| ARG RELEASE |
| ARG LAUNCHPAD_BUILD_ARCH |
| LABEL org.opencontainers.image.ref.name=ubuntu |
| LABEL org.opencontainers.image.version=22.04 |
| ADD file:b499000226bd9a7c562ffa8eeb86e2d170f2a563310db6c2d79562ab53e5cb6e in / |
| CMD ["/bin/bash"] |
| ENV DEBIAN_FRONTEND=noninteractive |
| ENV DEBCONF_NOWARNINGS=yes |
| RUN /bin/sh -c set -x && apt-get update -y -qq && apt-get upgrade -y -qq --no-install-recommends && : "basic dependencies" && apt-get install -y -qq build-essential pkg-config cmake git wget curl tar unzip && : "g2o dependencies" && apt-get install -y -qq libatlas-base-dev libsuitesparse-dev libglew-dev && : "OpenCV dependencies" && apt-get install -y -qq libjpeg-dev libpng++-dev libtiff-dev libopenexr-dev libwebp-dev ffmpeg libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libtbb-dev && : "backward-cpp dependencies" && apt install -y -qq binutils-dev && : "other dependencies" && apt-get install -y -qq libyaml-cpp-dev sqlite3 libsqlite3-dev && : "remove cache" && apt-get autoremove -y -qq && rm -rf /var/lib/apt/lists/* # buildkit |
| ARG CMAKE_INSTALL_PREFIX=/usr/local |
| ARG NUM_THREADS=23 |
| ENV CPATH=/usr/local/include: |
| ENV C_INCLUDE_PATH=/usr/local/include: |
| ENV CPLUS_INCLUDE_PATH=/usr/local/include: |
| ENV LIBRARY_PATH=/usr/local/lib: |
| ENV LD_LIBRARY_PATH=/usr/local/lib: |
| ARG EIGEN3_VERSION=3.3.7 |
| WORKDIR /tmp |
| RUN |3 CMAKE_INSTALL_PREFIX=/usr/local NUM_THREADS=23 EIGEN3_VERSION=3.3.7 /bin/sh -c set -x && wget -q https://gitlab.com/libeigen/eigen/-/archive/${EIGEN3_VERSION}/eigen-${EIGEN3_VERSION}.tar.bz2 && tar xf eigen-${EIGEN3_VERSION}.tar.bz2 && rm -rf eigen-${EIGEN3_VERSION}.tar.bz2 && cd eigen-${EIGEN3_VERSION} && mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} .. && make -j${NUM_THREADS} && make install && cd /tmp && rm -rf * # buildkit |
| ENV Eigen3_DIR=/usr/local/share/eigen3/cmake |
| ARG G2O_COMMIT=20230223_git |
| WORKDIR /tmp |
| RUN |4 CMAKE_INSTALL_PREFIX=/usr/local NUM_THREADS=23 EIGEN3_VERSION=3.3.7 G2O_COMMIT=20230223_git /bin/sh -c set -x && git clone https://github.com/RainerKuemmerle/g2o.git && cd g2o && git checkout ${G2O_COMMIT} && mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} -DBUILD_SHARED_LIBS=ON -DBUILD_UNITTESTS=OFF -DG2O_USE_CHOLMOD=OFF -DG2O_USE_CSPARSE=ON -DG2O_USE_OPENGL=OFF -DG2O_USE_OPENMP=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_BUILD_LINKED_APPS=OFF .. && make -j${NUM_THREADS} && make install && cd /tmp && rm -rf * # buildkit |
| ENV g2o_DIR=/usr/local/lib/cmake/g2o |
| ARG OPENCV_VERSION=4.7.0 |
| WORKDIR /tmp |
| RUN |5 CMAKE_INSTALL_PREFIX=/usr/local NUM_THREADS=23 EIGEN3_VERSION=3.3.7 G2O_COMMIT=20230223_git OPENCV_VERSION=4.7.0 /bin/sh -c set -x && wget -q https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip && unzip -q ${OPENCV_VERSION}.zip && rm -rf ${OPENCV_VERSION}.zip && cd opencv-${OPENCV_VERSION} && mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} -DBUILD_DOCS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_JASPER=OFF -DBUILD_OPENEXR=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DBUILD_PROTOBUF=OFF -DBUILD_opencv_apps=OFF -DBUILD_opencv_dnn=OFF -DBUILD_opencv_ml=OFF -DBUILD_opencv_python_bindings_generator=OFF -DENABLE_CXX11=ON -DENABLE_FAST_MATH=ON -DWITH_EIGEN=ON -DWITH_FFMPEG=ON -DWITH_TBB=ON -DWITH_OPENMP=ON .. && make -j${NUM_THREADS} && make install && cd /tmp && rm -rf * # buildkit |
| ENV OpenCV_DIR=/usr/local/lib/cmake/opencv4 |
| ARG SIOCLIENT_COMMIT=ff6ef08e45c594e33aa6bc19ebdd07954914efe0 |
| WORKDIR /tmp |
| RUN |6 CMAKE_INSTALL_PREFIX=/usr/local NUM_THREADS=23 EIGEN3_VERSION=3.3.7 G2O_COMMIT=20230223_git OPENCV_VERSION=4.7.0 SIOCLIENT_COMMIT=ff6ef08e45c594e33aa6bc19ebdd07954914efe0 /bin/sh -c set -x && git clone https://github.com/shinsumicco/socket.io-client-cpp.git && cd socket.io-client-cpp && git checkout ${SIOCLIENT_COMMIT} && git submodule init && git submodule update && mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} -DBUILD_UNIT_TESTS=OFF .. && make -j${NUM_THREADS} && make install && cd /tmp && rm -rf * # buildkit |
| ENV sioclient_DIR=/usr/local/lib/cmake/sioclient |
| WORKDIR /tmp |
| RUN |6 CMAKE_INSTALL_PREFIX=/usr/local NUM_THREADS=23 EIGEN3_VERSION=3.3.7 G2O_COMMIT=20230223_git OPENCV_VERSION=4.7.0 SIOCLIENT_COMMIT=ff6ef08e45c594e33aa6bc19ebdd07954914efe0 /bin/sh -c set -x && apt-get update -y -qq && apt-get upgrade -y -qq --no-install-recommends && apt-get install -y -qq autogen autoconf libtool && wget -q https://github.com/google/protobuf/archive/v3.6.1.tar.gz && tar xf v3.6.1.tar.gz && cd protobuf-3.6.1 && ./autogen.sh && ./configure --prefix=${CMAKE_INSTALL_PREFIX} --enable-static=no && make -j${NUM_THREADS} && make install && cd /tmp && rm -rf * && apt-get purge -y -qq autogen autoconf libtool && apt-get autoremove -y -qq && rm -rf /var/lib/apt/lists/* # buildkit |
| ARG BACKWARD_CPP_COMMIT=5ffb2c879ebdbea3bdb8477c671e32b1c984beaa |
| WORKDIR /tmp |
| RUN |7 CMAKE_INSTALL_PREFIX=/usr/local NUM_THREADS=23 EIGEN3_VERSION=3.3.7 G2O_COMMIT=20230223_git OPENCV_VERSION=4.7.0 SIOCLIENT_COMMIT=ff6ef08e45c594e33aa6bc19ebdd07954914efe0 BACKWARD_CPP_COMMIT=5ffb2c879ebdbea3bdb8477c671e32b1c984beaa /bin/sh -c set -x && git clone https://github.com/bombela/backward-cpp.git && cd backward-cpp && git checkout ${BACKWARD_CPP_COMMIT} && mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} .. && make -j${NUM_THREADS} && make install && cd /tmp && rm -rf * # buildkit |
| COPY . /stella_vslam/ # buildkit |
| WORKDIR /stella_vslam/ |
| RUN |7 CMAKE_INSTALL_PREFIX=/usr/local NUM_THREADS=23 EIGEN3_VERSION=3.3.7 G2O_COMMIT=20230223_git OPENCV_VERSION=4.7.0 SIOCLIENT_COMMIT=ff6ef08e45c594e33aa6bc19ebdd07954914efe0 BACKWARD_CPP_COMMIT=5ffb2c879ebdbea3bdb8477c671e32b1c984beaa /bin/sh -c set -x && mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo .. && make -j${NUM_THREADS} && make install && rm -rf CMakeCache.txt CMakeFiles Makefile cmake_install.cmake example src && chmod -R 777 ./* # buildkit |
| ARG SOCKET_PUBLISHER_COMMIT=72b85ed39f28bb5e346d65c78b93b4bf5616eb42 |
| WORKDIR /tmp |
| RUN |8 CMAKE_INSTALL_PREFIX=/usr/local NUM_THREADS=23 EIGEN3_VERSION=3.3.7 G2O_COMMIT=20230223_git OPENCV_VERSION=4.7.0 SIOCLIENT_COMMIT=ff6ef08e45c594e33aa6bc19ebdd07954914efe0 BACKWARD_CPP_COMMIT=5ffb2c879ebdbea3bdb8477c671e32b1c984beaa SOCKET_PUBLISHER_COMMIT=72b85ed39f28bb5e346d65c78b93b4bf5616eb42 /bin/sh -c set -x && git clone https://github.com/stella-cv/socket_publisher.git && cd socket_publisher && git checkout -q ${SOCKET_PUBLISHER_COMMIT} && git submodule update --init --recursive && mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} .. && make -j${NUM_THREADS} && make install && cd /tmp && rm -rf * # buildkit |
| ARG EXAMPLES_COMMIT=3606f68c9c3fb05a838e992230cb4a17106a7c41 |
| WORKDIR / |
| RUN |9 CMAKE_INSTALL_PREFIX=/usr/local NUM_THREADS=23 EIGEN3_VERSION=3.3.7 G2O_COMMIT=20230223_git OPENCV_VERSION=4.7.0 SIOCLIENT_COMMIT=ff6ef08e45c594e33aa6bc19ebdd07954914efe0 BACKWARD_CPP_COMMIT=5ffb2c879ebdbea3bdb8477c671e32b1c984beaa SOCKET_PUBLISHER_COMMIT=72b85ed39f28bb5e346d65c78b93b4bf5616eb42 EXAMPLES_COMMIT=3606f68c9c3fb05a838e992230cb4a17106a7c41 /bin/sh -c set -x && git clone https://github.com/stella-cv/stella_vslam_examples.git && cd stella_vslam_examples && git checkout -q ${EXAMPLES_COMMIT} && git submodule update --init --recursive && mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} -DUSE_STACK_TRACE_LOGGER=ON .. && make -j${NUM_THREADS} # buildkit |
| WORKDIR /stella_vslam_examples/build/ |
| ENTRYPOINT ["/bin/bash"] |
