mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
114 lines
3.1 KiB
Docker
114 lines
3.1 KiB
Docker
# Image: introlab3it/rtabmap:bionic
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FROM ros:melodic-perception
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# Install build dependencies
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RUN apt-get update && \
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apt-get install -y ros-melodic-rtabmap-ros && \
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apt-get remove -y ros-melodic-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 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 -j$(nproc) && \
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make install && \
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cd && \
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rm -r gtsam
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# libpointmatcher
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RUN git clone https://github.com/ethz-asl/libnabo.git
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#commit Apr 25 2018
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RUN cd libnabo && \
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git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(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 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 -j$(nproc) && \
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make install && \
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cd && \
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rm -r libpointmatcher
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# AliceVision
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RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
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libsuitesparse-dev \
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libceres-dev \
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xorg-dev \
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libglu1-mesa-dev \
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wget
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RUN git clone https://github.com/OpenImageIO/oiio.git
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RUN cd oiio && \
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git checkout Release-2.0.12 && \
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mkdir build && \
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cd build && \
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cmake .. && \
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make -j$(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$(nproc) && \
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make install && \
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cd && \
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rm -r alembic
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RUN git clone https://github.com/alicevision/geogram.git
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RUN cd geogram && \
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git checkout v1.7.1 && \
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./configure.sh && \
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cd build/Linux64-gcc-dynamic-Release && \
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make -j$(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 https://github.com/alicevision/AliceVision.git --recursive
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RUN cd AliceVision && \
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git checkout v2.2.0 && \
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wget https://gist.githubusercontent.com/matlabbe/469bba5e7733ad6f2e3d7857b84f1f9e/raw/edaa88ed38344219af1cc919a5597f5a74445336/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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# 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 && \
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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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