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ptam_ros.def
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ptam_ros.def
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Bootstrap: localimage
From: ../ros_base.sif
%files
# fixed files
# rqt_ptam
../fixed_files/ethzasl_ptam/rqt_ptam/CMakeLists.txt /CMakeLists.txt
# ptam
../fixed_files/ethzasl_ptam/ptam/AstDetector.h /AstDetector.h
../fixed_files/ethzasl_ptam/ptam/Tracker.cc /Tracker.cc
../fixed_files/ethzasl_ptam/ptam/System.cc /System.cc
../fixed_files/ethzasl_ptam/ptam/RemotePtam.cpp /RemotePtam.cpp
../fixed_files/ethzasl_ptam/ptam/agast_corner_detect.h /agast_corner_detect.h
# libcvd
../fixed_files/ethzasl_ptam/libcvd/Makefile /Makefile
../fixed_files/ethzasl_ptam/libcvd/glwindow.cc /glwindow.cc
# custom config
../custom_config/ptam.launch /ptam.launch
%post
# install qt4 and uninstall qt5
apt-get update
apt-get install -y software-properties-common
add-apt-repository ppa:rock-core/qt4
apt-get update
apt-get remove -y qtcreator qt5*
apt-get install -y libqtcore4 libqtwebkit4 qt4-dev-tools qt4-qmake libqt4-declarative
# init catkin workspace and clone ptam to /ptam_ws
mkdir /ptam_ws && cd /ptam_ws
catkin config --init --mkdirs --extend /opt/ros/noetic --cmake-args -DCMAKE_BUILD_TYPE=Release
# install ptam
cd src
git clone https://github.com/ethz-asl/ethzasl_ptam
cd /ptam_ws/src/ethzasl_ptam
git reset --hard e761e80
# fix files
# rqt_ptam
rm /ptam_ws/src/ethzasl_ptam/rqt_ptam/CMakeLists.txt
cp /CMakeLists.txt /ptam_ws/src/ethzasl_ptam/rqt_ptam/CMakeLists.txt
rm /CMakeLists.txt
# ptam
rm /ptam_ws/src/ethzasl_ptam/ptam/thirdparty/agast/include/agast/AstDetector.h
cp /AstDetector.h /ptam_ws/src/ethzasl_ptam/ptam/thirdparty/agast/include/agast/AstDetector.h
rm /AstDetector.h
rm /ptam_ws/src/ethzasl_ptam/ptam/thirdparty/agast/include/agast/agast_corner_detect.h
cp /agast_corner_detect.h /ptam_ws/src/ethzasl_ptam/ptam/thirdparty/agast/include/agast/agast_corner_detect.h
rm /agast_corner_detect.h
rm /ptam_ws/src/ethzasl_ptam/ptam/src/Tracker.cc
cp /Tracker.cc /ptam_ws/src/ethzasl_ptam/ptam/src/Tracker.cc
rm /Tracker.cc
rm /ptam_ws/src/ethzasl_ptam/ptam/src/System.cc
cp /System.cc /ptam_ws/src/ethzasl_ptam/ptam/src/System.cc
rm /System.cc
rm /ptam_ws/src/ethzasl_ptam/ptam/src/RemotePtam.cpp
cp /RemotePtam.cpp /ptam_ws/src/ethzasl_ptam/ptam/src/RemotePtam.cpp
rm /RemotePtam.cpp
# libcvd
cd /ptam_ws/src/ethzasl_ptam/ptam/thirdparty/libcvd
rm Makefile
cp /Makefile .
rm /Makefile
mkdir -p sources
git clone https://github.com/edrosten/libcvd.git sources
cd sources && git checkout 26bb46b9845383a4724a5e24db42dc27d41477d4
touch git_checkedout
cd cvd_src
rm glwindow.cc
cp /glwindow.cc .
rm /glwindow.cc
#custom config
rm /ptam_ws/src/ethzasl_ptam/ptam/launch/ptam.launch
cp /ptam.launch /ptam_ws/src/ethzasl_ptam/ptam/launch/ptam.launch
rm /ptam.launch
# build catkin workspace
cd /ptam_ws
catkin build
# custom .bashrc
echo "source /ptam_ws/devel/setup.bash" >> /svo_bashrc
%runscript
bash --rcfile /svo_bashrc
%labels
Author Bastian Zumbusch