pcl库 orbslam Dockerfile

FROM fishros2/ros:melodic-desktop-full
# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES \
${NVIDIA_VISIBLE_DEVICES:-all}

ENV NVIDIA_DRIVER_CAPABILITIES \
${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

COPY eigen-3.1.0.zip /home/
COPY Pangolin-0.6.zip /home/
COPY boost_1_58_0.zip /home/
COPY Sophus-main-1.x.zip /home/

RUN apt-get clean \
&& mv /var/lib/apt/lists /tmp \
&& mkdir -p /var/lib/apt/lists/partial \
&& apt-get clean \
&& apt-get update \
&& apt-get install -y \
git libpcl-dev pcl-tools \
build-essential \
libgl1-mesa-dev \
libglew-dev \
libsdl2-dev \
cmake cmake-gui \
libsdl2-image-dev \
libglm-dev \
libfreetype6-dev \
libglfw3-dev \
libglfw3 \
freeglut3-dev \
libpython2.7-dev \
pkg-config \
vim \
python-pip \
libegl1-mesa-dev libwayland-dev \
libxkbcommon-dev wayland-protocols \
linux-libc-dev \
libsuitesparse-dev \
ros-melodic-cv-bridge \
zip mlocate

RUN cd /home/ \
&& unzip eigen-3.1.0.zip \
&& cd eigen-3.1.0 \
&& mkdir build \
&& cd build \
&& cmake .. \
&& make -j8 install

RUN cd /home/ \
&& unzip Pangolin-0.6.zip \
&& cd Pangolin-0.6 \
&& mkdir build \
&& cd build \
&& cmake .. \
&& cmake --build .

RUN cd /home/ \
&& unzip boost_1_58_0.zip \
&& cd boost_1_58_0 \
&& ./bootstrap.sh \
&& ./bjam \
&& ./bjam install

RUN cd /home/ \
&& unzip Sophus-main-1.x.zip \
&& cd Sophus-main-1.x \
&& mkdir build \
&& cd build \
&& cmake .. \
&& make -j8 \
&& make -j8 install

RUN pip install evo --upgrade --no-binary evo -i https://pypi.tuna.tsinghua.edu.cn/simple \
&& pip install rosdepc -i https://pypi.tuna.tsinghua.edu.cn/simple \
&& rosdepc init \
&& rosdepc update \
&& echo "source /opt/ros/melodic/setup.bash" >> /root/.bashrc \
&& mkdir /root/catkin_ws \
&& mkdir /root/catkin_ws/src \