FROM ros:kinetic-perception

ENV CERES_VERSION="1.12.0"

ENV CATKIN_WS=/root/catkin_ws

# set up thread number for building

RUN if [ "x$(nproc)" = "x1" ] ; then export USE_PROC=1 ; \

else export USE_PROC=$(($(nproc)/2)) ; fi && \

apt-get update && apt-get install -y \

cmake \

libatlas-base-dev \

libeigen3-dev \

libgoogle-glog-dev \

libsuitesparse-dev \

python-catkin-tools \

ros-${ROS_DISTRO}-cv-bridge \

ros-${ROS_DISTRO}-image-transport \

ros-${ROS_DISTRO}-message-filters \

ros-${ROS_DISTRO}-tf && \

rm -rf /var/lib/apt/lists/* && \

# Build and install Ceres

git clone https://ceres-solver.googlesource.com/ceres-solver && \

cd ceres-solver && \

git checkout tags/${CERES_VERSION} && \

mkdir build && cd build && \

cmake .. && \

make -j$(USE_PROC) install && \

rm -rf ../../ceres-solver && \

mkdir -p $CATKIN_WS/src/VINS-Mono/

COPY ./ $CATKIN_WS/src/VINS-Mono/

WORKDIR $CATKIN_WS

ENV TERM xterm

ENV PYTHONIOENCODING UTF-8

RUN catkin config \

--extend /opt/ros/$ROS_DISTRO \

--cmake-args \

-DCMAKE_BUILD_TYPE=Release && \

catkin build && \

sed -i '/exec "$@"/i \

source "/root/catkin_ws/devel/setup.bash"' /ros_entrypoint.sh