feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
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+### Docker
+
+* Go to the [wiki](https://github.com/introlab/rtabmap/wiki/Installation#docker) for usage examples and how to build locally the images.
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+# 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* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# GTSAM
+RUN add-apt-repository ppa:borglab/gtsam-release-4.0 -y
+RUN apt-get update && apt install libgtsam-dev libgtsam-unstable-dev -y && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# MRPT # build failed: https://github.com/introlab/rtabmap/actions/runs/7259315306/job/19776230419
+#RUN add-apt-repository ppa:joseluisblancoc/mrpt-stable -y
+#RUN apt-get update && apt install libmrpt-poses-dev -y && \
+#    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+# cmake >=3.14 required
+RUN if [ "$TARGETPLATFORM" = "linux/arm64" ]; then apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    wget -nv https://github.com/Kitware/CMake/releases/download/v3.20.0/cmake-3.20.0-linux-aarch64.tar.gz   && \
+    tar -xzf cmake-3.20.0-linux-aarch64.tar.gz  && \
+    rm cmake-3.20.0-linux-aarch64.tar.gz  &&\
+    ln -s ~/cmake-3.20.0-linux-aarch64/bin/cmake ~/cmake; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    wget -nv https://github.com/Kitware/CMake/releases/download/v3.20.0/cmake-3.20.0-linux-x86_64.tar.gz  && \
+    tar -xzf cmake-3.20.0-linux-x86_64.tar.gz  && \
+    rm cmake-3.20.0-linux-x86_64.tar.gz  &&\
+    ln -s ~/cmake-3.20.0-linux-x86_64/bin/cmake ~/cmake; fi
+    
+#commit Aug 6 2020
+RUN apt-get update && apt install wget && apt-get clean && rm -rf /var/lib/apt/lists/
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    ~/cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+# Will be used to read/store databases on host
+RUN mkdir -p /root/Documents/RTAB-Map
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    ~/cmake -DWITH_OPENGV=ON .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
@@ -0,0 +1,41 @@
+# Image: introlab3it/rtabmap:android-deps
+
+FROM ubuntu:18.04
+
+# Install build dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends apt-utils
+RUN apt-get update && apt-get install -y \
+      git unzip wget ant cmake \
+      g++ lib32stdc++6 lib32z1 \
+      software-properties-common \
+      freeglut3-dev \
+      openjdk-8-jdk openjdk-8-jre \
+      curl
+
+ENV ANDROID_HOME=/opt/android-sdk
+ENV PATH=$PATH:/opt/android-sdk/cmdline-tools/latest/bin:/opt/android-sdk/tools:/opt/android-sdk/platform-tools:/opt/android-sdk/ndk/21.4.7075529
+ENV ANDROID_NDK=/opt/android-sdk/ndk/21.4.7075529
+ENV JAVA_HOME=/usr/lib/jvm/java-8-openjdk-amd64
+
+WORKDIR /root/
+
+# Setup android sdk
+RUN wget -nv https://dl.google.com/android/repository/commandlinetools-linux-7583922_latest.zip && \
+    unzip -qq commandlinetools-linux-7583922_latest.zip && \
+    rm commandlinetools-linux-7583922_latest.zip && \
+    mkdir $ANDROID_HOME && \
+    mkdir $ANDROID_HOME/cmdline-tools && \
+    mv cmdline-tools $ANDROID_HOME/cmdline-tools/latest
+# We should use build-tools <=30 to avoid dx missing error
+RUN echo y | sdkmanager --install "platform-tools" "platforms;android-23" "platforms;android-24" "platforms;android-26" "platforms;android-30" "build-tools;30.0.3" "ndk;21.4.7075529" && \
+    rm -r $ANDROID_HOME/tools
+
+# we need <=r25 tools to use "android" command (now deprecated)
+RUN wget -nv http://dl-ssl.google.com/android/repository/tools_r25.2.5-linux.zip && \
+    unzip -qq tools_r25.2.5-linux.zip && \
+    mv tools $ANDROID_HOME/. && \
+    rm tools_r25.2.5-linux.zip
+
+ADD deps.bash /root/deps.bash
+RUN chmod +x deps.bash
+RUN /bin/bash -c "./deps.bash /opt/android"
@@ -0,0 +1,164 @@
+#!/bin/bash
+
+set -e
+
+if [ $# -ne 1 ]; then
+    echo "deps.bash android_install_prefix   # Example: setup.bash /opt/android"
+    exit 1
+fi
+
+cpus=-j12
+prefix=$1
+pwd=$(pwd)
+ANDROID_NATIVE_API_LEVEL=23
+
+# Download all dependencies
+echo "Downloading cmake... (1/10)"
+wget -nv https://github.com/Kitware/CMake/releases/download/v3.17.0/cmake-3.17.0-Linux-x86_64.tar.gz
+echo "Downloading boost... (2/10)"
+wget -nv https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz
+echo "Downloading eigen... (3/10)"
+curl -L https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.tar.gz -o 3.3.9.tar.gz
+echo "Downloading flann... (4/10)"
+git clone -b 1.8.4 https://github.com/mariusmuja/flann.git
+echo "Downloading gtsam... (5/10)"
+git clone https://bitbucket.org/gtborg/gtsam.git
+echo "Downloading g2o... (6/10)"
+git clone https://github.com/RainerKuemmerle/g2o.git
+echo "Downloading VTK... (7/10)"
+git clone https://github.com/Kitware/VTK.git
+echo "Downloading pcl... (8/10)"
+git clone https://github.com/PointCloudLibrary/pcl.git
+echo "Downloading opencv_contrib... (9/10)"
+git clone https://github.com/opencv/opencv_contrib.git
+echo "Downloading opencv... (10/10)"
+git clone https://github.com/opencv/opencv.git
+
+
+# Install directory for all dependencies
+mkdir -p $prefix/arm64-v8a
+
+#CMake 3.17 for VTK
+echo "Install cmake3.17..."
+tar -xzf cmake-3.17.0-Linux-x86_64.tar.gz
+rm cmake-3.17.0-Linux-x86_64.tar.gz
+
+# Boost
+echo "Install boost..."
+tar -xzf boost_1_59_0.tar.gz
+cd boost_1_59_0
+wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/1733253195bc4d4d9b7f9eda1e60628dc1e51429/BoostConfig.cmake.in
+wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/1733253195bc4d4d9b7f9eda1e60628dc1e51429/CMakeLists.txt
+mkdir build
+cd build
+$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" ..
+make $cpus
+make install
+cd $pwd
+rm -r boost_1_59_0.tar.gz boost_1_59_0
+
+# eigen
+echo "Install eigen..."
+tar -xzf 3.3.9.tar.gz
+cd eigen-3.3.9
+mkdir build
+cd build
+$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" ..
+make $cpus
+make install
+cd $pwd
+rm -r 3.3.9.tar.gz eigen-3.3.9
+
+# FLANN
+echo "Install flann..."
+cd flann
+wget -nv https://gist.githubusercontent.com/matlabbe/cacff9f8271d0c42acd622939a26cab4/raw/85baf4927b32844ebd7f8eccce421bde181cd190/flann_1_8_4_android_fix.patch
+git apply flann_1_8_4_android_fix.patch
+mkdir build
+cd build
+$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DBUILD_PYTHON_BINDINGS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" ..
+make $cpus
+make install
+cd $pwd
+rm -rf flann
+
+# GTSAM
+echo "Install gtsam..."
+cd gtsam
+git checkout fbb9d3bdda8b88df51896bc401bfd170573e66f5
+# patch
+wget -nv https://gist.github.com/matlabbe/726b490c658afd3293f4b3f2f501b863/raw/df09fc8e238a495d66b062d92dc1c1fb20a581e8/gtsam_GKlib_android_fix.patch
+git apply gtsam_GKlib_android_fix.patch
+mkdir build
+cd build
+$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..
+make $cpus
+make install
+cd $pwd
+rm -rf gtsam
+
+# g2o
+echo "Install g2o..."
+cd g2o
+git checkout a3f7706bdbb849b2808dc3e1b7aee189f63b498e
+mkdir build
+cd build
+$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_USE_OPENGL=OFF ..
+make $cpus
+make install
+cd $pwd
+rm -rf g2o
+
+# VTK
+echo "Install VTK..."
+cd VTK
+git checkout tags/v8.2.0
+wget https://gist.github.com/matlabbe/e217259fb8ece9ee6daf5a8f70e896a0/raw/2214b503a537d6431d764526b5b780f07d6f168d/vtk_8_2_0_android_r21_fix.patch
+git apply vtk_8_2_0_android_r21_fix.patch
+mkdir build
+cd build
+$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DANDROID_ARCH_ABI=arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" ..
+make $cpus
+cp -r CMakeExternals/Install/vtk-android/* $prefix/arm64-v8a/.
+cd $pwd
+rm -rf VTK
+
+# PCL
+echo "Install pcl..."
+cd pcl
+git checkout tags/pcl-1.8.0
+# patch
+wget https://gist.github.com/matlabbe/41812e50e459b2f27b331a2343569e5d/raw/b2fc0c4d1cfffb3a9f2811abae782e317c539bfb/pcl_1_8_0_vtk_android_support.patch
+git apply pcl_1_8_0_vtk_android_support.patch
+mkdir build
+cd build
+# do it 2 times because there is a cmake error on the first time and not the second time!?
+$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_tools=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF ..
+$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_tools=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF ..
+make $cpus
+make install
+cd $pwd
+rm -rf pcl
+
+# make sure opencv is using the shared version of zlib
+# see https://github.com/android/ndk/issues/1179
+mv $ANDROID_NDK/toolchains/llvm/prebuilt/linux-x86_64/sysroot/usr/lib/aarch64-linux-android/libz.a $ANDROID_NDK/toolchains/llvm/prebuilt/linux-x86_64/sysroot/usr/lib/aarch64-linux-android/libz.a.back
+
+# OpenCV
+echo "Install OpenCV..."
+cd opencv_contrib
+git checkout tags/4.5.5
+cd $pwd
+cd opencv
+git checkout tags/4.5.5
+mkdir build
+cd build
+$pwd/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_NATIVE_API_LEVEL -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -DOPENCV_EXTRA_MODULES_PATH=$pwd/opencv_contrib/modules -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DBUILD_opencv_structured_light=OFF -DBUILD_ANDROID_PROJECTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DBUILD_ANDROID_EXAMPLES=OFF -DWITH_PROTOBUF=OFF -DBUILD_opencv_stereo=OFF -DBUILD_JAVA=OFF -DWITH_QUIRC=OFF -DBUILD_opencv_js_bindings_generator=OFF -DBUILD_opencv_objc_bindings_generator=OFF -DBUILD_opencv_objdetect=OFF -DBUILD_opencv_xobjdetect=OFF ..
+make $cpus
+make install
+cd $pwd
+rm -rf opencv opencv_contrib
+
+echo "Strip libraries..."
+$ANDROID_NDK/toolchains/llvm/prebuilt/linux-x86_64/bin/aarch64-linux-android-strip -g -S -d --strip-debug --verbose /opt/android/arm64-v8a/lib/*.a
+$ANDROID_NDK/toolchains/llvm/prebuilt/linux-x86_64/bin/aarch64-linux-android-strip -g -S -d --strip-debug --verbose /opt/android/arm64-v8a/sdk/native/staticlibs/arm64-v8a/*.a
@@ -0,0 +1,13 @@
+# Image: introlab3it/rtabmap:androidXX
+
+FROM introlab3it/rtabmap:android-deps
+
+ARG API_VERSION=23
+
+# Copy current source code
+COPY . /root/rtabmap-tango
+
+WORKDIR /root/rtabmap-tango
+
+RUN /bin/bash -c "./docker/bionic/android/rtabmap_apiXX/rtabmap.bash /opt/android $API_VERSION"
+
@@ -0,0 +1,60 @@
+#!/bin/bash
+
+set -e
+
+if [ $# -ne 2 ]; then
+    echo "rtabmap.bash android_install_prefix api_level (23 for tango, 24 for arengine)   # Example: build.bash /opt/android 24"
+    exit 1
+fi
+
+prefix=$1
+api=$2
+
+# tango
+wget 'https://docs.google.com/uc?authuser=0&id=12rHHkYM5k-UnQn-xGXs9JqYWhSXrgJr3&export=download' -O TangoSDK_Ikariotikos_C.zip
+unzip -qq TangoSDK_Ikariotikos_C.zip
+rm TangoSDK_Ikariotikos_C.zip
+cp -r lib_tango_client_api/include/* $prefix/arm64-v8a/include/.
+cp -r lib_tango_client_api/lib/arm64-v8a/* $prefix/arm64-v8a/lib/.
+rm -r lib_tango_client_api
+wget 'https://docs.google.com/uc?authuser=0&id=1AqVuEVu5284X6OgrGWu12VTrx4pY99Jb&export=download' -O TangoSupport_Ikariotikos_C.zip
+unzip -qq TangoSupport_Ikariotikos_C.zip
+rm TangoSupport_Ikariotikos_C.zip
+cp -r lib_tango_support_api/include/* $prefix/arm64-v8a/include/.
+cp -r lib_tango_support_api/lib/arm64-v8a/* $prefix/arm64-v8a/lib/.
+rm -r lib_tango_support_api
+wget 'https://docs.google.com/uc?authuser=0&id=1s5iPJ7xiridj9Jj--gCy2XiQFniheVm6&export=download' -O TangoSDK_Ikariotikos_Java.jar
+mv TangoSDK_Ikariotikos_Java.jar app/android/libs/.
+
+# ARCore
+wget 'https://docs.google.com/uc?authuser=0&id=1VsibeqRYpS5pjmrG-vYTXyiPg8kbIfVN&export=download' -O arcore.zip
+unzip -qq arcore.zip
+rm arcore.zip
+cp -r arcore1_18/include/* $prefix/arm64-v8a/include/.
+cp -r arcore1_18/arm64-v8a/* $prefix/arm64-v8a/lib/.
+cp arcore1_18/*.jar app/android/libs/.
+rm -r arcore1_18
+
+# AREngine
+wget 'https://docs.google.com/uc?authuser=0&id=1rdaD2Z1QBv-SUeUy0oBmg3C2odfxTHgR&export=download' -O arengine.zip
+unzip -qq arengine.zip
+rm arengine.zip
+cp -r arengine/include/* $prefix/arm64-v8a/include/.
+cp -r arengine/arm64-v8a/* $prefix/arm64-v8a/lib/.
+cp arengine/*.jar app/android/libs/.
+rm -r arengine
+
+# resource tool
+cd build
+/root/cmake-3.17.0-Linux-x86_64/bin/cmake -DANDROID_PREBUILD=ON ..
+make
+
+# rtabmap
+mkdir arm64-v8a
+cd arm64-v8a
+/root/cmake-3.17.0-Linux-x86_64/bin/cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$api -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DOpenCV_DIR=$prefix/arm64-v8a/sdk/native/jni ../..
+make
+make clean
+
+
+
@@ -0,0 +1,2 @@
+#!/bin/bash 
+docker build --build-arg CACHE_DATE="$(date)" --cache-from $IMAGE_NAME -f $DOCKERFILE_PATH -t $IMAGE_NAME -t $DOCKER_REPO:18.04 .
@@ -0,0 +1,2 @@
+#!/bin/bash 
+docker push $DOCKER_REPO:18.04
@@ -0,0 +1,37 @@
+# Image: introlab3it/rtabmap:focal-foxy
+
+FROM introlab3it/rtabmap:focal-foxy-deps
+
+# June 19 2023: moved opengv here so that focal-foxy-deps can be built on my computer. Not sure why but on my machine opengv arm64 fails, but not on CI.
+#commit Aug 6 2020
+RUN apt-get update && apt install -y wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+# Will be used to read/store databases on host
+RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake -DWITH_ALICE_VISION=ON -DWITH_OPENGV=ON .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
@@ -0,0 +1,176 @@
+# Image: introlab3it/rtabmap:focal-foxy-deps
+
+FROM ubuntu:20.04
+
+RUN apt update && \
+    apt install software-properties-common -y && \
+    add-apt-repository universe && \
+    apt update && \
+    apt install curl -y && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install build dependencies
+RUN apt-get update && \
+    apt upgrade -y && \
+    apt-get install -y git ros-foxy-ros-base python3-argcomplete ros-dev-tools ros-foxy-rtabmap-ros && \
+    apt-get remove -y ros-foxy-rtabmap && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# GTSAM
+RUN add-apt-repository ppa:borglab/gtsam-release-4.0 -y
+RUN apt-get update && apt install libgtsam-dev libgtsam-unstable-dev -y && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# MRPT
+RUN add-apt-repository ppa:joseluisblancoc/mrpt-stable -y
+RUN apt-get update && apt install libmrpt-poses-dev -y && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+    
+# PDAL
+RUN apt-get update && apt-get install -y libpdal-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# RealSense2
+RUN apt-get update && apt-get install -y ros-foxy-librealsense2 && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+# Azure Kinect DK
+# Taken from https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1190#issuecomment-822772494
+# K4A binaries on 20.04 not released yet, we should take those from 18.04
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing k4a..." && \
+    apt-get update && apt-get install -y curl && \
+    echo "Download libk4a1.3_1.3.0_amd64.deb..." && \
+    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 && \
+    echo "Download libk4a1.3-dev_1.3.0_amd64.deb..." && \
+    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 && \
+    echo "Download libk4abt1.0_1.0.0_amd64.deb..." && \
+    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 && \
+    echo "Download libk4abt1.0-dev_1.0.0_amd64.deb..." && \
+    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 && \
+    echo "Download k4a-tools_1.3.0_amd64.deb..." && \
+    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 && \
+    echo "Accept license..." && \
+    echo 'libk4a1.3 libk4a1.3/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections && \
+    echo 'libk4abt1.0	libk4abt1.0/accepted-eula-hash	string	03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections && \
+    dpkg -i /tmp/libk4a1.3_1.3.0_amd64.deb && \
+    dpkg -i /tmp/libk4a1.3-dev_1.3.0_amd64.deb && \
+    dpkg -i /tmp/libk4abt1.0_1.0.0_amd64.deb && \
+    dpkg -i /tmp/libk4abt1.0-dev_1.0.0_amd64.deb && \
+    apt-get install -y libsoundio1 && \
+    dpkg -i /tmp/k4a-tools_1.3.0_amd64.deb && \
+    rm /tmp/libk4a* /tmp/k4a* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/; fi
+
+# libfreenect2 
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
+    apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/OpenKinect/libfreenect2 && \
+    cd libfreenect2 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r libfreenect2; fi
+
+# zed open capture
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
+    apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/stereolabs/zed-open-capture.git && \
+    cd zed-open-capture && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r zed-open-capture; fi
+
+# AliceVision v2.4.0 modified (Sept 13 2021)
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing AliceVision..." && \
+      apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+      libsuitesparse-dev \
+      libceres-dev \
+      xorg-dev \
+      libglu1-mesa-dev \
+      wget && apt-get clean && rm -rf /var/lib/apt/lists/; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/OpenImageIO/oiio.git && \
+    cd oiio && \
+    git checkout Release-2.0.12 && \
+    mkdir build && \
+    cd build && \
+    cmake -DUSE_PYTHON=OFF -DOIIO_BUILD_TESTS=OFF -DOIIO_BUILD_TOOLS=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r oiio; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/assimp/assimp.git && \
+    cd assimp && \
+    git checkout 71a87b653cd4b5671104fe49e2e38cf5dd4d8675 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r assimp; fi
+# Ignore assimp installed from ros, as it has invalid "/usr/lib/include" in its target, making rtabmap's cmake fails
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then rm -rf /usr/lib/x86_64-linux-gnu/cmake/assimp*; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/alicevision/geogram.git && \
+    cd geogram && \
+    git checkout v1.7.6 && \
+    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/geogram_8b2ae61.patch && \
+    git apply geogram_8b2ae61.patch && \
+    ./configure.sh && \
+    cd build/Linux64-gcc-dynamic-Release && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r geogram; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/alicevision/AliceVision.git --recursive && \
+    cd AliceVision && \
+    git checkout 0f6115b6af6183c524aa7fcf26141337c1cf3872 && \
+    git submodule update -i && \
+    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/alicevision_0f6115b.patch && \
+    git apply alicevision_0f6115b.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DALICEVISION_USE_CUDA=OFF -DALICEVISION_USE_APRILTAG=OFF -DALICEVISION_BUILD_SOFTWARE=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r AliceVision; fi
+    
+RUN git clone --branch 4.2.0 https://github.com/opencv/opencv.git && \
+    git clone --branch 4.2.0 https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    mkdir build && \
+    cd build && \
+    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 .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+COPY ./docker/focal-foxy/deps/ros_entrypoint.sh /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
+# for jetson (https://github.com/introlab/rtabmap/issues/776)
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
+
@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# setup ros2 environment
+source "/opt/ros/foxy/setup.bash" --
+exec "$@"
@@ -0,0 +1,19 @@
+# Image: introlab3it/rtabmap:focal
+
+FROM introlab3it/rtabmap:focal-deps
+
+# Will be used to read/store databases on host
+RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake -DWITH_ALICE_VISION=ON -DWITH_OPENGV=ON .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
@@ -0,0 +1,196 @@
+# Image: introlab3it/rtabmap:focal
+
+FROM ros:noetic-perception
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+WORKDIR /root/
+
+# issue: https://github.com/introlab/rtabmap/issues/1523
+RUN rm /etc/apt/sources.list.d/ros1-latest.list || true && \
+    apt-get update && apt-get install -y curl && \
+    sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
+    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# Install build dependencies
+RUN if [ "$TARGETPLATFORM" = "linux/arm/v7" ]; then \
+    apt-get update && \
+    apt-get install -y git software-properties-common libtbb-dev zlib1g-dev liboctomap-dev ros-noetic-visualization-msgs ros-noetic-velodyne-pointcloud ros-noetic-turtlebot3-navigation ros-noetic-turtlebot3-bringup ros-noetic-tf-conversions ros-noetic-tf2-ros ros-noetic-tf ros-noetic-stereo-msgs ros-noetic-std-srvs ros-noetic-std-msgs ros-noetic-sensor-msgs ros-noetic-rviz ros-noetic-rospy ros-noetic-roscpp ros-noetic-robot-localization ros-noetic-realsense2-camera qtbase5-dev libproj-dev ros-noetic-pluginlib ros-noetic-pcl-ros ros-noetic-pcl-conversions ros-noetic-octomap-msgs ros-noetic-nodelet ros-noetic-nav-msgs ros-noetic-move-base-msgs ros-noetic-message-runtime ros-noetic-message-generation ros-noetic-message-filters libsqlite3-dev libqt5widgets5 libqt5core5a libpcl-dev ros-noetic-libg2o ros-noetic-laser-geometry ros-noetic-imu-filter-madgwick ros-noetic-image-transport ros-noetic-image-geometry ros-noetic-husky-navigation ros-noetic-hector-mapping ros-noetic-gtsam ros-noetic-grid-map-ros ros-noetic-grid-map-core ros-noetic-geometry-msgs ros-noetic-genmsg ros-noetic-find-object-2d ros-noetic-eigen-conversions ros-noetic-dynamic-reconfigure ros-noetic-diagnostic-updater ros-noetic-cv-bridge ros-noetic-costmap-2d ros-noetic-catkin ros-noetic-apriltag-ros ros-noetic-actionlib-msgs ros-noetic-actionlib wget libfreenect-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ ;fi
+RUN if [ "$TARGETPLATFORM" != "linux/arm/v7" ]; then \
+    apt-get update && \
+    apt-get install -y git software-properties-common libtbb-dev libfreenect-dev ros-noetic-rtabmap-ros && \
+    apt-get remove -y ros-noetic-rtabmap* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ ;fi
+
+#https://gitlab.kitware.com/cmake/cmake/-/issues/20568
+RUN if [ "$TARGETPLATFORM" = "linux/arm/v7" ]; then \
+    wget -nv https://github.com/Kitware/CMake/releases/download/v3.20.0/cmake-3.20.0.tar.gz   && \
+    tar -xzf cmake-3.20.0.tar.gz  && \
+    cd cmake-3.20.0 && \
+    export CFLAGS="-D_FILE_OFFSET_BITS=64" && \
+    export CXXFLAGS="-D_FILE_OFFSET_BITS=64" && \
+    ./bootstrap && \
+    make -j4 && \
+    sudo make install && \
+    cd .. && \
+    cmake --version && \
+    rm -r cmake-3.20.0.tar.gz cmake-3.20.0 ;fi
+ 
+# MRPT
+RUN add-apt-repository ppa:joseluisblancoc/mrpt-stable -y
+RUN apt-get update && apt install libmrpt-poses-dev -y && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# PDAL
+RUN apt-get update && apt-get install -y libpdal-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# RealSense2
+RUN apt-get update && apt-get install -y ros-noetic-librealsense2 && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# Azure Kinect DK
+# Taken from https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1190#issuecomment-822772494
+# K4A binaries on 20.04 not released yet, we should take those from 18.04
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing k4a..." && \
+    apt-get update && \
+    echo "Download libk4a1.3_1.3.0_amd64.deb..." && \
+    curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.3/libk4a1.3_1.3.0_amd64.deb > /tmp/libk4a1.3_1.3.0_amd64.deb && \
+    echo "Download libk4a1.3-dev_1.3.0_amd64.deb..." && \
+    curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.3-dev/libk4a1.3-dev_1.3.0_amd64.deb > /tmp/libk4a1.3-dev_1.3.0_amd64.deb && \
+    echo "Download libk4abt1.0_1.0.0_amd64.deb..." && \
+    curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.0/libk4abt1.0_1.0.0_amd64.deb > /tmp/libk4abt1.0_1.0.0_amd64.deb && \
+    echo "Download libk4abt1.0-dev_1.0.0_amd64.deb..." && \
+    curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.0-dev/libk4abt1.0-dev_1.0.0_amd64.deb > /tmp/libk4abt1.0-dev_1.0.0_amd64.deb && \
+    echo "Download k4a-tools_1.3.0_amd64.deb..." && \
+    curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/k/k4a-tools/k4a-tools_1.3.0_amd64.deb > /tmp/k4a-tools_1.3.0_amd64.deb && \
+    echo "Accept license..." && \
+    echo 'libk4a1.3 libk4a1.3/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections && \
+    echo 'libk4abt1.0	libk4abt1.0/accepted-eula-hash	string	03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections && \
+    dpkg -i /tmp/libk4a1.3_1.3.0_amd64.deb && \
+    dpkg -i /tmp/libk4a1.3-dev_1.3.0_amd64.deb && \
+    dpkg -i /tmp/libk4abt1.0_1.0.0_amd64.deb && \
+    dpkg -i /tmp/libk4abt1.0-dev_1.0.0_amd64.deb && \
+    apt-get install -y libsoundio1 && \
+    dpkg -i /tmp/k4a-tools_1.3.0_amd64.deb && \
+    rm /tmp/libk4a* /tmp/k4a* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/; fi
+
+# libfreenect2 
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
+    apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/OpenKinect/libfreenect2 && \
+    cd libfreenect2 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r libfreenect2; fi
+
+# zed open capture
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
+    apt-get update && apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/stereolabs/zed-open-capture.git && \
+    cd zed-open-capture && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r zed-open-capture; fi
+
+# AliceVision v2.4.0 modified (Sept 13 2021)
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing AliceVision..." && \
+      apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+      libsuitesparse-dev \
+      libceres-dev \
+      xorg-dev \
+      libglu1-mesa-dev \
+      wget && apt-get clean && rm -rf /var/lib/apt/lists/; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/OpenImageIO/oiio.git && \
+    cd oiio && \
+    git checkout Release-2.0.12 && \
+    mkdir build && \
+    cd build && \
+    cmake -DUSE_PYTHON=OFF -DOIIO_BUILD_TESTS=OFF -DOIIO_BUILD_TOOLS=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r oiio; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/assimp/assimp.git && \
+    cd assimp && \
+    git checkout 71a87b653cd4b5671104fe49e2e38cf5dd4d8675 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r assimp; fi
+# Ignore assimp installed from ros, as it has invalid "/usr/lib/include" in its target, making rtabmap's cmake fails
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then rm -rf /usr/lib/x86_64-linux-gnu/cmake/assimp*; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/alicevision/geogram.git && \
+    cd geogram && \
+    git checkout v1.7.6 && \
+    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/b3ed4cb8f9b270833a40d57d870a259eabfa4415/geogram_8b2ae61.patch && \
+    git apply geogram_8b2ae61.patch && \
+    ./configure.sh && \
+    cd build/Linux64-gcc-dynamic-Release && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r geogram; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/alicevision/AliceVision.git --recursive && \
+    cd AliceVision && \
+    git checkout 0f6115b6af6183c524aa7fcf26141337c1cf3872 && \
+    git submodule update -i && \
+    wget https://gist.githubusercontent.com/matlabbe/1df724465106c056ca4cc195c81d8cf0/raw/5e3437cf6229c8d534bbaee475ed9bcb92eb84a1/alicevision_0f6115b.patch && \
+    git apply alicevision_0f6115b.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DALICEVISION_USE_CUDA=OFF -DALICEVISION_USE_APRILTAG=OFF -DALICEVISION_BUILD_SOFTWARE=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r AliceVision; fi
+    
+RUN git clone --branch 4.2.0 https://github.com/opencv/opencv.git && \
+    git clone --branch 4.2.0 https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake -DWITH_TBB=ON -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DWITH_VTK=OFF -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+RUN if [ "$TARGETPLATFORM" = "linux/arm64" ]; then apt-get update && apt install wget && apt-get clean && rm -rf /var/lib/apt/lists/; fi
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# for jetson (https://github.com/introlab/rtabmap/issues/776)
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
@@ -0,0 +1,80 @@
+# cd rtabmap
+# docker build -t rtabmap_frontiers -f docker/frontiers2022/Dockerfile .
+FROM nvcr.io/nvidia/pytorch:22.08-py3
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install dependencies
+RUN apt-get update && apt-get install -y \
+      libsqlite3-dev \
+      libpcl-dev \
+      git \
+      cmake \
+      libyaml-cpp-dev \
+      software-properties-common \
+      pkg-config \ 
+      wget \
+      libsuitesparse-dev \
+      pybind11-dev
+
+# g2o (removing config because cs.h not found error: https://github.com/introlab/rtabmap/issues/835)
+RUN git clone https://github.com/RainerKuemmerle/g2o.git && \
+    cd g2o && \
+    git checkout 20201223_git && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_LGPL_SHARED_LIBS=ON -DG2O_BUILD_APPS=OFF -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd /workspace && \
+    rm -rf g2o /usr/local/lib/cmake/g2o
+
+# GTSAM
+RUN add-apt-repository ppa:borglab/gtsam-release-4.0 && \
+    apt install -y libgtsam-dev libgtsam-unstable-dev
+
+
+# OpenCV with xfeatures2d and nonfree modules
+RUN git clone https://github.com/opencv/opencv_contrib.git && \
+    git clone https://github.com/opencv/opencv.git && \
+    cd opencv_contrib && \
+    git checkout tags/4.2.0 && \
+    cd /workspace && \
+    cd opencv && \
+    git checkout tags/4.2.0 && \
+    mkdir build && \
+    cd build && \
+    cmake -DOPENCV_EXTRA_MODULES_PATH=/workspace/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd /workspace && \
+    rm -rf opencv opencv_contrib
+
+# Copy current source code
+COPY . rtabmap
+
+RUN cp -r rtabmap/archive/2022-IlluminationInvariant/scripts scripts && \
+    chmod +x scripts/*.sh 
+
+# Superpoint model
+RUN cd scripts && \
+    wget https://github.com/magicleap/SuperPointPretrainedNetwork/raw/master/superpoint_v1.pth && \
+    wget https://raw.githubusercontent.com/magicleap/SuperPointPretrainedNetwork/master/demo_superpoint.py && \
+    python trace.py && \
+    rm superpoint_v1.pth demo_superpoint.py
+    
+# Superglue
+RUN cd scripts && \
+    git clone https://github.com/magicleap/SuperGluePretrainedNetwork && \
+    cp /workspace/rtabmap/corelib/src/python/rtabmap_superglue.py SuperGluePretrainedNetwork/.
+
+# Build RTAB-Map
+RUN cd rtabmap && \
+    cd build && \
+    cmake -DTorch_DIR=/opt/conda/lib/python3.8/site-packages/torch/share/cmake/Torch -DWITH_TORCH=ON -DWITH_PYTHON=ON -DWITH_QT=ON .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd /workspace && \
+    rm -rf rtabmap
+
+
@@ -0,0 +1,37 @@
+# Image: introlab3it/rtabmap:jammy-iron
+
+FROM introlab3it/rtabmap:jammy-iron-deps
+
+# June 19 2023: moved opengv here so that jammy-deps can be built on my computer. Not sure why but on my machine opengv arm64 fails, but not on CI.
+#commit Aug 6 2020
+RUN apt-get update && apt install -y wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+# Will be used to read/store databases on host
+RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake -DWITH_OPENGV=ON .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
@@ -0,0 +1,88 @@
+# Image: introlab3it/rtabmap:jammy-iron-deps
+
+FROM ubuntu:22.04
+
+# Install ROS2
+RUN apt update && \
+    apt install software-properties-common -y && \
+    add-apt-repository universe && \
+    apt update && \
+    apt install curl -y && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install build dependencies
+RUN apt-get update && \
+    apt upgrade -y && \
+    apt-get install -y git libtbb-dev ros-iron-ros-base ros-dev-tools ros-iron-rtabmap-ros && \
+    apt-get remove -y ros-iron-rtabmap* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# PDAL
+RUN apt-get update && apt-get install -y libpdal-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# RealSense2
+RUN apt-get update && apt-get install -y ros-iron-librealsense2 && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+# libfreenect2 
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
+    apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/OpenKinect/libfreenect2 && \
+    cd libfreenect2 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r libfreenect2; fi
+
+# zed open capture
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
+    apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/stereolabs/zed-open-capture.git && \
+    cd zed-open-capture && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r zed-open-capture; fi
+    
+RUN git clone --branch 4.5.4 https://github.com/opencv/opencv.git && \
+    git clone --branch 4.5.4 https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake -DWITH_TBB=ON -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+COPY ./docker/jammy-iron/deps/ros_entrypoint.sh /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/iron/lib/x86_64-linux-gnu:/opt/ros/iron/lib/aarch64-linux-gnu
+
+# for jetson (https://github.com/introlab/rtabmap/issues/776)
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
+
@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# setup ros2 environment
+source "/opt/ros/iron/setup.bash" --
+exec "$@"
@@ -0,0 +1,20 @@
+# Image: introlab3it/rtabmap:jammy
+
+FROM introlab3it/rtabmap:jammy-deps
+
+# Will be used to read/store databases on host
+RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake -DWITH_OPENGV=ON .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
@@ -0,0 +1,109 @@
+# Image: introlab3it/rtabmap:jammy-deps
+
+FROM ubuntu:22.04
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+# Install ROS2
+RUN apt update && \
+    apt install software-properties-common -y && \
+    add-apt-repository universe && \
+    apt update && \
+    apt install curl -y && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install build dependencies
+RUN apt-get update && \
+    apt upgrade -y && \
+    apt-get install -y git libtbb-dev ros-humble-ros-base ros-dev-tools && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+RUN apt-get update && \
+    apt upgrade -y && \
+    apt-get install -y libfreenect-dev ros-humble-rtabmap-ros && \
+    apt-get remove -y ros-humble-rtabmap* ros-humble-grid-map-core && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# PDAL
+RUN apt-get update && apt-get install -y libpdal-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# RealSense2
+RUN apt-get update && apt-get install -y ros-humble-librealsense2 && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# libfreenect2 
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
+    apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/OpenKinect/libfreenect2 && \
+    cd libfreenect2 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j2 && \
+    make install && \
+    cd && \
+    rm -r libfreenect2; fi
+
+# zed open capture
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
+    apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/stereolabs/zed-open-capture.git && \
+    cd zed-open-capture && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j2 && \
+    make install && \
+    cd && \
+    rm -r zed-open-capture; fi
+    
+RUN git clone --branch 4.5.4 https://github.com/opencv/opencv.git && \
+    git clone --branch 4.5.4 https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake -DWITH_TBB=ON -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+    make -j2 && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+#commit Aug 6 2020
+RUN apt-get update && apt install -y wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j2 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/humble/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib/aarch64-linux-gnu
+
+# for jetson (https://github.com/introlab/rtabmap/issues/776)
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
+
@@ -0,0 +1,230 @@
+# Image: introlab3it/rtabmap:jfr2018
+
+FROM ubuntu:16.04
+
+WORKDIR /root/
+
+# Install build dependencies
+RUN apt-get update && apt-get install -y \
+      libsqlite3-dev \
+      libpcl-dev \
+      git \
+      cmake \
+      libproj-dev \
+      libqt5svg5-dev \
+      libfreenect-dev \
+      libopenni2-dev \
+      libyaml-cpp-dev \
+      software-properties-common \
+      libgtk2.0-dev \
+      pkg-config
+
+# 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)
+RUN git clone https://github.com/opencv/opencv_contrib.git
+RUN git clone https://github.com/opencv/opencv.git
+RUN cd opencv_contrib && \
+    git checkout tags/3.1.0 && \
+    cd && \
+    cd opencv && \
+    git checkout tags/3.1.0 && \
+    mkdir build && \
+    cd build && \
+    cmake -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -rf opencv opencv_contrib
+
+# Install ROS to build other odometry approaches (depending on ROS)
+# install packages
+RUN apt-get update && apt-get install -q -y \
+    dirmngr \
+    gnupg2 \
+    lsb-release \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup keys
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116
+
+# setup sources.list
+RUN echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    python-rosdep \
+    python-rosinstall \
+    python-vcstools \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup environment
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+
+# bootstrap rosdep
+RUN rosdep init \
+    && rosdep update
+
+# install ros packages
+ENV ROS_DISTRO kinetic
+RUN apt-get update && apt-get install -y \
+    ros-kinetic-ros-core=1.3.2-0* \
+    && rm -rf /var/lib/apt/lists/*
+
+# install ROS dependencies
+RUN apt-get update && apt-get install -y ros-kinetic-tf ros-kinetic-pcl-ros ros-kinetic-eigen-conversions ros-kinetic-tf-conversions ros-kinetic-random-numbers ros-kinetic-image-transport libblas-dev liblapack-dev libsuitesparse-dev libvtk6.2 libyaml-cpp-dev wget libgoogle-glog-dev libatlas-base-dev ros-kinetic-sophus ros-kinetic-octomap libglew-dev
+
+# g2o should be built to link on csparse installed system-wide (for rtabmap 0.17.4 build below)
+RUN git clone https://github.com/RainerKuemmerle/g2o.git
+RUN cd g2o && \
+    git checkout 20170730_git && \
+    mkdir build && \
+    cd build && \
+    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 .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r g2o
+
+# GTSAM
+RUN git clone https://bitbucket.org/gtborg/gtsam.git
+RUN cd gtsam && \
+    git checkout 4.0.0-alpha2 && \
+    mkdir build && \
+    cd build && \
+    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 .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r gtsam
+
+# libpointmatcher 
+RUN git clone https://github.com/ethz-asl/libnabo.git
+#commit Apr 25 2018
+RUN cd libnabo && \
+    git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r libnabo
+RUN git clone https://github.com/ethz-asl/libpointmatcher.git
+#commit Jan 19 2018
+RUN cd libpointmatcher && \
+    git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r libpointmatcher
+
+# Clone dependencies
+RUN mkdir -p catkin_ws/src
+WORKDIR /root/catkin_ws/src
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace'
+RUN git clone https://github.com/tum-vision/dvo_slam.git && cd dvo_slam && git checkout kinetic-devel && rm dvo_slam/package.xml && rm dvo_benchmark/package.xml && rm dvo_ros/package.xml
+RUN git clone https://github.com/srv/viso2.git && cd viso2 && git checkout kinetic
+RUN git clone https://github.com/KumarRobotics/msckf_vio.git && cd msckf_vio && git checkout a9386c5 && wget https://gist.githubusercontent.com/matlabbe/f2518d7427e7f6740af2110e540b1f2b/raw/1b7c96b38e063bacfa77408686e4528f3d27af2e/msckf_vio_a9386c5_ros_commented.patch && git apply --ignore-space-change --ignore-whitespace msckf_vio_a9386c5_ros_commented.patch
+RUN git clone https://github.com/srv/libfovis.git && cd libfovis && git checkout db2fc39451e59317cf8486d92085da1c8e414785
+RUN git clone https://github.com/ros-perception/vision_opencv.git && cd vision_opencv && git checkout kinetic
+RUN git clone https://github.com/laboshinl/loam_velodyne.git && cd loam_velodyne && git checkout a4c364a677647f2a35831439032dc5a58378b3fd
+
+WORKDIR /root
+RUN git clone https://github.com/ethz-asl/okvis.git && cd okvis && git checkout 1dce9129f22dd4d21d944788cd9da3a4341586aa && wget https://gist.githubusercontent.com/matlabbe/383be55b5cb682fea217d45ef9a37ef8/raw/3dfc07f3b0b21d07c090f4bb81950f013163f9cf/okvis_1dce912_marchnative_disabled.patch && git apply --ignore-space-change --ignore-whitespace okvis_1dce912_marchnative_disabled.patch
+RUN git clone https://github.com/introlab/rtabmap.git && cd rtabmap && git checkout 0.16.3 && wget https://gist.githubusercontent.com/matlabbe/54c69e8c1008d2b3c237f335cb8a6c99/raw/1dc18f66930be3257ab6d93e80a4ce87d0f110bf/rtabmap-0.16.3-euroc-tool-fix.patch && git apply --ignore-space-change --ignore-whitespace rtabmap-0.16.3-euroc-tool-fix.patch
+RUN git clone https://github.com/stevenlovegrove/Pangolin.git
+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
+
+# for dvo, TBB is required (docker related issue)
+# Download and install TBB
+ENV TBB_RELEASE 2018_U2
+ENV TBB_VERSION 2018_20171205
+ENV TBB_DOWNLOAD_URL https://github.com/01org/tbb/releases/download/${TBB_RELEASE}/tbb${TBB_VERSION}oss_lin.tgz
+ENV TBB_INSTALL_DIR /opt
+RUN wget ${TBB_DOWNLOAD_URL} && \
+	tar -C ${TBB_INSTALL_DIR} -xf tbb${TBB_VERSION}oss_lin.tgz && \
+	rm tbb${TBB_VERSION}oss_lin.tgz && \
+	sed -i "s%SUBSTITUTE_INSTALL_DIR_HERE%${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss%" ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.* && \
+        echo "source ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.sh intel64" >> ~/.bashrc
+
+RUN cd okvis && \
+     mkdir build && \
+     cd build && \
+     cmake .. && \
+     make -j3 && \
+     make install && \
+     mkdir -p /usr/local/lib/cmake && \
+     mv /usr/local/lib/CMake/* /usr/local/lib/cmake/.
+
+# Pangolin needed for ORB_SLAM2
+RUN cd Pangolin && \
+     mkdir build && \
+     cd build && \
+     cmake .. && \
+     make -j3 && \
+     make install && \
+     cd && \
+     rm -rf Pangolin
+
+RUN cd ORB_SLAM2 && \
+     cd Thirdparty/DBoW2 && \
+     mkdir build && \
+     cd build && \
+     cmake .. -DCMAKE_BUILD_TYPE=Release && \
+     make -j3 && \
+     rm -rf * && \
+     cd ../../g2o && \
+     mkdir build && \
+     cd build && \
+     cmake .. -DCMAKE_BUILD_TYPE=Release && \
+     make -j3 && \
+     rm -rf * && \
+     cd ../../../ && \
+     cd Vocabulary && \
+     tar -xf ORBvoc.txt.tar.gz && \
+     cd .. && \
+     mkdir build && \
+     cd build && \
+     cmake .. -DCMAKE_BUILD_TYPE=Release && \
+     make -j3 && \
+     rm -rf *
+
+RUN mv okvis/config/config_fpga_p2_euroc.yaml .
+RUN mv ORB_SLAM2/Vocabulary/ORBvoc.txt .
+
+# Catkin_make
+WORKDIR /root/catkin_ws
+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;'
+RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
+
+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/okvis/build/lib:/root/catkin_ws/devel/lib:/opt/ros/kinetic/lib:$LD_LIBRARY_PATH
+ENV PATH /root/catkin_ws/devel/bin:/opt/ros/kinetic/bin:$PATH
+ENV ORB_SLAM2_ROOT_DIR /root/ORB_SLAM2
+
+WORKDIR /root
+
+# Build RTAB-Map (using standard g2o, then a version for orbslam2, which uses its own g2o version)
+RUN cp -r rtabmap rtabmap_os2 && cp -r rtabmap rtabmap_msckf && cp -r rtabmap rtabmap_loam
+RUN cd rtabmap && \
+    cd build && \
+    cmake -DWITH_G2O=ON .. && \
+    make -j3 && \
+    make install && \
+    rm -rf * && \
+    ldconfig
+
+RUN cd rtabmap_os2 && \
+    cd build && \
+    cmake -DWITH_G2O=OFF .. && \
+    make -j3 && \
+    rm -rf *
+
+# rtabmap is crashing if LOAM and MSCKF dependencies are used at the same time, so split them
+RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_loam ; git checkout tools/EurocDataset/main.cpp ;git checkout 0.17.4 ;cd build ;cmake -DWITH_MSCKF_VIO=OFF -DWITH_LOAM=ON -DWITH_G2O=ON -DWITH_FOVIS=OFF -DWITH_DVO=OFF -DWITH_OKVIS=OFF -DWITH_VISO2=OFF .. ;make -j3 ;rm -rf *'
+RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_msckf ; git checkout tools/EurocDataset/main.cpp ;git checkout 0.17.4 ;cd build ;cmake -DWITH_MSCKF_VIO=ON -DWITH_LOAM=OFF -DWITH_G2O=ON -DWITH_FOVIS=OFF -DWITH_DVO=OFF -DWITH_OKVIS=OFF -DWITH_VISO2=OFF .. ;make -j3 ;rm -rf *'
+
+WORKDIR /root
+    
@@ -0,0 +1,49 @@
+Docker image used to reproduce all results for KITTI, EuRoC and TUM datasets of the following paper (for MIT Stata Center dataset, see this [page](https://github.com/introlab/rtabmap_ros/blob/master/launch/jfr2018)):
+
+ * M. Labbé and F. Michaud, “RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation,” in Journal of Field Robotics, accepted, 2018. ([pdf](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf)) ([Wiley](https://doi.org/10.1002/rob.21831))
+
+Pull image:
+```bash
+$ docker pull introlab3it/rtabmap:jfr2018
+```
+or create the image with the `Dockerfile` provided in this directory:
+```bash
+$ cd rtabmap/docker/jfr2018
+$ docker build -t introlab3it/rtabmap:jfr2018 . 
+```
+
+Make sure to extract datasets in a subfolder called `datasets` relative to scripts in this folder (you can copy the scripts outside rtabmap source directory for convenience). The testing folder tree should look like this:
+```bash
+datasets/kitti/devkit
+datasets/kitti/dataset/sequences/00
+datasets/kitti/dataset/sequences/01
+datasets/kitti/dataset/sequences/...
+datasets/euroc/MH_01_easy
+datasets/euroc/V1_01_easy
+datasets/euroc/...
+datasets/tum/rgbd_dataset_freiburg1_desk
+datasets/tum/rgbd_dataset_freiburg3_long_office_household
+datasets/tum/...
+
+run_all.sh
+run_kitti_datasets.sh
+run_euroc_datasets.sh
+run_tum_datasets.sh
+```
+
+For TUM dataset, use this script [associate.py](https://gist.github.com/matlabbe/484134a2d9da8ad425362c6669824798) to synchronize RGB and depth images before processing. Usage in a TUM dataset: `python associate.py rgb.txt depth.txt`, this will create `rgb_sync` and `depth_sync` folders.
+
+Process all datasets, results will be written to subfolders `results/euroc`, `results/kitti` and `results/tum`:
+```bash
+./run_all.sh
+```
+WARNING: processing all datasets with all different odometry approaches can require more than 10 hours to process. You can comment some configurations in [run_all.sh](https://github.com/introlab/rtabmap/blob/master/docker/jfr2018/run_all.sh) if you are interested in just one odometry approach or one dataset. A single sequence can be tested like this too:
+```bash
+# Processing only sequence 07 of the kitti dataset with F2M odometry approach
+./run_kitti_datasets.sh f2m 0 0 07
+```
+
+Show all results:
+```bash
+$ rtabmap-report --scale results
+```
@@ -0,0 +1,281 @@
+# Image: introlab3it/rtabmap:jfr2018
+
+# Build this image:
+# $ cd rtabmap
+# $ docker build -t introlab3it/rtabmap:jfr2018 -f docker/jfr2018/latest/Dockerfile .
+
+FROM ubuntu:16.04
+
+WORKDIR /root/
+
+# Install build dependencies
+RUN apt-get update && apt-get install -y \
+      libsqlite3-dev \
+      libpcl-dev \
+      git \
+      cmake \
+      libproj-dev \
+      libqt5svg5-dev \
+      libfreenect-dev \
+      libopenni2-dev \
+      libyaml-cpp-dev \
+      software-properties-common \
+      libgtk2.0-dev \
+      pkg-config
+
+# 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)
+RUN git clone https://github.com/opencv/opencv_contrib.git
+RUN git clone https://github.com/opencv/opencv.git
+RUN cd opencv_contrib && \
+    git checkout tags/3.1.0 && \
+    cd && \
+    cd opencv && \
+    git checkout tags/3.1.0 && \
+    mkdir build && \
+    cd build && \
+    cmake -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -rf opencv opencv_contrib
+
+# Install ROS to build other odometry approaches (depending on ROS)
+# install packages
+RUN apt-get update && apt-get install -q -y \
+    dirmngr \
+    gnupg2 \
+    lsb-release \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup keys
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+
+# setup sources.list
+RUN echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y --allow-unauthenticated \
+    python-rosdep \
+    python-rosinstall \
+    python-vcstools \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup environment
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+
+# bootstrap rosdep
+RUN rosdep init \
+    && rosdep update
+
+# install ros packages
+ENV ROS_DISTRO kinetic
+RUN apt-get update && apt-get install -y \
+    ros-${ROS_DISTRO}-ros-core=1.3.2-0* \
+    && rm -rf /var/lib/apt/lists/*
+
+# install ROS dependencies
+RUN apt-get update && apt-get install -y ros-${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-${ROS_DISTRO}-octomap libglew-dev
+
+# g2o should be built to link on csparse installed system-wide
+RUN git clone https://github.com/RainerKuemmerle/g2o.git
+RUN cd g2o && \
+    git checkout 20170730_git && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_LGPL_SHARED_LIBS=ON -DG2O_BUILD_APPS=OFF -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r g2o
+
+# GTSAM
+RUN git clone https://bitbucket.org/gtborg/gtsam.git
+RUN cd gtsam && \
+    git checkout 4.0.0-alpha2 && \
+    mkdir build && \
+    cd build && \
+    cmake -DMETIS_SHARED=ON -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r gtsam
+
+# libpointmatcher 
+RUN git clone https://github.com/ethz-asl/libnabo.git
+#commit Apr 25 2018
+RUN cd libnabo && \
+    git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r libnabo
+RUN git clone https://github.com/ethz-asl/libpointmatcher.git
+#commit Jan 19 2018
+RUN cd libpointmatcher && \
+    git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r libpointmatcher
+
+# Clone dependencies
+RUN mkdir -p catkin_ws/src
+WORKDIR /root/catkin_ws/src
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace'
+# OPENCV ROS
+RUN git clone https://github.com/ros-perception/vision_opencv.git && cd vision_opencv && git checkout kinetic
+# make sure cv_bridge is rebuilt before other packages
+RUN /bin/bash -c 'cd /root/catkin_ws;. /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make -DCMAKE_BUILD_TYPE=Release; rm -rf build;'
+# DVO
+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
+# VISO2
+RUN git clone https://github.com/srv/viso2.git && cd viso2 && git checkout ${ROS_DISTRO}
+# MSCKF-VIO: using a patched version to be used outside ros and c++14:
+RUN git clone https://github.com/borongyuan/msckf_vio.git && cd msckf_vio && git checkout 916c917e5b481741c60732057f0141e8311962c1
+# FOVIS
+RUN git clone https://github.com/srv/libfovis.git && cd libfovis && git checkout 896acc8425e9fd7c5609153b8bad349ae1abbb50
+# LOAM
+RUN git clone https://github.com/laboshinl/loam_velodyne.git && cd loam_velodyne && git checkout a4c364a677647f2a35831439032dc5a58378b3fd
+# FLOAM
+RUN git clone https://github.com/wh200720041/floam.git && cd floam && git checkout 9fdb2ca60a2988c0db515c9c1567100fba8b58d8 && wget https://gist.githubusercontent.com/matlabbe/d8ab56e69146c18afbd1a3b05444c649/raw/f1f37ece5d5787c77f008cb89e9446fc20a40c1f/floam_as_library_support.patch && git apply --ignore-space-change --ignore-whitespace floam_as_library_support.patch
+# VINS-Fusion
+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
+# OpenVINS (currently failing because not right ceres version is installed)
+# RUN git clone https://github.com/rpng/open_vins.git && cd open_vins && git checkout 83ffb88ad35586d86bddc1e041094f4cd3d400df
+
+WORKDIR /root
+# OKVIS
+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
+# ORB_SLAM2
+RUN git clone https://github.com/stevenlovegrove/Pangolin.git && cd Pangolin && git checkout v0.6
+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
+
+# for dvo, TBB is required (docker related issue)
+# Download and install TBB
+ENV TBB_RELEASE 2018_U2
+ENV TBB_VERSION 2018_20171205
+ENV TBB_DOWNLOAD_URL https://github.com/01org/tbb/releases/download/${TBB_RELEASE}/tbb${TBB_VERSION}oss_lin.tgz
+ENV TBB_INSTALL_DIR /opt
+RUN wget ${TBB_DOWNLOAD_URL} && \
+	tar -C ${TBB_INSTALL_DIR} -xf tbb${TBB_VERSION}oss_lin.tgz && \
+	rm tbb${TBB_VERSION}oss_lin.tgz && \
+	sed -i "s%SUBSTITUTE_INSTALL_DIR_HERE%${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss%" ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.* && \
+        echo "source ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.sh intel64" >> ~/.bashrc
+
+RUN cd okvis && \
+     mkdir build && \
+     cd build && \
+     cmake .. && \
+     make -j3 && \
+     make install && \
+     mkdir -p /usr/local/lib/cmake && \
+     mv /usr/local/lib/CMake/* /usr/local/lib/cmake/.
+
+# Pangolin needed for ORB_SLAM2
+RUN cd Pangolin && \
+     mkdir build && \
+     cd build && \
+     cmake .. && \
+     make -j3 && \
+     make install && \
+     cd && \
+     rm -rf Pangolin
+
+RUN cd ORB_SLAM2 && \
+     cd Thirdparty/DBoW2 && \
+     mkdir build && \
+     cd build && \
+     cmake .. -DCMAKE_BUILD_TYPE=Release && \
+     make -j3 && \
+     rm -rf * && \
+     cd ../../g2o && \
+     mkdir build && \
+     cd build && \
+     cmake .. -DCMAKE_BUILD_TYPE=Release && \
+     make -j3 && \
+     rm -rf * && \
+     cd ../../../ && \
+     cd Vocabulary && \
+     tar -xf ORBvoc.txt.tar.gz && \
+     cd .. && \
+     mkdir build && \
+     cd build && \
+     cmake .. -DCMAKE_BUILD_TYPE=Release && \
+     make -j3 && \
+     rm -rf *
+
+RUN mv okvis/config/config_fpga_p2_euroc.yaml .
+RUN mv ORB_SLAM2/Vocabulary/ORBvoc.txt .
+RUN cp catkin_ws/src/VINS-Fusion/config/euroc/* .
+RUN cp catkin_ws/src/VINS-Fusion/config/kitti_odom/* .
+
+# Catkin_make
+WORKDIR /root/catkin_ws
+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;'
+RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
+
+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
+ENV PATH /root/catkin_ws/devel/bin:/opt/ros/${ROS_DISTRO}/bin:$PATH
+ENV ORB_SLAM2_ROOT_DIR /root/ORB_SLAM2
+
+WORKDIR /root
+
+# To make "source" working
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# Need cmake >=3.10
+RUN apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    wget -nv https://github.com/Kitware/CMake/releases/download/v3.17.0/cmake-3.17.0-Linux-x86_64.tar.gz && \
+    tar -xzf cmake-3.17.0-Linux-x86_64.tar.gz && \
+    rm cmake-3.17.0-Linux-x86_64.tar.gz &&\
+    ln -s ~/cmake-3.17.0-Linux-x86_64/bin/cmake ~/cmake
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Patch for OpenCV 3.1
+RUN cd rtabmap && git apply --ignore-space-change --ignore-whitespace docker/jfr2018/rtabmap_opencv310_backward_compatibility.patch
+
+# Build RTAB-Map (using standard g2o, then a version for orbslam2, which uses its own g2o version)
+RUN cp -r rtabmap rtabmap_os2 && cp -r rtabmap rtabmap_msckf && cp -r rtabmap rtabmap_loam
+
+RUN source /root/catkin_ws/devel/setup.bash && \
+    cd rtabmap && \
+    cd build && \
+    ~/cmake -DWITH_FOVIS=ON -DWITH_VISO2=ON -DWITH_DVO=ON -DWITH_OKVIS=ON -DWITH_VINS=ON -DWITH_OPENVINS=ON -DWITH_OPENGV=OFF .. && \
+    make -j3 && \
+    make install && \
+    rm -rf * && \
+    ldconfig
+# Version with orb_slam2 (system g2o disabled)
+RUN source /root/catkin_ws/devel/setup.bash && \
+    cd rtabmap_os2 && \
+    cd build && \
+    ~/cmake -DWITH_G2O=OFF -DWITH_ORB_SLAM=ON -DWITH_OPENGV=OFF .. && \
+    make -j3 && \
+    rm -rf *
+
+# rtabmap is crashing if LOAM and MSCKF dependencies are used at the same time, so split them
+RUN source /root/catkin_ws/devel/setup.bash && \
+    cd rtabmap_loam && \
+    cd build && \
+    ~/cmake  -DWITH_LOAM=ON -DWITH_FLOAM=ON -DWITH_OPENGV=OFF -DWITH_CERES=ON .. && \
+    make -j3 && \
+    rm -rf *
+RUN source /root/catkin_ws/devel/setup.bash && \
+    cd rtabmap_msckf && \
+    git apply --ignore-space-change --ignore-whitespace docker/jfr2018/rtabmap_msckf_ubuntu_16_compatibility.patch && \
+    cd build && \
+    ~/cmake -DWITH_MSCKF_VIO=ON -DWITH_OPENGV=OFF .. && \
+    make -j3 && \
+    rm -rf *
+
+WORKDIR /root
+    
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c14cb659..2c370200 100644
+--- a/CMakeLists.txt
+++ b/CMakeLists.txt
+@@ -830,6 +830,8 @@ IF(NOT MSVC)
+     ENDIF()
+ ENDIF()
+ 
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fext-numeric-literals")
+
+ 
+ ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
+ IF(APPLE AND BUILD_AS_BUNDLE)
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9f2bfd83..65b03eef 100644
+--- a/CMakeLists.txt
+++ b/CMakeLists.txt
+@@ -228,7 +228,7 @@ ENDIF()
+ set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
+ set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6)
+ 
+-FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d)
+FIND_PACKAGE(OpenCV QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d)
+ 
+ IF(WITH_QT)
+ FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
@@ -0,0 +1,33 @@
+#!/bin/bash
+
+# docker pull introlab3it/rtabmap:jfr2018
+
+mkdir -p results/kitti
+./run_kitti_datasets.sh f2m 0 0
+./run_kitti_datasets.sh f2f 11 0
+./run_kitti_datasets.sh s2m 0 1
+./run_kitti_datasets.sh s2s 1 1
+./run_kitti_datasets.sh fovis 2 0
+./run_kitti_datasets.sh viso2 3 0
+./run_kitti_datasets.sh os2 5 0
+./run_kitti_datasets.sh loam  7 1
+
+mkdir -p results/tum
+./run_tum_datasets.sh f2m 0
+./run_tum_datasets.sh f2f 11
+./run_tum_datasets.sh fovis 2
+./run_tum_datasets.sh dvo 4
+./run_tum_datasets.sh os2 5
+
+mkdir -p results/euroc
+./run_euroc_datasets.sh f2m 0 0
+./run_euroc_datasets.sh f2f 11 0
+./run_euroc_datasets.sh os2 5 0
+./run_euroc_datasets.sh msckf 88 0
+./run_euroc_datasets.sh fovis 2 0
+./run_euroc_datasets.sh viso2 3 0
+./run_euroc_datasets.sh okvis 66 0
+
+
+
+
@@ -0,0 +1,156 @@
+#!/bin/bash
+
+PWD=$(pwd)
+DOCKER=1 # set to 0 to use host rtabmap tool and relative datasets to this script
+
+DATASET_ROOT_PATH='./datasets/euroc'
+EUROC_RESULTS_PATH='./results/euroc'
+mkdir -p $EUROC_RESULTS_PATH
+if [ $DOCKER -eq 1 ]
+then
+    DATASET_ROOT_PATH='/root/datasets/euroc'
+    EUROC_RESULTS_PATH='/root/results/euroc'
+fi
+
+LIST=( 'V1_01_easy' 'V1_02_medium' 'V1_03_difficult' 'V2_01_easy' 'V2_02_medium' 'V2_03_difficult' 'MH_01_easy' 'MH_02_easy' 'MH_03_medium' 'MH_04_difficult' 'MH_05_difficult')
+
+STRATEGY=0
+OUTPUT="test"
+DISP=0
+if [ $# -eq 4 ] 
+then
+    OUTPUT=$1
+    STRATEGY=$2
+    DISP=$3
+    LIST=($4)
+elif [ $# -eq 3 ] 
+then
+    OUTPUT=$1
+    STRATEGY=$2
+    DISP=$3
+else
+echo "Usage: run_euroc_datasets.sh \"output name\" \"odom strategy: 0=f2m 1=f2f 11=f2f_optflow 2=fovis 3=viso2 4=dvo 5=orbslam2 6=okvis(rect) 66=okvis(raw) 8=msckf_vio(rect) 88=msckf_vio(raw) 9=vins_vio(rect) 99=vins_vio(raw) 10=vins_stereo(rect) 100=vins_stereo(raw)\" \"Disparity: 0 or 1\" [sequence]"
+exit
+fi
+
+#uncomment for graph gravity optimization
+#F2F_params="--Optimizer/GravitySigma 0.01 --g2o/PixelVariance 5"
+
+if [ $STRATEGY -eq 11 ] # F2F optical flow
+then
+    STRATEGY=1
+    F2F_params="--Vis/CorType 1 --Vis/MinInliers 20 --RGBD/OptimizeMaxError 0"
+fi
+
+if [ $STRATEGY -eq 1 ] # F2F
+then
+    F2F_params="--Odom/KeyFrameThr 0.6 $F2F_params"
+fi
+
+if [ $DISP -eq 1 ]
+then
+    F2F_params="--disp --StereoBM/NumDisparities 32 --StereoBM/UniquenessRatio 5 $F2F_params"
+else
+    F2F_params="--exposure_comp $F2F_params"
+fi
+
+if [ $STRATEGY -eq 66 ] # okvis raw images
+then
+    STRATEGY=6
+    F2F_params="--raw --Odom/GuessMotion false --OdomOKVIS/ConfigPath ./config_fpga_p2_euroc.yaml $F2F_params"
+fi
+if [ $STRATEGY -eq 6 ] # okvis
+then
+    F2F_params="--Odom/GuessMotion false --OdomOKVIS/ConfigPath ./config_fpga_p2_euroc.yaml $F2F_params"
+fi
+
+if [ $STRATEGY -eq 88 ] # msckf_vio raw images
+then
+    STRATEGY=8
+    F2F_params="--raw --Odom/GuessMotion false $F2F_params"
+fi
+if [ $STRATEGY -eq 8 ] # msckf_vio
+then
+    F2F_params="--Odom/GuessMotion false $F2F_params"
+fi
+
+if [ $STRATEGY -eq 99 ] # vins raw images
+then
+    STRATEGY=9
+    F2F_params="--raw --Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_imu_config.yaml $F2F_params"
+fi
+if [ $STRATEGY -eq 9 ] # vins
+then
+    F2F_params="--Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_imu_config.yaml $F2F_params"
+fi
+
+if [ $STRATEGY -eq 100 ] # vins (stereo-only) raw images
+then
+    STRATEGY=9
+    F2F_params="--raw --Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_config.yaml $F2F_params"
+fi
+if [ $STRATEGY -eq 10 ] # vins (stereo-only)
+then
+    F2F_params="--Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_config.yaml $F2F_params"
+fi
+
+RTABMAP_EUROC_TOOL="rtabmap-euroc_dataset"
+if [ $DOCKER -eq 1 ]
+then
+    # Select rtabmap built with os2 support or not
+    TOOL_PREFIX="/usr/local/bin"
+    if [ $STRATEGY -eq 5 ]
+    then
+        TOOL_PREFIX="/root/rtabmap_os2/bin"
+    elif [ $STRATEGY -eq 8 ]
+    then
+        TOOL_PREFIX="/root/rtabmap_msckf/bin"
+    fi
+    RTABMAP_EUROC_TOOL="docker run -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset"
+    if [ $STRATEGY -eq 6 ]
+    then
+        xhost +
+        RTABMAP_EUROC_TOOL="docker run -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset"
+    fi
+fi
+echo $RTABMAP_EUROC_TOOL
+
+for d in "${LIST[@]}"
+do
+    V203_params=""
+    if [ "$d" == "V2_03_difficult" ]
+    then
+       if [[ $STRATEGY -eq 0 || $STRATEGY -eq 1 ]]
+       then
+           V203_params="--Vis/MinInliers 10 --Vis/PnPReprojError 3"
+       fi
+    fi
+
+    taskset 0x1 $RTABMAP_EUROC_TOOL \
+       --Rtabmap/PublishRAMUsage true\
+       --RGBD/LinearUpdate 0\
+       --RGBD/AngularUpdate 0\
+       --RGBD/ProximityBySpace false\
+       --Rtabmap/DetectionRate 2\
+       --Kp/FlannRebalancingFactor 1.0\
+       --GFTT/MinDistance 3\
+       --Odom/Strategy $STRATEGY\
+       --Mem/STMSize 30\
+       --Mem/UseOdomFeatures false \
+       --Mem/BinDataKept false \
+       --Rtabmap/CreateIntermediateNodes false\
+       --Vis/CorNNDR 0.6 \
+       --Vis/CorGuessWinSize 20 \
+       $V203_params\
+       $F2F_params\
+       --OdomORBSLAM2/VocPath /root/ORBvoc.txt\
+       --OdomORBSLAM2/ThDepth 35\
+       --OdomORBSLAM2/MaxFeatures 1200\
+       --output "$EUROC_RESULTS_PATH/$d"\
+       --output_name $OUTPUT\
+       --quiet\
+       $DATASET_ROOT_PATH/$d
+done
+# For V2_03_difficult: --Vis/MinInliers 10 --disp StereoBM/NumDisparities 32 --StereoBM/UniquenessRatio 5 --Vis/PnPReprojError 3
+
+
@@ -0,0 +1,144 @@
+#!/bin/bash
+
+PWD=$(pwd)
+DOCKER=1 # set to 0 to use host rtabmap tool and relative datasets to this script
+
+KITTI_ROOT_PATH='./datasets/kitti'
+KITTI_RESULTS_PATH='./results/kitti'
+mkdir -p $KITTI_RESULTS_PATH
+if [ $DOCKER -eq 1 ]
+then
+    KITTI_ROOT_PATH='/root/datasets/kitti'
+    KITTI_RESULTS_PATH='/root/results/kitti'
+fi
+
+LIST=('00' '01' '02' '03' '04' '05' '06' '07' '08' '09' '10')
+#LIST=('11' '12' '13' '14' '15' '16' '17' '18' '19' '20' '21')
+
+STRATEGY=0
+REG=0
+OUTPUT="test"
+if [ $# -eq 4 ] 
+then
+    OUTPUT=$1
+    STRATEGY=$2
+    REG=$3
+    LIST=($4)
+elif [ $# -eq 3 ]
+then
+    OUTPUT=$1
+    STRATEGY=$2
+    REG=$3
+else
+echo "Usage: run_kitti_datasets.sh \"output name\" \"odom strategy: 0=f2m 1=f2f 11=f2f_optflow 2=fovis 3=viso2 4=dvo 5=orbslam2 7=LOAM 9=VINS\" \"reg strategy: 0=vis 1=icp-point2point 11=icp-point2plane\" [sequence]"
+exit
+fi
+
+F2F_params=""
+if [ $STRATEGY -eq 11 ]
+then
+    STRATEGY=1
+    F2F_params="--Vis/CorType 1"
+fi
+
+if [ $STRATEGY -eq 1 ]
+then
+    F2F_params="--Odom/KeyFrameThr 0.6 $F2F_params"
+fi
+
+if [ $STRATEGY -eq 3 ]
+then
+    F2F_params=" $F2F_params"
+fi
+
+if [ $STRATEGY -eq 9 ]
+then
+    F2F_params="--OdomVINS/ConfigPath ./kitti_config04-12.yaml $F2F_params"
+fi
+
+SCAN=""
+if [[ $REG -eq 1 || $REG -eq 11 ]]
+then
+   if [ $REG -eq 11 ]
+   then
+      REG=1
+      if [ $STRATEGY -eq 7 ]
+      then
+         SCAN="--Mem/LaserScanVoxelSize 0.5 --Mem/LaserScanNormalK 10 --scan_voxel 0.0"
+      else
+         SCAN="--scan_k 10 --scan_voxel 0.5"
+      fi
+      SCAN="--Icp/PointToPlane true --Icp/PointToPlaneK 10 --Icp/PointToPlaneRadius 0 --Icp/Iterations 5 --Odom/ScanKeyFrameThr 0.6 $SCAN"
+   else
+      if [ $STRATEGY -eq 7 ]
+      then
+         SCAN="--Mem/LaserScanVoxelSize 0.5 --scan_voxel 0.0"
+      else
+         SCAN="--scan_voxel 0.5"
+      fi
+      SCAN="--Icp/PointToPlane false --Icp/Iterations 10 --Odom/ScanKeyFrameThr 0.8 $SCAN"
+   fi
+   SCAN="--scan --Reg/Strategy $REG --OdomF2M/ScanMaxSize 10000 --OdomF2M/ScanSubtractRadius 0.5 --Odom/LOAMSensor 2 --Icp/MaxTranslation 2 --Icp/Epsilon 0.0001 --Icp/MaxCorrespondenceDistance 1.5 --Icp/CorrespondenceRatio 0.01 --Icp/PM true --Icp/PMOutlierRatio 0.7 --Icp/PMMatcherKnn 3 --Icp/PMMatcherEpsilon 1 --Icp/ReciprocalCorrespondences false  $SCAN"
+fi
+
+RTABMAP_KITTI_TOOL="rtabmap-kitti_dataset"
+if [ $DOCKER -eq 1 ]
+then
+   # Select rtabmap built with os2 support or not
+   TOOL_PREFIX="/usr/local/bin"
+   if [ $STRATEGY -eq 5 ]
+   then
+       TOOL_PREFIX="/root/rtabmap_os2/bin"
+   elif [ $STRATEGY -eq 7 ]
+   then
+       TOOL_PREFIX="/root/rtabmap_loam/bin"
+   fi
+   RTABMAP_KITTI_TOOL="docker run -v $PWD/datasets/kitti:$KITTI_ROOT_PATH -v $PWD/results/kitti:$KITTI_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-kitti_dataset"
+fi
+echo $RTABMAP_KITTI_TOOL
+
+for d in "${LIST[@]}"
+do
+    taskset 0x1 $RTABMAP_KITTI_TOOL \
+       --Rtabmap/PublishRAMUsage true\
+       --Vis/MaxFeatures 1500\
+       --RGBD/LinearUpdate 0\
+       --RGBD/AngularUpdate 0\
+       --RGBD/ProximityBySpace false\
+       --Rtabmap/DetectionRate 2\
+       --Kp/MaxFeatures 750\
+       --Kp/FlannRebalancingFactor 1.0\
+       --GFTT/QualityLevel 0.01\
+       --GFTT/MinDistance 7\
+       --OdomF2M/MaxSize 3000\
+       --Rtabmap/CreateIntermediateNodes true\
+       --Odom/Strategy $STRATEGY\
+       $F2F_params \
+       --OdomORBSLAM2/VocPath /root/ORBvoc.txt\
+       --OdomORBSLAM2/ThDepth 40\
+       --OdomORBSLAM2/Fps 10\
+       --OdomORBSLAM2/MaxFeatures 2000\
+       --OdomViso2/MatchNmsN 7\
+       --OdomViso2/MatchRadius 300\
+       --FAST/Threshold 12\
+       --Mem/STMSize 30\
+       --Mem/UseOdomFeatures false \
+       --Mem/BinDataKept false \
+       --Vis/CorNNDR 0.6 \
+       --Vis/CorGuessWinSize 20 \
+       $SCAN \
+       --gt $KITTI_ROOT_PATH"/devkit/cpp/data/odometry/poses/$d.txt"\
+       --output "$KITTI_RESULTS_PATH/$d"\
+       --output_name $OUTPUT\
+       --quiet\
+       $KITTI_ROOT_PATH/dataset/sequences/$d
+done
+
+# ORB_SLAM2:
+# 0-2: --OdomORBSLAM2/ThDepth 35
+# 3-12: --OdomORBSLAM2/ThDepth 40 (default)
+# 0-3: --FAST/Threshold 20 (default)
+# 4-12: --FAST/Threshold 12 --OdomORBSLAM2/ThDepth 40
+# --OdomORBSLAM2/MaxFeatures 2000
+# 
+
@@ -0,0 +1,101 @@
+#!/bin/bash
+
+PWD=$(pwd)
+DOCKER=1 # set to 0 to use host rtabmap tool and relative datasets to this script
+
+RGBD_ROOT_PATH='./datasets/tum'
+RGBD_RESULTS_PATH='./results/tum'
+mkdir -p $RGBD_RESULTS_PATH
+if [ $DOCKER -eq 1 ]
+then
+    RGBD_ROOT_PATH='/root/datasets/tum'
+RGBD_RESULTS_PATH='/root/results/tum'
+fi
+
+LIST=( 'rgbd_dataset_freiburg1_desk' 'rgbd_dataset_freiburg1_desk2' 'rgbd_dataset_freiburg1_room' 'rgbd_dataset_freiburg2_desk' 'rgbd_dataset_freiburg2_xyz' 'rgbd_dataset_freiburg3_long_office_household' 'rgbd_dataset_freiburg3_nostructure_texture_near_withloop_validation')
+# more: 'rgbd_dataset_freiburg1_360' 'rgbd_dataset_freiburg1_plant' 'rgbd_dataset_freiburg1_rpy' 'rgbd_dataset_freiburg1_teddy' 'rgbd_dataset_freiburg2_360_hemisphere' 'rgbd_dataset_freiburg2_large_no_loop' 'rgbd_dataset_freiburg2_large_with_loop' 'rgbd_dataset_freiburg1_floor'
+# Got Lost: 'rgbd_dataset_freiburg1_floor' (at 11 seconds end), 'rgbd_dataset_freiburg3_teddy'
+
+STRATEGY=0
+OUTPUT="test"
+if [ $# -eq 3 ] 
+then
+    OUTPUT=$1
+    STRATEGY=$2
+    LIST=($3)
+elif [ $# -eq 2 ] 
+then
+    OUTPUT=$1
+    STRATEGY=$2
+else
+echo "Usage: run_tum_datasets.sh \"output name\" \"odom strategy: 0=f2m 1=f2f 11=f2f_optflow 2=fovis 3=viso2 4=dvo 5=orbslam2\" [sequence]"
+exit
+fi
+
+F2F_params=""
+if [ $STRATEGY -eq 11 ]
+then
+    STRATEGY=1
+    F2F_params="--Vis/CorType 1"
+fi
+
+if [ $STRATEGY -eq 1 ]
+then
+    F2F_params="--Odom/KeyFrameThr 0.6 $F2F_params"
+fi
+
+if [[ $STRATEGY -eq 2 || $STRATEGY -eq 4 ]]
+then
+    F2F_params="--RGBD/OptimizeMaxError 0 $F2F_params"
+fi
+
+RTABMAP_RGBD_TOOL="rtabmap-rgbd_dataset"
+if [ $DOCKER -eq 1 ]
+then
+    # Select rtabmap built with os2 support or not
+    TOOL_PREFIX="/usr/local/bin"
+    if [ $STRATEGY -eq 5 ]
+    then
+        TOOL_PREFIX="/root/rtabmap_os2/bin"
+    fi
+    RTABMAP_RGBD_TOOL="docker run -v $PWD/datasets/tum:$RGBD_ROOT_PATH -v $PWD/results/tum:$RGBD_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-rgbd_dataset"
+fi
+echo $RTABMAP_RGBD_TOOL
+
+# no --disp with 01?
+for d in "${LIST[@]}"
+do
+
+    DETECTION_RATE=2
+    if [[ "$d" == "rgbd_dataset_freiburg1_desk" || "$d" == "rgbd_dataset_freiburg1_desk2" ]]
+    then
+        DETECTION_RATE=4
+    fi
+
+    taskset 0x1 $RTABMAP_RGBD_TOOL \
+       --Rtabmap/PublishRAMUsage true\
+       --RGBD/LinearUpdate 0\
+       --RGBD/AngularUpdate 0\
+       --Rtabmap/DetectionRate $DETECTION_RATE\
+       --Kp/FlannRebalancingFactor 1.0\
+       --GFTT/MinDistance 3\
+       --Odom/Strategy $STRATEGY\
+       --Mem/STMSize 30\
+       --Mem/UseOdomFeatures false \
+       --Mem/BinDataKept true \
+       --Rtabmap/CreateIntermediateNodes false\
+       --Vis/CorNNDR 0.6 \
+       --Vis/CorGuessWinSize 20 \
+       $F2F_params\
+       --OdomORBSLAM2/VocPath /root/ORBvoc.txt\
+       --OdomFovis/MinFeaturesForEstimate 10\
+       --output "$RGBD_RESULTS_PATH/$d"\
+       --output_name $OUTPUT\
+       --quiet\
+       $RGBD_ROOT_PATH/$d
+done
+
+
+#--Odom/Strategy 1\
+#--Vis/CorType 1\
+
@@ -0,0 +1,87 @@
+
+# humble or jazzy
+ARG ROS_DISTRO=humble
+
+FROM osrf/ros:${ROS_DISTRO}-desktop
+
+# Install build dependencies
+RUN apt-get update && \
+    apt-get install -y git software-properties-common ros-${ROS_DISTRO}-rtabmap-ros libqt6* qt6* qml6* && \
+    apt-get remove -y ros-${ROS_DISTRO}-rtabmap* ros-${ROS_DISTRO}-gtsam ros-${ROS_DISTRO}-libg2o libpcl* libqt5* qt5* libvtk* libopencv* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# Build latest VTK with Qt6
+RUN git clone https://github.com/Kitware/VTK.git && \
+    cd VTK && \
+    mkdir build && \
+    cd build && \
+    cmake -DVTK_GROUP_ENABLE_Qt=YES .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf VTK
+    
+# Build latest PCL with latest VTK
+# Make sure all libraries depending on Eigen are built with same CXX standard (17)
+RUN git clone https://github.com/PointCloudLibrary/pcl.git && \
+    cd pcl && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_CXX_STANDARD=17 -DBUILD_tools=OFF -DPCL_ENABLE_AVX=OFF -DPCL_ENABLE_MARCHNATIVE=OFF -DPCL_ENABLE_SSE=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf pcl
+    
+# Build latest OpenCV
+RUN git clone https://github.com/opencv/opencv.git && \
+    git clone https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+# Build latest gtsam
+RUN git clone https://github.com/borglab/gtsam.git && \
+ cd gtsam && \
+ mkdir build && \
+ cd build && \
+ cmake -DCMAKE_CXX_STANDARD=17 -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -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 .. && \
+ cmake --build . --config Release --target install && \
+ cd ../.. && \
+ rm -rf gtsam
+
+# Build latest g2o
+RUN git clone https://github.com/RainerKuemmerle/g2o.git  && \
+ cd g2o && \
+ mkdir build && \
+ cd build && \
+ cmake -DCMAKE_CXX_STANDARD=17 -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_USE_OPENGL=OFF .. && \
+ cmake --build . --config Release --target install && \
+ cd ../.. && \
+ rm -rf g2o
+
+RUN mkdir -p /root/Documents/RTAB-Map
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
+
@@ -0,0 +1,20 @@
+# Image: introlab3it/rtabmap:noble-kilted
+
+FROM introlab3it/rtabmap:noble-kilted-deps
+
+# Will be used to read/store databases on host
+RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake -DWITH_OPENGV=ON .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
@@ -0,0 +1,132 @@
+
+# Image: introlab3it/rtabmap:noble-kilted-deps
+
+FROM ubuntu:24.04
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install ROS2
+RUN apt update && \
+    apt install software-properties-common -y && \
+    add-apt-repository universe && \
+    apt update && \
+    apt install curl -y && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# Install build dependencies
+RUN apt-get update && \
+    apt upgrade -y && \
+    apt-get install -y \
+      git \
+      wget \
+      libtbb-dev \
+      libproj-dev \
+      libpcl-dev \
+      liboctomap-dev \
+      libfreenect-dev \
+      ros-kilted-ros-base \
+      ros-dev-tools \
+      ros-kilted-cv-bridge \
+      ros-kilted-image-geometry \
+      ros-kilted-laser-geometry \
+      ros-kilted-pcl-conversions \
+      ros-kilted-rviz-common \
+      ros-kilted-rviz-rendering \
+      ros-kilted-rviz-default-plugins \
+      ros-kilted-pcl-ros \
+      ros-kilted-imu-filter-madgwick \
+      ros-kilted-velodyne \
+      ros-kilted-image-transport \
+      ros-kilted-octomap-msgs \
+      ros-kilted-libg2o \
+      ros-kilted-libpointmatcher \
+      ros-kilted-qt-gui-cpp \
+      ros-kilted-diagnostic-updater && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# GTSAM (we cannot use ros-kilted-gtsam on Noble because it is linked to a different internal Eigen version than system one)
+RUN git clone https://github.com/borglab/gtsam.git && \
+    cd gtsam && \
+    git checkout 4.2.0 && \ 
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r gtsam
+
+# libfreenect2 
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
+    apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/OpenKinect/libfreenect2 && \
+    cd libfreenect2 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r libfreenect2; fi
+
+# zed open capture
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
+    apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/stereolabs/zed-open-capture.git && \
+    cd zed-open-capture && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r zed-open-capture; fi
+
+# OpenCV with all modules (same version than distro version to avoid conflicts with cv_bridge ros package)
+RUN git clone --branch 4.6.0 https://github.com/opencv/opencv.git && \
+    git clone --branch 4.6.0 https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    sed -i '/#include <libavformat\/avformat.h>/i #include <libavcodec/version.h>' modules/videoio/src/ffmpeg_codecs.hpp && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DWITH_TBB=ON -DWITH_ADE=OFF -DWITH_OPENMP=ON -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 .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/kilted/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/kilted/lib/x86_64-linux-gnu:/opt/ros/kilted/lib/aarch64-linux-gnu
+
+# for jetson (https://github.com/introlab/rtabmap/issues/776)
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
+
@@ -0,0 +1,20 @@
+# Image: introlab3it/rtabmap:noble
+
+FROM introlab3it/rtabmap:noble-deps
+
+# Will be used to read/store databases on host
+RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake -DWITH_OPENGV=ON .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
@@ -0,0 +1,206 @@
+# Image: introlab3it/rtabmap:android-noble-deps
+
+FROM ubuntu:24.04
+
+# Install build dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends apt-utils
+RUN apt-get update && apt-get install -y \
+      git unzip wget ant cmake \
+      g++ lib32stdc++6 lib32z1 \
+      software-properties-common \
+      freeglut3-dev \
+      openjdk-8-jdk openjdk-8-jre \
+      curl
+
+ENV ANDROID_HOME=/opt/android-sdk
+ENV PATH=$PATH:/opt/android-sdk/cmdline-tools/latest/bin:/opt/android-sdk/tools:/opt/android-sdk/platform-tools:/opt/android-sdk/ndk/21.4.7075529
+ENV ANDROID_NDK=/opt/android-sdk/ndk/21.4.7075529
+ENV JAVA_HOME=/usr/lib/jvm/java-8-openjdk-amd64
+
+WORKDIR /root/
+
+# Setup android sdk
+RUN wget -nv https://dl.google.com/android/repository/commandlinetools-linux-7583922_latest.zip && \
+    unzip -qq commandlinetools-linux-7583922_latest.zip && \
+    rm commandlinetools-linux-7583922_latest.zip && \
+    mkdir $ANDROID_HOME && \
+    mkdir $ANDROID_HOME/cmdline-tools && \
+    mv cmdline-tools $ANDROID_HOME/cmdline-tools/latest
+# We should use build-tools <=30 to avoid dx missing error
+RUN echo y | sdkmanager --install "platform-tools" "platforms;android-23" "platforms;android-24" "platforms;android-26" "platforms;android-30" "build-tools;30.0.3" "ndk;21.4.7075529"
+
+# we need <=r25 tools to use "android" command (now deprecated)
+RUN wget -nv http://dl-ssl.google.com/android/repository/tools_r25.2.5-linux.zip && \
+    unzip -qq tools_r25.2.5-linux.zip && \
+    mv tools $ANDROID_HOME/. && \
+    rm tools_r25.2.5-linux.zip
+
+##############
+# Dependencies (took from docker/bionic/android/deps.bash)
+##############
+
+# Install directory for all dependencies
+RUN mkdir -p /opt/android/arm64-v8a
+
+# Boost
+RUN echo "Install boost..." && \
+    wget -nv https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz && \
+    tar -xzf boost_1_59_0.tar.gz && \
+    cd boost_1_59_0 && \
+    wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/1733253195bc4d4d9b7f9eda1e60628dc1e51429/BoostConfig.cmake.in && \
+    wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/1733253195bc4d4d9b7f9eda1e60628dc1e51429/CMakeLists.txt && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=23 -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a -DCMAKE_FIND_ROOT_PATH="/opt/android/arm64-v8a/bin;/opt/android/arm64-v8a;/opt/android/arm64-v8a/share" ..  && \
+    make -j4 && \
+    make install && \
+    cd /root  && \
+    rm -r boost_1_59_0.tar.gz boost_1_59_0
+
+# eigen
+RUN echo "Install eigen..." && \
+    curl -L https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.tar.gz -o 3.3.9.tar.gz && \
+    tar -xzf 3.3.9.tar.gz && \
+    cd eigen-3.3.9 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=23 -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a -DCMAKE_FIND_ROOT_PATH="/opt/android/arm64-v8a/bin;/opt/android/arm64-v8a;/opt/android/arm64-v8a/share" ..  && \
+    make -j4 && \
+    make install && \
+    cd /root && \
+    rm -r 3.3.9.tar.gz eigen-3.3.9
+
+# FLANN
+RUN echo "Install flann..." && \
+    git clone -b 1.8.4 https://github.com/mariusmuja/flann.git && \
+    cd flann && \
+    wget -nv https://gist.githubusercontent.com/matlabbe/cacff9f8271d0c42acd622939a26cab4/raw/85baf4927b32844ebd7f8eccce421bde181cd190/flann_1_8_4_android_fix.patch && \
+    git apply flann_1_8_4_android_fix.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=23 -DBUILD_SHARED_LIBS=OFF -DBUILD_PYTHON_BINDINGS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a -DCMAKE_FIND_ROOT_PATH="/opt/android/arm64-v8a/bin;/opt/android/arm64-v8a;/opt/android/arm64-v8a/share" .. && \
+    make -j4 && \
+    make install && \
+    cd /root && \
+    rm -rf flann
+
+# GTSAM
+RUN echo "Install gtsam..." && \
+    git clone https://bitbucket.org/gtborg/gtsam.git && \
+    cd gtsam && \
+    git checkout fbb9d3bdda8b88df51896bc401bfd170573e66f5 && \
+    wget -nv https://gist.github.com/matlabbe/726b490c658afd3293f4b3f2f501b863/raw/df09fc8e238a495d66b062d92dc1c1fb20a581e8/gtsam_GKlib_android_fix.patch && \
+    git apply gtsam_GKlib_android_fix.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=23 -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a -DCMAKE_FIND_ROOT_PATH="/opt/android/arm64-v8a/bin;/opt/android/arm64-v8a;/opt/android/arm64-v8a/share" -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON .. && \
+    make -j4 && \
+    make install && \
+    cd /root && \
+    rm -rf gtsam
+
+# g2o
+RUN echo "Install g2o..." && \
+    git clone https://github.com/RainerKuemmerle/g2o.git && \
+    cd g2o && \
+    git checkout a3f7706bdbb849b2808dc3e1b7aee189f63b498e && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=23 -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a -DCMAKE_FIND_ROOT_PATH="/opt/android/arm64-v8a/bin;/opt/android/arm64-v8a;/opt/android/arm64-v8a/share" -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_USE_OPENGL=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd /root && \
+    rm -rf g2o
+
+# VTK
+RUN echo "Install VTK..." && \
+    git clone https://github.com/Kitware/VTK.git && \
+    cd VTK && \
+    git checkout tags/v8.2.0 && \
+    wget https://gist.github.com/matlabbe/e217259fb8ece9ee6daf5a8f70e896a0/raw/2214b503a537d6431d764526b5b780f07d6f168d/vtk_8_2_0_android_r21_fix.patch && \
+    git apply vtk_8_2_0_android_r21_fix.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a -DANDROID_ARCH_ABI=arm64-v8a -DCMAKE_FIND_ROOT_PATH="/opt/android/arm64-v8a/bin;/opt/android/arm64-v8a;/opt/android/arm64-v8a/share" .. && \
+    make -j4 && \
+    cp -r CMakeExternals/Install/vtk-android/* /opt/android/arm64-v8a/. && \
+    cd /root && \
+    rm -rf VTK
+
+# PCL
+RUN echo "Install pcl..." && \
+    git clone https://github.com/PointCloudLibrary/pcl.git && \
+    cd pcl && \
+    git checkout tags/pcl-1.8.0 && \
+    wget https://gist.github.com/matlabbe/41812e50e459b2f27b331a2343569e5d/raw/b2fc0c4d1cfffb3a9f2811abae782e317c539bfb/pcl_1_8_0_vtk_android_support.patch && \
+    git apply pcl_1_8_0_vtk_android_support.patch && \
+    mkdir build && \
+    cd build && \
+    # do it 2 times because there is a cmake error on the first time and not the second time!?
+    cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=23 -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a -DCMAKE_FIND_ROOT_PATH="/opt/android/arm64-v8a/bin;/opt/android/arm64-v8a;/opt/android/arm64-v8a/share" -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_tools=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF .. || true && \
+    cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=23 -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a -DCMAKE_FIND_ROOT_PATH="/opt/android/arm64-v8a/bin;/opt/android/arm64-v8a;/opt/android/arm64-v8a/share" -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_tools=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd /root && \
+    rm -rf pcl
+
+# make sure opencv is using the shared version of zlib
+# see https://github.com/android/ndk/issues/1179
+RUN mv $ANDROID_NDK/toolchains/llvm/prebuilt/linux-x86_64/sysroot/usr/lib/aarch64-linux-android/libz.a $ANDROID_NDK/toolchains/llvm/prebuilt/linux-x86_64/sysroot/usr/lib/aarch64-linux-android/libz.a.back
+
+# OpenCV
+RUN echo "Install OpenCV..." && \
+    git clone https://github.com/opencv/opencv_contrib.git && \
+    git clone https://github.com/opencv/opencv.git && \
+    cd opencv_contrib && \
+    git checkout tags/4.5.5 && \
+    cd /root && \
+    cd opencv && \
+    git checkout tags/4.5.5 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=23 -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a -DCMAKE_FIND_ROOT_PATH="/opt/android/arm64-v8a/bin;/opt/android/arm64-v8a;/opt/android/arm64-v8a/share" -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DBUILD_opencv_structured_light=OFF -DBUILD_ANDROID_PROJECTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DBUILD_ANDROID_EXAMPLES=OFF -DWITH_PROTOBUF=OFF -DBUILD_opencv_stereo=OFF -DBUILD_JAVA=OFF -DWITH_QUIRC=OFF -DBUILD_opencv_js_bindings_generator=OFF -DBUILD_opencv_objc_bindings_generator=OFF -DBUILD_opencv_objdetect=OFF -DBUILD_opencv_xobjdetect=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd /root && \
+    rm -rf opencv opencv_contrib
+
+RUN echo "Strip libraries..." && \
+    $ANDROID_NDK/toolchains/llvm/prebuilt/linux-x86_64/bin/aarch64-linux-android-strip -g -S -d --strip-debug --verbose /opt/android/arm64-v8a/lib/*.a && \
+    $ANDROID_NDK/toolchains/llvm/prebuilt/linux-x86_64/bin/aarch64-linux-android-strip -g -S -d --strip-debug --verbose /opt/android/arm64-v8a/sdk/native/staticlibs/arm64-v8a/*.a
+
+RUN mkdir /opt/android/lib
+
+# tango
+RUN wget 'https://docs.google.com/uc?authuser=0&id=12rHHkYM5k-UnQn-xGXs9JqYWhSXrgJr3&export=download' -O TangoSDK_Ikariotikos_C.zip && \
+    unzip -qq TangoSDK_Ikariotikos_C.zip && \
+    rm TangoSDK_Ikariotikos_C.zip && \
+    cp -r lib_tango_client_api/include/* /opt/android/arm64-v8a/include/. && \
+    cp -r lib_tango_client_api/lib/arm64-v8a/* /opt/android/arm64-v8a/lib/. && \
+    rm -r lib_tango_client_api && \
+    wget 'https://docs.google.com/uc?authuser=0&id=1AqVuEVu5284X6OgrGWu12VTrx4pY99Jb&export=download' -O TangoSupport_Ikariotikos_C.zip && \
+    unzip -qq TangoSupport_Ikariotikos_C.zip && \
+    rm TangoSupport_Ikariotikos_C.zip && \
+    cp -r lib_tango_support_api/include/* /opt/android/arm64-v8a/include/. && \
+    cp -r lib_tango_support_api/lib/arm64-v8a/* /opt/android/arm64-v8a/lib/. && \
+    rm -r lib_tango_support_api && \
+    wget 'https://docs.google.com/uc?authuser=0&id=1s5iPJ7xiridj9Jj--gCy2XiQFniheVm6&export=download' -O TangoSDK_Ikariotikos_Java.jar && \
+    mv TangoSDK_Ikariotikos_Java.jar /opt/android/lib/
+
+# ARCore
+RUN wget 'https://docs.google.com/uc?authuser=0&id=1VsibeqRYpS5pjmrG-vYTXyiPg8kbIfVN&export=download' -O arcore.zip && \
+    unzip -qq arcore.zip && \
+    rm arcore.zip && \
+    cp -r arcore1_18/include/* /opt/android/arm64-v8a/include/. && \
+    cp -r arcore1_18/arm64-v8a/* /opt/android/arm64-v8a/lib/. && \
+    cp arcore1_18/*.jar /opt/android/lib/ && \
+    rm -r arcore1_18
+
+# AREngine
+RUN wget 'https://docs.google.com/uc?authuser=0&id=1rdaD2Z1QBv-SUeUy0oBmg3C2odfxTHgR&export=download' -O arengine.zip && \
+    unzip -qq arengine.zip && \
+    rm arengine.zip && \
+    cp -r arengine/include/* /opt/android/arm64-v8a/include/. && \
+    cp -r arengine/arm64-v8a/* /opt/android/arm64-v8a/lib/. && \
+    cp arengine/*.jar /opt/android/lib/ && \
+    rm -r arengine
@@ -0,0 +1,13 @@
+# Image: introlab3it/rtabmap:androidXX
+
+FROM introlab3it/rtabmap:android-noble-deps
+
+ARG API_VERSION=23
+
+# Copy current source code
+COPY . /root/rtabmap-tango
+
+WORKDIR /root/rtabmap-tango
+
+RUN /bin/bash -c "./docker/noble/android/rtabmap_apiXX/rtabmap.bash /opt/android $API_VERSION"
+
@@ -0,0 +1,29 @@
+#!/bin/bash
+
+set -e
+
+if [ $# -ne 2 ]; then
+    echo "rtabmap.bash android_install_prefix api_level (23 for tango, 24 for arengine)   # Example: build.bash /opt/android 24"
+    exit 1
+fi
+
+prefix=$1
+api=$2
+
+# copy required jars
+cp /opt/android/lib/*.jar app/android/libs/.
+
+# resource tool
+cd build
+cmake -DANDROID_PREBUILD=ON ..
+make
+
+# rtabmap
+mkdir arm64-v8a
+cd arm64-v8a
+cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$api -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a -DCMAKE_FIND_ROOT_PATH="$prefix/arm64-v8a/bin;$prefix/arm64-v8a;$prefix/arm64-v8a/share" -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DOpenCV_DIR=$prefix/arm64-v8a/sdk/native/jni ../..
+make
+make clean
+
+
+
@@ -0,0 +1,131 @@
+# Image: introlab3it/rtabmap:noble-deps
+
+FROM ubuntu:24.04
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install ROS2
+RUN apt update && \
+    apt install software-properties-common -y && \
+    add-apt-repository universe && \
+    apt update && \
+    apt install curl -y && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# Install build dependencies
+RUN apt-get update && \
+    apt upgrade -y && \
+    apt-get install -y \
+      git \
+      wget \
+      libtbb-dev \
+      libproj-dev \
+      libpcl-dev \
+      liboctomap-dev \
+      libfreenect-dev \
+      ros-jazzy-ros-base \
+      ros-dev-tools \
+      ros-jazzy-cv-bridge \
+      ros-jazzy-image-geometry \
+      ros-jazzy-laser-geometry \
+      ros-jazzy-pcl-conversions \
+      ros-jazzy-rviz-common \
+      ros-jazzy-rviz-rendering \
+      ros-jazzy-rviz-default-plugins \
+      ros-jazzy-pcl-ros \
+      ros-jazzy-imu-filter-madgwick \
+      ros-jazzy-velodyne \
+      ros-jazzy-image-transport \
+      ros-jazzy-octomap-msgs \
+      ros-jazzy-libg2o \
+      ros-jazzy-libpointmatcher \
+      ros-jazzy-qt-gui-cpp \
+      ros-jazzy-diagnostic-updater && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# GTSAM (we cannot use ros-jazzy-gtsam on Noble because it is linked to a different internal Eigen version than system one)
+RUN git clone https://github.com/borglab/gtsam.git && \
+    cd gtsam && \
+    git checkout 4.2.0 && \ 
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r gtsam
+
+# libfreenect2 
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
+    apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/OpenKinect/libfreenect2 && \
+    cd libfreenect2 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r libfreenect2; fi
+
+# zed open capture
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
+    apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/stereolabs/zed-open-capture.git && \
+    cd zed-open-capture && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r zed-open-capture; fi
+
+# OpenCV with all modules (same version than distro version to avoid conflicts with cv_bridge ros package)
+RUN git clone --branch 4.6.0 https://github.com/opencv/opencv.git && \
+    git clone --branch 4.6.0 https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    sed -i '/#include <libavformat\/avformat.h>/i #include <libavcodec/version.h>' modules/videoio/src/ffmpeg_codecs.hpp && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DWITH_TBB=ON -DWITH_ADE=OFF -DWITH_OPENMP=ON -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 .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/jazzy/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/jazzy/lib/x86_64-linux-gnu:/opt/ros/jazzy/lib/aarch64-linux-gnu
+
+# for jetson (https://github.com/introlab/rtabmap/issues/776)
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
+
@@ -0,0 +1,27 @@
+# Image: introlab3it/rtabmap:trusty
+
+FROM ros:indigo-perception
+
+# Install/build dependencies
+RUN apt-get update && \
+    apt-get install -y ros-indigo-rtabmap-ros && \
+    apt-get remove -y ros-indigo-rtabmap && \
+    rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# Copy current source code
+COPY . /root/rtabmap
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake .. && \
+    make && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+    
@@ -0,0 +1,63 @@
+# Image: introlab3it/rtabmap:xenial
+
+FROM ros:kinetic-perception
+
+# Install/build dependencies
+RUN apt-get update && \
+    apt-get install -y ros-kinetic-rtabmap-ros && \
+    apt-get remove -y ros-kinetic-rtabmap && \
+    rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# GTSAM
+RUN git clone https://bitbucket.org/gtborg/gtsam.git
+RUN cd gtsam && \
+    git checkout 4.0.0-alpha2 && \
+    mkdir build && \
+    cd build && \
+    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 .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r gtsam
+
+# libpointmatcher 
+RUN git clone https://github.com/ethz-asl/libnabo.git
+#commit Apr 25 2018
+RUN cd libnabo && \
+    git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r libnabo
+RUN git clone https://github.com/ethz-asl/libpointmatcher.git
+#commit Jan 19 2018
+RUN cd libpointmatcher && \
+    git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r libpointmatcher
+
+# Copy current source code
+COPY . /root/rtabmap
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake .. && \
+    make && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+    
@@ -0,0 +1,26 @@
+# Image: introlab3it/rtabmap:android-deps-api19
+
+FROM ubuntu:16.04
+
+# Install build dependencies
+RUN apt-get update && apt-get install -y \
+      git \
+      cmake \
+      g++ \
+      software-properties-common \
+      freeglut3-dev
+
+ENV ANDROID_HOME=/opt/android-sdk
+ENV ANDROID_NATIVE_API_LEVEL=android-19
+ENV ANDROID_NDK=/opt/android-ndk-r14
+ENV PATH=$PATH:/opt/android-sdk/tools:/opt/android-sdk/platform-tools:/opt/android-ndk-r14
+
+WORKDIR /root/
+
+ADD setup_android_env.bash /root/setup_android_env.bash
+RUN chmod +x setup_android_env.bash
+RUN /bin/bash -c "./setup_android_env.bash"
+
+ADD install_deps.bash /root/install_deps.bash
+RUN chmod +x install_deps.bash
+RUN /bin/bash -c "./install_deps.bash /opt/android"
@@ -0,0 +1,168 @@
+#!/bin/bash
+
+if [ $# -ne 1 ]; then
+    echo "install_deps.bash android_install_prefix   # Example: install_deps.bash /opt/android"
+    exit 1
+fi
+
+cpus=-j4
+prefix=$1
+pwd=$(pwd)
+wget -nv https://github.com/introlab/rtabmap/raw/master/cmake_modules/android.toolchain.cmake
+
+# Install directory for all dependencies
+mkdir -p $prefix/armeabi-v7a
+mkdir -p $prefix/arm64-v8a
+
+# Boost
+echo "wget boost..."
+wget -nv https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz
+tar -xzf boost_1_59_0.tar.gz
+cd boost_1_59_0
+wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/489ff2869eccd6f8d03ffb9090ef839108762741/BoostConfig.cmake.in
+wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/e7fbf0e301cfea417a7aa69989a761a4de08b8c3/CMakeLists.txt
+mkdir build
+cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
+make $cpus
+make install
+rm -r *
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
+make $cpus
+make install
+cd $pwd
+rm -r boost_1_59_0.tar.gz boost_1_59_0
+
+# eigen
+echo "wget eigen..."
+wget -nv http://bitbucket.org/eigen/eigen/get/3.2.7.tar.gz
+tar -xzf 3.2.7.tar.gz
+cd eigen-eigen-b30b87236a1b
+mkdir build
+cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
+make $cpus
+make install
+rm -r *
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
+make $cpus
+make install
+cd $pwd
+rm -r 3.2.7.tar.gz eigen-eigen-b30b87236a1b
+
+# FLANN
+echo "wget flann..."
+wget -nv http://www.cs.ubc.ca/research/flann/uploads/FLANN/flann-1.8.4-src.zip
+unzip -qq flann-1.8.4-src.zip
+cd flann-1.8.4-src
+mkdir build
+cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
+make $cpus
+make install
+rm -r *
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
+make $cpus
+make install
+cd $pwd
+rm -r flann-1.8.4-src.zip flann-1.8.4-src
+
+# GTSAM
+git clone https://bitbucket.org/gtborg/gtsam.git
+cd gtsam
+git checkout fbb9d3bdda8b88df51896bc401bfd170573e66f5
+# patch
+wget -nv https://gist.github.com/matlabbe/726b490c658afd3293f4b3f2f501b863/raw/df09fc8e238a495d66b062d92dc1c1fb20a581e8/gtsam_GKlib_android_fix.patch
+git apply gtsam_GKlib_android_fix.patch
+mkdir build
+cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
+make $cpus
+make install
+rm -r *
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
+make $cpus
+make install
+cd $pwd
+rm -rf gtsam
+
+# g2o
+git clone https://github.com/RainerKuemmerle/g2o.git
+cd g2o
+git checkout a3f7706bdbb849b2808dc3e1b7aee189f63b498e
+mkdir build
+cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
+make $cpus
+make install
+rm -r *
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
+make $cpus
+make install
+cd $pwd
+rm -rf g2o
+
+#CMake 3.7 for VTK
+echo "wget cmake3.7..."
+wget -nv https://cmake.org/files/v3.7/cmake-3.7.2-Linux-x86_64.tar.gz
+tar -xzf cmake-3.7.2-Linux-x86_64.tar.gz
+rm cmake-3.7.2-Linux-x86_64.tar.gz
+
+# VTK
+git clone https://github.com/Kitware/VTK.git
+cd VTK
+git checkout tags/v7.1.1
+mkdir build
+cd build
+$pwd/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DANDROID_ARCH_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
+make $cpus
+cp -r CMakeExternals/Install/vtk-android/* $prefix/armeabi-v7a/.
+rm -r *
+$pwd/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DANDROID_ARCH_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
+make $cpus
+cp -r CMakeExternals/Install/vtk-android/* $prefix/arm64-v8a/.
+cd $pwd
+rm -rf VTK cmake-3.7.2-Linux-x86_64
+
+# PCL
+git clone https://github.com/PointCloudLibrary/pcl.git
+cd pcl
+git checkout tags/pcl-1.8.0
+# patch
+wget -nv https://gist.github.com/matlabbe/41812e50e459b2f27b331a2343569e5d/raw/921bbb90d5115f7aec1640f255aec3036a518553/pcl_1_8_0_vtk_android_support.patch
+git apply pcl_1_8_0_vtk_android_support.patch
+mkdir build
+cd build
+# do it 2 times because there is a cmake error on the first time and not the second time!?
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
+make $cpus
+make install
+rm -r *
+# do it 2 times because there is a cmake error on the first time and not the second time!?
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
+make $cpus
+make install
+cd $pwd
+rm -rf pcl
+
+# OpenCV
+git clone https://github.com/opencv/opencv_contrib.git
+cd opencv_contrib
+git checkout tags/3.4.2
+cd $pwd
+git clone https://github.com/opencv/opencv.git
+cd opencv
+git checkout tags/3.4.2
+mkdir build
+cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DOPENCV_EXTRA_MODULES_PATH=$pwd/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
+make $cpus
+make install
+rm -r *
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DOPENCV_EXTRA_MODULES_PATH=$pwd/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
+make $cpus
+make install
+cd $pwd
+rm -rf opencv opencv_contrib
@@ -0,0 +1,126 @@
+#!/bin/bash
+
+if [ $# -ne 1 ]; then
+    echo "install_deps_host.bash install_prefix   # Example: install_deps_host.bash /usr/local"
+    exit 1
+fi
+
+sudo apt-get update
+sudo apt-get install -y git cmake g++ software-properties-common wget unzip zlib1g-dev qtbase5-dev libqt5x11extras5-dev libqt5svg5-dev qttools5-dev libxt-dev freeglut3-dev
+
+cpus=-j4
+prefix=$1
+pwd=$(pwd)
+
+# note: we build shared libraries because there is a "multiple definition" linker error on jpeg/tiff third libraries between VTK and OpenCV (on not android build).
+
+# Boost
+echo "wget boost..."
+wget -nv https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz
+tar -xzf boost_1_59_0.tar.gz
+cd boost_1_59_0
+wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/489ff2869eccd6f8d03ffb9090ef839108762741/BoostConfig.cmake.in
+wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/472e823a950f41d0abd78e97620bb9472dab41d3/CMakeLists.txt
+mkdir build
+cd build
+cmake -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix ..
+make $cpus
+make install
+cd $pwd
+rm -r boost_1_59_0.tar.gz boost_1_59_0
+
+# eigen
+echo "wget eigen..."
+wget -nv http://bitbucket.org/eigen/eigen/get/3.2.7.tar.gz
+tar -xzf 3.2.7.tar.gz
+cd eigen-eigen-b30b87236a1b
+mkdir build
+cd build
+cmake -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix ..
+make $cpus
+make install
+cd $pwd
+rm -r 3.2.7.tar.gz eigen-eigen-b30b87236a1b
+
+# FLANN
+echo "wget flann..."
+wget -nv http://www.cs.ubc.ca/research/flann/uploads/FLANN/flann-1.8.4-src.zip
+unzip -qq flann-1.8.4-src.zip
+cd flann-1.8.4-src
+mkdir build
+cd build
+cmake -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix ..
+make $cpus
+make install
+cd $pwd
+rm -r flann-1.8.4-src.zip flann-1.8.4-src
+
+# GTSAM
+git clone https://bitbucket.org/gtborg/gtsam.git
+cd gtsam
+git checkout fbb9d3bdda8b88df51896bc401bfd170573e66f5
+# patch
+wget -nv https://gist.github.com/matlabbe/726b490c658afd3293f4b3f2f501b863/raw/df09fc8e238a495d66b062d92dc1c1fb20a581e8/gtsam_GKlib_android_fix.patch
+git apply gtsam_GKlib_android_fix.patch
+mkdir build
+cd build
+cmake -DMETIS_SHARED=ON -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix ..
+make $cpus
+make install
+cd $pwd
+rm -rf gtsam
+
+# g2o
+git clone https://github.com/RainerKuemmerle/g2o.git
+cd g2o
+git checkout a3f7706bdbb849b2808dc3e1b7aee189f63b498e
+mkdir build
+cd build
+cmake -DBUILD_LGPL_SHARED_LIBS=ON -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix ..
+make $cpus
+make install
+cd $pwd
+rm -rf g2o
+
+# VTK
+git clone https://github.com/Kitware/VTK.git
+cd VTK
+git checkout tags/v7.1.1
+mkdir build
+cd build
+cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release -DVTK_Group_Qt=ON -DVTK_QT_VERSION=5 -DCMAKE_INSTALL_PREFIX=$prefix ..
+make $cpus
+make install
+cd $pwd
+rm -rf VTK
+
+# PCL
+git clone https://github.com/PointCloudLibrary/pcl.git
+cd pcl
+git checkout tags/pcl-1.8.0
+# patch
+wget -nv https://gist.github.com/matlabbe/41812e50e459b2f27b331a2343569e5d/raw/921bbb90d5115f7aec1640f255aec3036a518553/pcl_1_8_0_vtk_android_support.patch
+git apply pcl_1_8_0_vtk_android_support.patch
+mkdir build
+cd build
+cmake -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=ON -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=ON -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix ..
+make $cpus
+make install
+cd $pwd
+rm -rf pcl
+
+# OpenCV
+git clone https://github.com/opencv/opencv_contrib.git
+cd opencv_contrib
+git checkout tags/3.4.2
+cd $pwd
+git clone https://github.com/opencv/opencv.git
+cd opencv
+git checkout tags/3.4.2
+mkdir build
+cd build
+cmake -DOPENCV_EXTRA_MODULES_PATH=$pwd/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DCMAKE_INSTALL_PREFIX=$prefix ..
+make $cpus
+make install
+cd $pwd
+rm -rf opencv opencv_contrib
@@ -0,0 +1,25 @@
+#!/bin/bash
+
+# Setup java 1.8
+apt-get update
+apt-get install -y --no-install-recommends apt-utils
+apt-get install -y unzip wget ant
+apt-get install -y default-jre default-jdk
+apt-get install -y lib32stdc++6 lib32z1
+
+# Setup android sdk
+echo "wget android-sdk..."
+wget -nv https://dl.google.com/android/repository/tools_r25.2.3-linux.zip
+unzip -qq tools_r25.2.3-linux.zip
+rm tools_r25.2.3-linux.zip
+mkdir $ANDROID_HOME
+mv tools $ANDROID_HOME/.
+#android list sdk --all --extended
+echo y | android update sdk --no-ui --all --filter platform-tools,android-19,build-tools-19.1.0,android-21,build-tools-21.1.0
+
+# Setup android ndk
+echo "wget android-ndk..."
+wget -nv https://dl.google.com/android/repository/android-ndk-r14-linux-x86_64.zip
+unzip -qq android-ndk-r14-linux-x86_64.zip
+rm android-ndk-r14-linux-x86_64.zip
+mv android-ndk-r14 $ANDROID_NDK
@@ -0,0 +1,11 @@
+# Image: introlab3it/rtabmap:tango-api19
+
+FROM introlab3it/rtabmap:android-deps-api19
+
+WORKDIR /root/
+
+ADD build.bash /root/build.bash
+RUN chmod +x build.bash
+RUN /bin/bash -c "./build.bash /opt/android"
+
+WORKDIR /root/
@@ -0,0 +1,54 @@
+#!/bin/bash
+
+if [ $# -ne 1 ]; then
+    echo "build.bash android_install_prefix   # Example: build.bash /opt/android"
+    exit 1
+fi
+
+prefix=$1
+
+# get rtabmap
+git clone https://github.com/introlab/rtabmap.git rtabmap-tango
+
+# tango
+wget 'https://docs.google.com/uc?authuser=0&id=12rHHkYM5k-UnQn-xGXs9JqYWhSXrgJr3&export=download' -O TangoSDK_Ikariotikos_C.zip
+unzip -qq TangoSDK_Ikariotikos_C.zip
+rm TangoSDK_Ikariotikos_C.zip
+cp -r lib_tango_client_api/include/* $prefix/armeabi-v7a/include/.
+cp -r lib_tango_client_api/include/* $prefix/arm64-v8a/include/.
+cp -r lib_tango_client_api/lib/armeabi-v7a/* $prefix/armeabi-v7a/lib/.
+cp -r lib_tango_client_api/lib/arm64-v8a/* $prefix/arm64-v8a/lib/.
+rm -r lib_tango_client_api
+wget 'https://docs.google.com/uc?authuser=0&id=1AqVuEVu5284X6OgrGWu12VTrx4pY99Jb&export=download' -O TangoSupport_Ikariotikos_C.zip
+unzip -qq TangoSupport_Ikariotikos_C.zip
+rm TangoSupport_Ikariotikos_C.zip
+cp -r lib_tango_support_api/include/* $prefix/armeabi-v7a/include/.
+cp -r lib_tango_support_api/include/* $prefix/arm64-v8a/include/.
+cp -r lib_tango_support_api/lib/armeabi-v7a/* $prefix/armeabi-v7a/lib/.
+cp -r lib_tango_support_api/lib/arm64-v8a/* $prefix/arm64-v8a/lib/.
+cp -r lib_tango_support_api/lib/* rtabmap-tango/app/android/jni/third-party/lib/.
+rm -r lib_tango_support_api
+wget 'https://docs.google.com/uc?authuser=0&id=1s5iPJ7xiridj9Jj--gCy2XiQFniheVm6&export=download' -O TangoSDK_Ikariotikos_Java.jar
+mv TangoSDK_Ikariotikos_Java.jar rtabmap-tango/app/android/libs/.
+
+# Patch to remove not supported arcore and arengine stuff on API19
+git config --global user.email "you@example.com"
+git config --global user.name "Your Name"
+cd rtabmap-tango
+git pull origin tango-api19
+
+# resource tool
+cd build
+cmake -DANDROID_PREBUILD=ON ..
+make
+cd ../..
+
+# rtabmap (do only 32 bits for api19)
+mkdir rtabmap-tango/build/armeabi-v7a
+cd rtabmap-tango/build/armeabi-v7a
+cmake -DCMAKE_TOOLCHAIN_FILE=../../cmake_modules/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=$prefix/armeabi-v7a/sdk/native/jni -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ../..
+make
+
+# package with binaries of both architectures
+cp -r ../armeabi-v7a/app/android/libs/armeabi-v7a app/android/libs/.
+make
@@ -0,0 +1,18 @@
+# Image: introlab3it/rtabmap:tango-dev
+
+FROM introlab3it/rtabmap:tango
+
+WORKDIR /root/
+
+RUN apt-get update && apt-get install -y \
+      vim \
+      eclipse \
+      eclipse-cdt \
+      eclipse-cdt-jni
+      
+RUN cp ~/rtabmap-tango/build/arm64-v8a/app/android/project.properties ~/rtabmap-tango/app/android/.
+
+# Manual steps:
+# - Install ADT plugin from Eclipse: https://stuff.mit.edu/afs/sipb/project/android/docs/sdk/installing/installing-adt.html
+# - Import rtabmap project, set build command: "make -C ${ProjDirPath}/build/arm64-v8a VERBOSE=true"
+# - Create Android project from source code and select rtabmap-tango/app/android directory.
@@ -0,0 +1,2 @@
+#!/bin/bash 
+docker build --build-arg CACHE_DATE="$(date)" --cache-from $IMAGE_NAME -f $DOCKERFILE_PATH -t $IMAGE_NAME -t $DOCKER_REPO:16.04 -t $DOCKER_REPO:latest  .
@@ -0,0 +1,3 @@
+#!/bin/bash 
+docker push $DOCKER_REPO:16.04
+docker push $DOCKER_REPO:latest