mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
106 lines
2.8 KiB
Docker
106 lines
2.8 KiB
Docker
# Image: introlab3it/rtabmap:bionic
|
|
|
|
FROM ros:melodic-perception
|
|
|
|
# Install build dependencies
|
|
RUN apt-get update && \
|
|
apt-get install -y git software-properties-common ros-melodic-rtabmap-ros && \
|
|
apt-get remove -y ros-melodic-rtabmap && \
|
|
rm -rf /var/lib/apt/lists/
|
|
|
|
WORKDIR /root/
|
|
|
|
# GTSAM
|
|
RUN add-apt-repository ppa:borglab/gtsam-release-4.0 -y
|
|
RUN apt install libgtsam-dev libgtsam-unstable-dev -y
|
|
|
|
# libpointmatcher
|
|
RUN git clone https://github.com/ethz-asl/libnabo.git
|
|
#commit February 13 2021
|
|
RUN cd libnabo && \
|
|
git checkout 3cab7eed92bd5d4aed997347b8c8a2692a83a532 && \
|
|
mkdir build && \
|
|
cd build && \
|
|
cmake -DCMAKE_BUILD_TYPE=Release .. && \
|
|
make -j$(nproc) && \
|
|
make install && \
|
|
cd && \
|
|
rm -r libnabo
|
|
RUN git clone https://github.com/ethz-asl/libpointmatcher.git
|
|
#commit April 6 2021
|
|
RUN cd libpointmatcher && \
|
|
git checkout 76f99fce0fe69e6384102a0343fdf8d262626e1f && \
|
|
mkdir build && \
|
|
cd build && \
|
|
cmake -DCMAKE_BUILD_TYPE=Release .. && \
|
|
make -j$(nproc) && \
|
|
make install && \
|
|
cd && \
|
|
rm -r libpointmatcher
|
|
|
|
# AliceVision
|
|
RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
|
|
libsuitesparse-dev \
|
|
libceres-dev \
|
|
xorg-dev \
|
|
libglu1-mesa-dev \
|
|
wget
|
|
RUN git clone https://github.com/OpenImageIO/oiio.git
|
|
RUN cd oiio && \
|
|
git checkout Release-2.0.12 && \
|
|
mkdir build && \
|
|
cd build && \
|
|
cmake .. && \
|
|
make -j$(nproc) && \
|
|
make install && \
|
|
cd && \
|
|
rm -r oiio
|
|
RUN git clone https://github.com/alembic/alembic.git
|
|
RUN cd alembic && \
|
|
git checkout 1.7.12 && \
|
|
mkdir build && \
|
|
cd build && \
|
|
cmake .. && \
|
|
make -j$(nproc) && \
|
|
make install && \
|
|
cd && \
|
|
rm -r alembic
|
|
RUN git clone https://github.com/alicevision/geogram.git
|
|
RUN cd geogram && \
|
|
git checkout v1.7.1 && \
|
|
./configure.sh && \
|
|
cd build/Linux64-gcc-dynamic-Release && \
|
|
make -j$(nproc) && \
|
|
make install && \
|
|
cd && \
|
|
rm -r geogram
|
|
RUN git clone https://github.com/alicevision/AliceVision.git --recursive
|
|
RUN cd AliceVision && \
|
|
git checkout v2.2.0 && \
|
|
wget https://gist.githubusercontent.com/matlabbe/469bba5e7733ad6f2e3d7857b84f1f9e/raw/edaa88ed38344219af1cc919a5597f5a74445336/alice_vision_eigen.patch && \
|
|
git apply alice_vision_eigen.patch && \
|
|
mkdir build && \
|
|
cd build && \
|
|
cmake -DALICEVISION_USE_CUDA=OFF .. && \
|
|
make -j$(nproc) && \
|
|
make install && \
|
|
cd && \
|
|
rm -r AliceVision
|
|
|
|
# Clone source code
|
|
ARG CACHE_DATE=2016-01-01
|
|
RUN git clone https://github.com/introlab/rtabmap.git
|
|
|
|
RUN rm /bin/sh && ln -s /bin/bash /bin/sh
|
|
|
|
# Build RTAB-Map project
|
|
RUN source /ros_entrypoint.sh && \
|
|
cd rtabmap/build && \
|
|
cmake -DWITH_ALICE_VISION=ON .. && \
|
|
make -j2 && \
|
|
make install && \
|
|
cd ../.. && \
|
|
rm -rf rtabmap && \
|
|
ldconfig
|
|
|