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bioslam1.1-gtsam4.0.3-ubu20.Dockerfile
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bioslam1.1-gtsam4.0.3-ubu20.Dockerfile
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# --------------------------------------------------------------------------- #
# bioslam v1.1 Dockerfile for Ubuntu 20.04 base image
# with dependencies:
# boost: 1.71.0 (https://packages.ubuntu.com/focal/libboost1.71-all-dev)
# TBB: 2020.1 (https://packages.ubuntu.com/focal/libtbb-dev)
# HDF5 (serial): 1.10.4 (https://packages.ubuntu.com/focal/libhdf5-dev)
# Eigen: 3.3.9 (https://gitlab.com/libeigen/eigen)
# GTSAM: 4.0.3 (https://github.com/borglab/gtsam/releases/4.0.3)
# HighFive: 2.8.0 (https://github.com/BlueBrain/HighFive/releases/v2.8.0)
# build environment:
# git: 2.25.1 (https://packages.ubuntu.com/focal/git)
# cmake: 3.16.3 (https://packages.ubuntu.com/focal/cmake)
# g++: 9.3.0 (from build-essential: https://packages.ubuntu.com/focal/build-essential)
# make: 4.2.1 (from build-essential: https://packages.ubuntu.com/focal/build-essential)
# notes:
# - only builds the C++ library and executables, no Python/MATLAB wrappers
# - internet connection required to download dependencies
# - note: prior to bioslam v1.1, imuDataUtils is required
# --------------------------------------------------------------------------- #
FROM ubuntu:20.04
LABEL maintainer="Tim McGrath <[email protected]>"
ARG N_JOBS=4
ENV DEBIAN_FRONTEND noninteractive
ENV eigen_version=3.3.9
ENV gtsam_version=4.0.3
ENV highfive_version=v2.8.0
ENV bioslam_version=v1.1
# install package dependencies
RUN apt-get update && \
apt-get install -y --no-install-recommends \
ca-certificates \
build-essential \
git \
cmake \
libhdf5-dev \
libboost1.71-all-dev \
libtbb-dev \
&& apt-get clean
# install Eigen
WORKDIR /usr/src/
RUN git clone --single-branch --branch ${eigen_version} https://gitlab.com/libeigen/eigen eigen3
WORKDIR /usr/src/eigen3/build/
RUN cmake ..
RUN make install -j${N_JOBS}
# Install GTSAM
WORKDIR /usr/src/
RUN git clone --depth 1 --branch ${gtsam_version} https://github.com/borglab/gtsam.git
WORKDIR /usr/src/gtsam/build
RUN cmake \
-DCMAKE_BUILD_TYPE=Release \
-DGTSAM_BUILD_PYTHON=OFF \
-DGTSAM_WITH_EIGEN_MKL=OFF \
-DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
-DGTSAM_BUILD_TIMING_ALWAYS=OFF \
-DGTSAM_BUILD_TESTS=OFF \
-DGTSAM_BUILD_UNSTABLE=OFF \
-DGTSAM_UNSTABLE_BUILD_PYTHON=OFF \
-DGTSAM_BUILD_WITH_MARCH_NATIVE=ON \
-DGTSAM_WITH_TBB=OFF \
-DGTSAM_INSTALL_CPPUNITLITE=OFF \
..
RUN make install -j${N_JOBS} && make clean
# add /usr/local/lib to LD_LIBRARY_PATH for dynamic linking (in bash only!)
RUN echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/usr/local/lib" >> /root/.bashrc
# install HighFive
WORKDIR /usr/src/
RUN git clone --depth 1 --branch ${highfive_version} https://github.com/BlueBrain/HighFive
WORKDIR /usr/src/HighFive/build/
RUN cmake ..
RUN make install -j${N_JOBS}
# install bioslam
WORKDIR /usr/src/
RUN git clone --depth 1 --branch ${bioslam_version} https://github.com/tmcg0/bioslam
WORKDIR /usr/src/bioslam/build/
RUN cmake -DBIOSLAM_BUILD_MATLAB_WRAPPER=OFF ..
RUN make install -j${N_JOBS}
ENTRYPOINT ["/bin/bash"]