
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RUN apt-get update && 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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libproj-dev \
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libqt5svg5-dev \
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libfreenect-dev \
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libopenni2-dev \
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libyaml-cpp-dev \
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software-properties-common \
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libgtk2.0-dev \
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pkg-config
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# OpenCV (use version <= 3.1.0 for rtabmap 0.16.3 for a solvePnpRansac issue where we have worst ransac performance on newer opencv versions)
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RUN git clone https://github.com/opencv/opencv_contrib.git
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RUN git clone https://github.com/opencv/opencv.git
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RUN cd opencv_contrib && \
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git checkout tags/3.1.0 && \
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cd && \
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cd opencv && \
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git checkout tags/3.1.0 && \
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mkdir build && \
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cd build && \
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cmake -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF .. && \
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make -j4 && \
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make install && \
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cd && \
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rm -rf opencv opencv_contrib
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# Install ROS to build other odometry approaches (depending on ROS)
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# install packages
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RUN apt-get update && apt-get install -q -y \
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dirmngr \
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gnupg2 \
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lsb-release \
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&& rm -rf /var/lib/apt/lists/*
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# setup keys
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RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116
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# setup sources.list
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RUN echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list
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# install bootstrap tools
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RUN apt-get update && apt-get install --no-install-recommends -y \
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python-rosdep \
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python-rosinstall \
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python-vcstools \
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&& rm -rf /var/lib/apt/lists/*
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# setup environment
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ENV LANG C.UTF-8
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ENV LC_ALL C.UTF-8
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# bootstrap rosdep
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RUN rosdep init \
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&& rosdep update
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# install ros packages
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ENV ROS_DISTRO kinetic
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RUN apt-get update && apt-get install -y \
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ros-${ROS_DISTRO}-ros-core=1.3.2-0* \
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&& rm -rf /var/lib/apt/lists/*
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# install ROS dependencies
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RUN apt-get update && apt-get install -y ros-${ROS_DISTRO}-tf ros-${ROS_DISTRO}-pcl-ros ros-${ROS_DISTRO}-eigen-conversions ros-${ROS_DISTRO}-tf-conversions ros-${ROS_DISTRO}-random-numbers ros-${ROS_DISTRO}-image-transport libblas-dev liblapack-dev libsuitesparse-dev libvtk6.2 libyaml-cpp-dev wget libgoogle-glog-dev libatlas-base-dev ros-${ROS_DISTRO}-sophus ros-${ROS_DISTRO}-octomap libglew-dev
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# g2o should be built to link on csparse installed system-wide
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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 -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release .. && \
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make -j3 && \
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make install && \
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cd && \
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rm -r g2o
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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_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release .. && \
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make -j3 && \
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make install && \
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cd && \
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rm -r gtsam
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# libpointmatcher
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RUN git clone https://github.com/ethz-asl/libnabo.git
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#commit Apr 25 2018
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RUN cd libnabo && \
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git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
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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 -j3 && \
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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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#commit Jan 19 2018
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RUN cd libpointmatcher && \
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git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
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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 -j3 && \
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make install && \
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cd && \
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rm -r libpointmatcher
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# Clone dependencies
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RUN mkdir -p catkin_ws/src
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WORKDIR /root/catkin_ws/src
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RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace'
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# OPENCV ROS
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RUN git clone https://github.com/ros-perception/vision_opencv.git && cd vision_opencv && git checkout kinetic
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# DVO
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RUN git clone https://github.com/tum-vision/dvo_slam.git && cd dvo_slam && git checkout ${ROS_DISTRO}-devel && rm dvo_slam/package.xml && rm dvo_benchmark/package.xml && rm dvo_ros/package.xml
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# VISO2
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RUN git clone https://github.com/srv/viso2.git && cd viso2 && git checkout ${ROS_DISTRO}
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# MSCKF-VIO
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RUN git clone https://github.com/KumarRobotics/msckf_vio.git && cd msckf_vio && git checkout a9386c5 && wget https://gist.githubusercontent.com/matlabbe/f2518d7427e7f6740af2110e540b1f2b/raw/a6d604e730bcbf3dcd7fd8a27302bed4bb94b799/msckf_vio_a9386c5_ros_commented.patch && git apply --ignore-space-change --ignore-whitespace msckf_vio_a9386c5_ros_commented.patch
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# FOVIS
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RUN git clone https://github.com/srv/libfovis.git && cd libfovis && git checkout 896acc8425e9fd7c5609153b8bad349ae1abbb50
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# LOAM
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RUN git clone https://github.com/laboshinl/loam_velodyne.git && cd loam_velodyne && git checkout a4c364a677647f2a35831439032dc5a58378b3fd
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# VINS-Fusion
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RUN git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git && cd VINS-Fusion && git checkout e72b5f7ae7437e8cf481cc0bcbfb5fe91bd3d640 && wget https://gist.githubusercontent.com/matlabbe/795ab37067367dca58bbadd8201d986c/raw/0657cc30fca6b1b61faeef42be9f3428861d2598/vins-fusion_e72b5f7.patch && git apply --ignore-space-change --ignore-whitespace vins-fusion_e72b5f7.patch
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WORKDIR /root
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# OKVIS
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RUN git clone https://github.com/ethz-asl/okvis.git && cd okvis && git checkout 1dce9129f22dd4d21d944788cd9da3a4341586aa && wget https://gist.githubusercontent.com/matlabbe/383be55b5cb682fea217d45ef9a37ef8/raw/bd4f6886eeba3800f0e5171e77abc5dd6dc8bfd9/okvis_1dce912_marchnative_disabled.patch && git apply --ignore-space-change --ignore-whitespace okvis_1dce912_marchnative_disabled.patch
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# ORB_SLAM2
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RUN git clone https://github.com/stevenlovegrove/Pangolin.git
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RUN git clone https://github.com/raulmur/ORB_SLAM2.git && cd ORB_SLAM2 && wget https://gist.githubusercontent.com/matlabbe/c10403c5d44af85cc3585c0e1c601a60/raw/48adf04098960d86ddf225f1a8c68af87bfcf56e/orbslam2_f2e6f51_marchnative_disabled.patch && git apply --ignore-space-change --ignore-whitespace orbslam2_f2e6f51_marchnative_disabled.patch
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RUN git clone https://github.com/introlab/rtabmap.git
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# for dvo, TBB is required (docker related issue)
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# Download and install TBB
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ENV TBB_RELEASE 2018_U2
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ENV TBB_VERSION 2018_20171205
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ENV TBB_DOWNLOAD_URL https://github.com/01org/tbb/releases/download/${TBB_RELEASE}/tbb${TBB_VERSION}oss_lin.tgz
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ENV TBB_INSTALL_DIR /opt
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RUN wget ${TBB_DOWNLOAD_URL} && \
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tar -C ${TBB_INSTALL_DIR} -xf tbb${TBB_VERSION}oss_lin.tgz && \
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rm tbb${TBB_VERSION}oss_lin.tgz && \
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sed -i "s%SUBSTITUTE_INSTALL_DIR_HERE%${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss%" ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.* && \
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echo "source ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.sh intel64" >> ~/.bashrc
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RUN cd okvis && \
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mkdir build && \
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cd build && \
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cmake .. && \
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make -j3 && \
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make install && \
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mkdir -p /usr/local/lib/cmake && \
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mv /usr/local/lib/CMake/* /usr/local/lib/cmake/.
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# Pangolin needed for ORB_SLAM2
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RUN cd Pangolin && \
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mkdir build && \
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cd build && \
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cmake .. && \
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make -j3 && \
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make install && \
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cd && \
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rm -rf Pangolin
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RUN cd ORB_SLAM2 && \
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cd Thirdparty/DBoW2 && \
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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 -j3 && \
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rm -rf * && \
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cd ../../g2o && \
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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 -j3 && \
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rm -rf * && \
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cd ../../../ && \
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cd Vocabulary && \
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tar -xf ORBvoc.txt.tar.gz && \
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cd .. && \
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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 -j3 && \
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rm -rf *
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RUN mv okvis/config/config_fpga_p2_euroc.yaml .
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RUN mv ORB_SLAM2/Vocabulary/ORBvoc.txt .
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RUN cp catkin_ws/src/VINS-Fusion/config/euroc/* .
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RUN cp catkin_ws/src/VINS-Fusion/config/kitti_odom/* .
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# Catkin_make
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WORKDIR /root/catkin_ws
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RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash;. ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.sh intel64; catkin_make -j3 -DCMAKE_BUILD_TYPE=Release; rm -rf build;'
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RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
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ENV LD_LIBRARY_PATH /opt/tbb2018_20171205oss/lib/intel64/gcc4.7:/root/ORB_SLAM2/lib:/root/ORB_SLAM2/Thirdparty/g2o/lib:/root/ORB_SLAM2/Thirdparty/DBoW2/lib:/root/catkin_ws/devel/lib:/opt/ros/${ROS_DISTRO}/lib:$LD_LIBRARY_PATH
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ENV PATH /root/catkin_ws/devel/bin:/opt/ros/${ROS_DISTRO}/bin:$PATH
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ENV ORB_SLAM2_ROOT_DIR /root/ORB_SLAM2
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WORKDIR /root
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# Build RTAB-Map (using standard g2o, then a version for orbslam2, which uses its own g2o version)
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RUN cp -r rtabmap rtabmap_os2 && cp -r rtabmap rtabmap_msckf && cp -r rtabmap rtabmap_loam
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RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap ; cd build ; cmake -DWITH_G2O=ON .. ; make -j3 ; make install ; rm -rf * ; ldconfig'
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# Version with orb_slam2 (system g2o disabled)
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RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_os2 ; cd build ; cmake -DWITH_G2O=OFF .. ; make -j3 ; rm -rf *'
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# rtabmap is crashing if LOAM and MSCKF dependencies are used at the same time, so split them
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RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_loam ;cd build ;cmake -DWITH_MSCKF_VIO=OFF -DWITH_LOAM=ON -DWITH_G2O=ON -DWITH_FOVIS=OFF -DWITH_DVO=OFF -DWITH_OKVIS=OFF -DWITH_VINS=OFF -DWITH_VISO2=OFF .. ;make -j3 ;rm -rf *'
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RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_msckf ;cd build ;cmake -DWITH_MSCKF_VIO=ON -DWITH_LOAM=OFF -DWITH_G2O=ON -DWITH_FOVIS=OFF -DWITH_DVO=OFF -DWITH_OKVIS=OFF -DWITH_VINS=OFF -DWITH_VISO2=OFF .. ;make -j3 ;rm -rf *'
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WORKDIR /root
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