28 lines
1.2 KiB
Docker
28 lines
1.2 KiB
Docker
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FROM ros:melodic-perception
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RUN apt-get update && apt-get install -y apt-transport-https ca-certificates gnupg software-properties-common wget libeigen3-dev ros-melodic-cv-bridge ros-melodic-pcl-conversions libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev libpcl-dev \
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&& wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | apt-key add - \
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&& apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main' \
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&& apt-get update \
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&& apt-get install -y cmake
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# Install ceres
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RUN git clone --depth 1 --branch 2.0.0 https://ceres-solver.googlesource.com/ceres-solver \
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&& mkdir ceres-bin \
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&& cd ceres-bin \
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&& cmake ../ceres-solver \
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&& make -j`nproc` \
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&& make install
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# install calibrator
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RUN mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak \
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&& mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak \
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&& ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h \
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&& ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h
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WORKDIR /catkin_ws
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ADD ./livox_camera_calib ./src/livox_camera_calib
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RUN . /opt/ros/melodic/setup.sh \
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&& catkin_make \
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&& . /catkin_ws/devel/setup.sh
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