lidar_camera_calib_docker/Dockerfile

28 lines
1.2 KiB
Docker

FROM ros:melodic-perception
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 \
&& wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | apt-key add - \
&& apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main' \
&& apt-get update \
&& apt-get install -y cmake
# Install ceres
RUN git clone --depth 1 --branch 2.0.0 https://ceres-solver.googlesource.com/ceres-solver \
&& mkdir ceres-bin \
&& cd ceres-bin \
&& cmake ../ceres-solver \
&& make -j`nproc` \
&& make install
# install calibrator
RUN mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak \
&& mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak \
&& ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h \
&& ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h
WORKDIR /catkin_ws
ADD ./livox_camera_calib ./src/livox_camera_calib
RUN . /opt/ros/melodic/setup.sh \
&& catkin_make \
&& . /catkin_ws/devel/setup.sh