X-lanni
38 lines
1.3 KiB
Docker
38 lines
1.3 KiB
Docker
# Image: introlab3it/rtabmap:focal-foxy
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FROM introlab3it/rtabmap:focal-foxy-deps
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# 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.
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#commit Aug 6 2020
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RUN apt-get update && apt install -y wget && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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RUN git clone https://github.com/laurentkneip/opengv.git && \
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cd opengv && \
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git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
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wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
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git apply opengv_disable_march_native.patch && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r opengv
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# Will be used to read/store databases on host
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RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
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# Copy current source code
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COPY . /root/rtabmap
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# Build RTAB-Map project
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RUN source /ros_entrypoint.sh && \
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cd rtabmap/build && \
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cmake -DWITH_ALICE_VISION=ON -DWITH_OPENGV=ON .. && \
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make -j$(nproc) && \
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make install && \
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cd ../.. && \
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rm -rf rtabmap && \
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ldconfig
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