/
Dockerfile
230 lines (200 loc) · 9.5 KB
/
Dockerfile
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
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/900a76b0a6741e172e76722e07c0aae50d3b94f3/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