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FROM osrf/ros:kinetic-desktop-full
# Dependencies we use, catkin tools is very good build system
# https://github.com/ethz-asl/kalibr/wiki/installation
RUN apt-get update && DEBIAN_FRONTEND=noninteractive \
apt-get install -y \
git wget autoconf automake \
python2.7-dev python-pip python-scipy python-matplotlib \
ipython python-wxgtk3.0 python-tk python-igraph \
libeigen3-dev libboost-all-dev libsuitesparse-dev \
doxygen \
libopencv-dev \
libpoco-dev libtbb-dev libblas-dev liblapack-dev libv4l-dev \
python-catkin-tools
# Create the workspace and build kalibr in it
ENV WORKSPACE /catkin_ws
RUN mkdir -p $WORKSPACE/src && \
cd $WORKSPACE && \
catkin init && \
catkin config --extend /opt/ros/kinetic && \
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
ADD . $WORKSPACE/src/kalibr
# RUN cd $WORKSPACE/src &&\
# git clone https://github.com/ori-drs/kalibr.git
RUN cd $WORKSPACE &&\
catkin build -j$(nproc)
# When a user runs a command we will run this code before theirs
# This will allow for using the manual focal length if it fails to init
# https://github.com/ethz-asl/kalibr/pull/346
ENTRYPOINT export KALIBR_MANUAL_FOCAL_LENGTH_INIT=1 && \
# /bin/bash -c "source \"$WORKSPACE/devel/setup.bash\"" && \
cd $WORKSPACE && \
/bin/bash
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