# 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