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Dockerfile
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# SPDX-FileCopyrightText: 2023 Binbin Xu
# SPDX-License-Identifier: CC0-1.0
FROM ubuntu:18.04
ARG DEBIAN_FRONTEND=noninteractive
# system
RUN echo "Installing apt packages..." \
&& export DEBIAN_FRONTEND=noninteractive \
&& apt -y update --no-install-recommends \
&& apt -y install --no-install-recommends \
git \
wget \
libeigen3-dev \
freeglut3-dev \
sudo \
&& apt autoremove -y \
&& apt clean -y \
&& export DEBIAN_FRONTEND=dialog
RUN DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC apt-get -y install tzdata
# install OKVIS dependencies
RUN echo "Installing apt packages..." \
&& export DEBIAN_FRONTEND=noninteractive \
&& apt -y update --no-install-recommends \
&& apt -y install --no-install-recommends \
cmake \
libgoogle-glog-dev \
libatlas-base-dev \
libeigen3-dev \
libsuitesparse-dev \
libboost-all-dev \
libopencv-dev \
libceres-dev \
ca-certificates \
&& apt autoremove -y \
&& apt clean -y \
&& export DEBIAN_FRONTEND=dialog
# install librealsense
RUN echo "Installing librealsense..." \
&& export DEBIAN_FRONTEND=noninteractive \
&& apt -y update --no-install-recommends \
&& apt -y install --no-install-recommends \
libusb-1.0-0-dev \
libglfw3-dev \
pkg-config \
libgtk-3-dev \
gcc-6 g++-6 \
build-essential \
gnupg2 lsb-release \
&& apt autoremove -y \
&& apt clean -y \
&& export DEBIAN_FRONTEND=dialog
# install legacy realsense 1
COPY ./third-party/librealsense /opt/librealsense
RUN cd /opt/librealsense \
&& mkdir build \
&& cd build \
&& cmake -DCMAKE_BUILD_TYPE=Release .. \
&& make -j8 \
&& make install
# install geographiclib
RUN echo "Installing geographiclib..."
RUN git clone git://git.code.sourceforge.net/p/geographiclib/code /opt/geographiclib \
&& cd /opt/geographiclib \
&& mkdir build \
&& cd build \
&& cmake -DCMAKE_BUILD_TYPE=Release .. \
&& make -j8 \
&& make install
# OKVIS public
COPY ./third-party/okvis_public /opt/okvis
RUN cd /opt/okvis \
&& mkdir build \
&& cd build \
&& cmake -D CMAKE_C_COMPILER=gcc-6 -D CMAKE_CXX_COMPILER=g++-6 -DCMAKE_BUILD_TYPE=Release .. \
&& make -j8 \
&& make install
# install GUI stuff
RUN echo "Installing GUI stuff..." \
&& export DEBIAN_FRONTEND=noninteractive \
&& apt -y update --no-install-recommends \
&& apt -y install --no-install-recommends \
language-pack-en-base \
gdb \
libcanberra-gtk-module libcanberra-gtk3-module \
&& apt autoremove -y \
&& apt clean -y \
&& export DEBIAN_FRONTEND=dialog
RUN dpkg-reconfigure locales && \
locale-gen en_US.UTF-8 && \
/usr/sbin/update-locale LANG=en_US.UTF-8
ENV DISPLAY :1