KISS-ICP Docker

docker

# docker build -t kiss-icp -f Dockerfile .
# rocker --x11 --nvidia kiss-icp --volume /home/michal/Downloads/:/data/
# kiss_icp_pipeline --visualize --topic /os1_cloud_node/points /data/rooster_2020-03-10-10-36-30_0-006.bag 
ARG ROS_DISTRO=noetic

FROM ros:$ROS_DISTRO-ros-core

SHELL ["/bin/bash", "-c"]

RUN apt-get update && apt-get install -y \
        libgl1 \
        libgomp1 \
        python3-pip \
        g++ \ 
        git \
        build-essential \
        libeigen3-dev \
        libtbb-dev \
        pybind11-dev \ 
        ninja-build \
        && \ 
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*


# Install Open3D from the PyPI repositories
RUN python3 -m pip install --no-cache-dir --upgrade pip && \
    python3 -m pip install --no-cache-dir --ignore-installed --upgrade open3d

RUN git clone https://github.com/PRBonn/kiss-icp.git && \
    cd kiss-icp && pip install --verbose . 

RUN echo ". /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc