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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+# 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
+
+