install RTAB-Map Tango (APK) by docker

RTAB-Map Tango (APK)

$ docker pull introlab3it/rtabmap:tango

Note that arm64-v8a APK contains both armeabi-v7a and arm64-v8a binaries.

• Install APK, 2 choices:
1. Copy file on host computer then install it with adb from there:
   $ docker run --name=rtabmap-tango introlab3it/rtabmap:tango
   $ docker cp rtabmap-tango:/root/rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk .
   $ docker rm rtabmap-tango # cleanup container
   $ adb install -r RTABMap-debug.apk
2. Call adb from container:
   $ docker run --privileged -i -t --rm -v /dev/bus/usb:/dev/bus/usb introlab3it/rtabmap:tango adb install -r rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk

docker run -it -d

Dockerfile

# Image: introlab3it/rtabmap:zesty

FROM ubuntu:17.04

# Install build dependencies

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

      libsqlite3-dev \

      libpcl-dev \

      libopencv-dev \

      git \

      cmake \

      libproj-dev \

      libqt5svg5-dev \

      software-properties-common

# Issue: http://www.pcl-users.org/Build-failure-on-Ubuntu-17-04-td4044552.html

RUN sed -i 's|/usr/lib/libmpi.so;||g' /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake

# Clone source code

WORKDIR /root/

RUN git clone https://github.com/introlab/rtabmap.git

# Build RTAB-Map project

RUN cd rtabmap/build && \

    cmake .. && \

    make -j$(nproc) && \

    make install && \

    cd ../.. && \

    rm -rf rtabmap && \

    ldconfig

WORKDIR /root