mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
155 lines
5.2 KiB
Docker
155 lines
5.2 KiB
Docker
# Image: introlab3it/rtabmap:focal
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FROM ros:noetic-perception
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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-noetic-rtabmap-ros && \
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apt-get remove -y ros-noetic-rtabmap && \
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rm -rf /var/lib/apt/lists/
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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 install libgtsam-dev libgtsam-unstable-dev -y
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# libpointmatcher
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RUN git clone https://github.com/ethz-asl/libnabo.git
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#commit February 13 2021
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RUN cd libnabo && \
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git checkout 3cab7eed92bd5d4aed997347b8c8a2692a83a532 && \
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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$(nproc) && \
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make install && \
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cd && \
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rm -r libnabo
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RUN git clone https://github.com/ethz-asl/libpointmatcher.git
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#commit April 6 2021
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RUN cd libpointmatcher && \
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git checkout 76f99fce0fe69e6384102a0343fdf8d262626e1f && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r libpointmatcher
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# libfreenect2
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ENV DEBIAN_FRONTEND=noninteractive
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RUN apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev
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RUN git clone https://github.com/OpenKinect/libfreenect2
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RUN 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
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# RealSense2
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RUN apt-get install -y ros-noetic-realsense2-camera
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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 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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RUN 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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RUN 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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RUN 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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RUN 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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RUN echo 'libk4a1.3 libk4a1.3/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections
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RUN echo 'libk4abt1.0 libk4abt1.0/accepted-eula-hash string 03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections
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RUN dpkg -i /tmp/libk4a1.3_1.3.0_amd64.deb
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RUN dpkg -i /tmp/libk4a1.3-dev_1.3.0_amd64.deb
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RUN dpkg -i /tmp/libk4abt1.0_1.0.0_amd64.deb
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RUN dpkg -i /tmp/libk4abt1.0-dev_1.0.0_amd64.deb
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RUN apt-get install -y libsoundio1
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RUN dpkg -i /tmp/k4a-tools_1.3.0_amd64.deb
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RUN rm /tmp/libk4a* /tmp/k4a*
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# zed open capture
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RUN apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget
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RUN git clone https://github.com/stereolabs/zed-open-capture.git
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RUN 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
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# AliceVision
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# Issue: It could be possible to use version >2.2, but there is a seg fault after texturing the mesh (see #564).
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RUN apt-get update && 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 \
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python-is-python3
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RUN git clone https://github.com/OpenImageIO/oiio.git
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RUN 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 .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r oiio
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RUN git clone https://github.com/alembic/alembic.git
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RUN cd alembic && \
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git checkout 1.7.12 && \
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mkdir build && \
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cd build && \
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cmake .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r alembic
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RUN git clone -b v1.7.1 https://github.com/alicevision/geogram.git
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RUN cd geogram && \
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./configure.sh && \
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cd build/Linux64-gcc-dynamic-Release && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r geogram
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RUN git clone -b v2.2.0 https://github.com/alicevision/AliceVision.git --recursive
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RUN cd AliceVision && \
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wget https://gist.githubusercontent.com/matlabbe/469bba5e7733ad6f2e3d7857b84f1f9e/raw/f0545b36028a1156e857ed433547fdade0cbf53f/alice_vision_eigen.patch && \
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git apply alice_vision_eigen.patch && \
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mkdir build && \
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cd build && \
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cmake -DALICEVISION_USE_CUDA=OFF .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r AliceVision
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# PDAL
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RUN apt-get install -y libpdal-dev
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# Clone source code
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ARG CACHE_DATE=2016-01-01
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RUN git clone https://github.com/introlab/rtabmap.git
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RUN rm /bin/sh && ln -s /bin/bash /bin/sh
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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 .. && \
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make -j2 && \
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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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