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feat(slam): add rtabmap_ros

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X-lanni
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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rtabmap/docker/bionic/Dockerfile
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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 [ "$TARGETPLATFORM" = "linux/amd64" ]; then apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
wget -nv https://github.com/Kitware/CMake/releases/download/v3.20.0/cmake-3.20.0-linux-x86_64.tar.gz && \
tar -xzf cmake-3.20.0-linux-x86_64.tar.gz && \
rm cmake-3.20.0-linux-x86_64.tar.gz &&\
ln -s ~/cmake-3.20.0-linux-x86_64/bin/cmake ~/cmake; fi
#commit Aug 6 2020
RUN apt-get update && apt install wget && apt-get clean && rm -rf /var/lib/apt/lists/
RUN git clone https://github.com/laurentkneip/opengv.git && \
cd opengv && \
git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
git apply opengv_disable_march_native.patch && \
mkdir build && \
cd build && \
~/cmake -DCMAKE_BUILD_TYPE=Release .. && \
make -j4 && \
make install && \
cd && \
rm -r opengv
# Will be used to read/store databases on host
RUN mkdir -p /root/Documents/RTAB-Map
RUN rm /bin/sh && ln -s /bin/bash /bin/sh
# Copy current source code
COPY . /root/rtabmap
# Build RTAB-Map project
RUN source /ros_entrypoint.sh && \
cd rtabmap/build && \
~/cmake -DWITH_OPENGV=ON .. && \
make -j4 && \
make install && \
cd ../.. && \
rm -rf rtabmap && \
ldconfig
rtabmap/docker/bionic/android/Dockerfile
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# Image: introlab3it/rtabmap:android-deps
FROM ubuntu:18.04
# Install build dependencies
RUN apt-get update && apt-get install -y --no-install-recommends apt-utils
RUN apt-get update && apt-get install -y \
git unzip wget ant cmake \
g++ lib32stdc++6 lib32z1 \
software-properties-common \
freeglut3-dev \
openjdk-8-jdk openjdk-8-jre \
curl
ENV ANDROID_HOME=/opt/android-sdk
ENV PATH=$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"
rtabmap/docker/bionic/android/deps.bash
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#!/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
rtabmap/docker/bionic/android/rtabmap_apiXX/Dockerfile
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# 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"
rtabmap/docker/bionic/android/rtabmap_apiXX/rtabmap.bash
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#!/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=$prefix/arm64-v8a/sdk/native/jni ../..
make
make clean
rtabmap/docker/bionic/hooks/build
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#!/bin/bash
docker build --build-arg CACHE_DATE="$(date)" --cache-from $IMAGE_NAME -f $DOCKERFILE_PATH -t $IMAGE_NAME -t $DOCKER_REPO:18.04 .
rtabmap/docker/bionic/hooks/post_push
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#!/bin/bash
docker push $DOCKER_REPO:18.04