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Fix runtime errors, fix typo, add dockerfile #3

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merged 10 commits into from
Mar 18, 2024
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add Dockerfile
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changh95 committed Mar 15, 2024
commit 09bc424e21f27a9f0f1f1aec392ed3e1275bd2e6
40 changes: 40 additions & 0 deletions Dockerfile
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#FROM nvidia/opengl:1.2-glvnd-runtime-ubuntu22.04
From ubuntu:22.04

ARG DEBIAN_FRONTEND=noninteractive

RUN apt-get update -y

RUN apt-get install -y \
build-essential \
cmake \
ccache \
clang-format \
git \
cmake \
pkg-config \
python3 \
python3-pip \
python3-numpy \
pybind11-dev \
libgl1-mesa-dev \
libglvnd-dev \
libglew-dev \
libeigen3-dev \
ca-certificates \
software-properties-common

RUN pip3 install --upgrade pip
RUN pip3 install --upgrade numpy
RUN pip3 install kiss_icp
RUN pip3 install --ignore-installed open3d

RUN git clone --depth 1 https://github.com/opencv/opencv.git -b 4.x &&\
cd opencv && mkdir build && cd build &&\
cmake .. && make -j4 && make install

RUN git clone https://github.com/PRBonn/MapClosures.git &&\
cd MapClosures &&\
make install

WORKDIR MapClosures
19 changes: 18 additions & 1 deletion README.md
Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,24 @@ Effectively Detecting Loop Closures using Point Cloud Density Maps.
```sh
git clone https://github.com/PRBonn/MapClosures.git
cd MapClosures
make
make install
```

## Install (Docker)

```sh
git clone https://github.com/PRBonn/MapClosures.git
cd MapClosures

# Build
docker build . -t mapclosures:latest

# Run docker image with GUI support (dataset is volume mounted)
docker run -it \
--privileged \
-v $(pwd)/results/:/MapClosures/results \
-v {DATASET_PATH}:/MapClosures/dataset \
mapclosures:latest
```

## Usage
Expand Down