mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
87 lines
2.6 KiB
Docker
87 lines
2.6 KiB
Docker
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FROM osrf/ros:humble-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-humble-rtabmap-ros libqt6* qt6* && \
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apt-get remove -y ros-humble-rtabmap* ros-humble-libg2o libpcl* libqt5* qt5* libvtk* libopencv* && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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WORKDIR /root/
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RUN rm /bin/sh && ln -s /bin/bash /bin/sh
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# ros2 seems not sourcing by default its multi-arch folders
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ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/humble/lib/x86_64-linux-gnu
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# Build latest VTK with Qt6
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RUN git clone https://github.com/Kitware/VTK.git && \
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cd VTK && \
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mkdir build && \
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cd build && \
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cmake -DVTK_GROUP_ENABLE_Qt=YES .. && \
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make -j$(nproc) && \
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make install && \
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cd ../.. && \
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rm -rf VTK
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# Build latest PCL with latest VTK
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RUN git clone https://github.com/PointCloudLibrary/pcl.git && \
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cd pcl && \
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mkdir build && \
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cd build && \
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cmake -DBUILD_tools=OFF .. && \
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make -j$(nproc) && \
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make install && \
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cd ../.. && \
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rm -rf pcl
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# Build latest OpenCV
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RUN git clone https://github.com/opencv/opencv.git && \
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git clone https://github.com/opencv/opencv_contrib.git && \
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cd opencv && \
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mkdir build && \
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cd build && \
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cmake -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
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make -j$(nproc) && \
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make install && \
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cd ../.. && \
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rm -rf opencv
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# Build latest gtsam
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RUN git clone https://github.com/borglab/gtsam.git && \
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cd gtsam && \
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mkdir build && \
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cd build && \
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cmake -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_BUILD_UNSTABLE=OFF -DGTSAM_INSTALL_CPPUNILITE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON .. && \
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cmake --build . --config Release --target install && \
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cd ../.. && \
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rm -rf gtsam
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# Build latest g2o
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RUN git clone https://github.com/RainerKuemmerle/g2o.git && \
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cd g2o && \
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mkdir build && \
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cd build && \
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cmake -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_USE_OPENGL=OFF .. && \
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cmake --build . --config Release --target install && \
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cd ../.. && \
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rm -rf g2o
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RUN mkdir -p /root/Documents/RTAB-Map
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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 .. && \
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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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