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update Dockerfile to build using opencv and pangolin packages #56

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cmarlin wants to merge 1 commit into from
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update Dockerfile to build using opencv and pangolin packages #56

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20 changes: 3 additions & 17 deletions Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -41,13 +41,7 @@ RUN apt-get install -y python3-dev python3-numpy python2-dev
RUN apt-get install -y libavcodec-dev libavformat-dev libswscale-dev
RUN apt-get install -y libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev
RUN apt-get install -y libgtk-3-dev

RUN cd /tmp && git clone https://github.com/opencv/opencv.git && \
cd opencv && \
git checkout 4.4.0 && mkdir build && cd build && \
cmake -D CMAKE_BUILD_TYPE=Release -D BUILD_EXAMPLES=OFF -D BUILD_DOCS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_TESTS=OFF -D CMAKE_INSTALL_PREFIX=/usr/local .. && \
make -j8 && make install && \
cd / && rm -rf /tmp/opencv
RUN apt-get install -y libopencv-dev

# Build vscode (can be removed later for deployment)
COPY ./container_root/shell_scripts/vscode_install.sh /root/
Expand All @@ -56,7 +50,7 @@ RUN cd /root/ && sudo chmod +x * && ./vscode_install.sh && rm -rf vscode_install
RUN apt-get update && apt-get install ros-humble-pcl-ros tmux -y
RUN apt-get install ros-humble-nav2-common x11-apps nano -y
RUN apt-get install -y gdb gdbserver ros-humble-rmw-cyclonedds-cpp ros-humble-cv-bridge ros-humble-image-transport ros-humble-image-common ros-humble-vision-opencv

RUN apt-get update && apt-get install -y ros-humble-pangolin ros-humble-topic-tools ros-humble-v4l2-camera ros-humble-camera-ros ros-humble-camera-calibration ros-humble-rviz2 && rm -rf /var/lib/apt/lists/*

# ===============================================================================
# NVIDIA GPU image stage (built if `--target nvidia_gpu` is specified)
Expand Down Expand Up @@ -117,14 +111,6 @@ RUN rm -rf /home/orb/ORB_SLAM3 /root/colcon_ws

FROM base AS cpu

# Build Pangolin
RUN cd /tmp && git clone https://github.com/stevenlovegrove/Pangolin && \
cd Pangolin && git checkout v0.9.1 && mkdir build && cd build && \
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-std=c++14 -DCMAKE_INSTALL_PREFIX=/usr/local .. && \
make -j8 && \
make install && \
cd / && rm -rf /tmp/Pangolin && ldconfig

COPY ORB_SLAM3 /home/orb/ORB_SLAM3
COPY orb_slam3_ros2_wrapper /root/colcon_ws/src/orb_slam3_ros2_wrapper
COPY orb_slam3_map_generator /root/colcon_ws/src/orb_slam3_map_generator
Expand All @@ -141,4 +127,4 @@ RUN rm -rf /home/orb/ORB_SLAM3 /root/colcon_ws
# ===============================================================================
# Final stage (Either CPU or NVIDIA GPU based on `--target` flag)
# ===============================================================================
FROM ${TARGET} AS final
FROM ${TARGET} AS final