build_thirdparty.sh

#!/usr/bin/env bash

. config.sh  # source configuration file and utils 

# ====================================================

print_blue '================================================'
print_blue "Building Thirdparty"
print_blue '================================================'

set -e

SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd ) # get script dir (this should be the main folder directory of PLVS)
SCRIPT_DIR=$(readlink -f $SCRIPT_DIR)  # this reads the actual path if a symbolic directory is used
cd $SCRIPT_DIR # this brings us in the actual used folder (not the possibly symbolic one)
#echo "current dir: $SCRIPT_DIR"

UBUNTU_VERSION=$(lsb_release -a 2>&1)  # to get ubuntu version 

# ====================================================
# check if we have external options
EXTERNAL_OPTIONS=$@
if [[ -n "$EXTERNAL_OPTIONS" ]]; then
    echo "external options: $EXTERNAL_OPTIONS" 
fi

# check if we set a BUILD_TYPE
if [[ -n "$BUILD_TYPE" ]]; then
    echo "BUILD_TYPE: $BUILD_TYPE" 
    EXTERNAL_OPTIONS="$EXTERNAL_OPTIONS -DCMAKE_BUILD_TYPE=$BUILD_TYPE"
else
    echo "setting BUILD_TYPE to Release by default"
    EXTERNAL_OPTIONS="$EXTERNAL_OPTIONS -DCMAKE_BUILD_TYPE=Release" 
fi

# check if we set BUILD_WITH_MARCH_NATIVE
if [[ -n "$BUILD_WITH_MARCH_NATIVE" ]]; then
    echo "BUILD_WITH_MARCH_NATIVE: $BUILD_WITH_MARCH_NATIVE" 
    EXTERNAL_OPTIONS="$EXTERNAL_OPTIONS -DBUILD_WITH_MARCH_NATIVE=$BUILD_WITH_MARCH_NATIVE"
fi

# check if we set a C++ standard
if [[ -n "$CPP_STANDARD_VERSION" ]]; then
    echo "CPP_STANDARD_VERSION: $CPP_STANDARD_VERSION" 
    EXTERNAL_OPTIONS="$EXTERNAL_OPTIONS -DCPP_STANDARD_VERSION=$CPP_STANDARD_VERSION"
fi

# check the use of local opencv
if [[ -n "$OpenCV_DIR" ]]; then
    echo "OpenCV_DIR: $OpenCV_DIR" 
    EXTERNAL_OPTIONS="$EXTERNAL_OPTIONS -DOpenCV_DIR=$OpenCV_DIR"
fi

# check CUDA options
if [ $USE_CUDA -eq 1 ]; then
    echo "USE_CUDA: $USE_CUDA" 
    EXTERNAL_OPTIONS="$EXTERNAL_OPTIONS -DWITH_CUDA=ON"
fi

if [[ $OPENCV_VERSION == 4* ]]; then
    EXTERNAL_OPTIONS="$EXTERNAL_OPTIONS -DOPENCV_VERSION=4"
fi

if [[ $USE_LOCAL_PCL -eq 1 ]]; then
    echo "USE_LOCAL_PCL: $USE_LOCAL_PCL" 
    EXTERNAL_OPTIONS="$EXTERNAL_OPTIONS -DWITH_LOCAL_PCL=ON"
fi

 echo "external options: $EXTERNAL_OPTIONS"
# ====================================================

# install ubuntu dependancies!
#./install_dependencies.sh

# ====================================================

print_blue '================================================'
print_blue "Configuring and building Thirdparty/Pangolin ..."

cd Thirdparty
if [ ! -d Pangolin ]; then
	sudo apt-get install -y libglew-dev
	git clone  --recursive https://github.com/stevenlovegrove/Pangolin.git
    #git fetch --all --tags # to fetch tags 
    cd Pangolin
    #git checkout tags/v0.6
    git checkout fe57db532ba2a48319f09a4f2106cc5625ee74a9
    git apply ../pangolin.patch  # applied to commit fe57db532ba2a48319f09a4f2106cc5625ee74a9
    cd .. 
fi
cd Pangolin
make_buid_dir
if [[ ! -f build/src/libpangolin.so && ! -f build/libpango_core.so ]]; then
	cd build
	#cmake .. -DAVFORMAT_INCLUDE_DIR="" -DCPP11_NO_BOOST=ON $EXTERNAL_OPTIONS
	cmake .. -DCMAKE_INSTALL_PREFIX="`pwd`/../install" $EXTERNAL_OPTIONS    
	make -j 8
    make install     
fi
cd $SCRIPT_DIR


print_blue '================================================'
print_blue "Configuring and building Thirdparty/rerun ..."

cd Thirdparty
if [ ! -d rerun ]; then
	sudo apt-get install -y cargo 
    git clone https://github.com/rerun-io/rerun.git rerun
    #git fetch --all --tags # to fetch tags 
    cd rerun
    git checkout 0.14.1
    cd .. 
fi
cd rerun
make_buid_dir
if [[ ! -d install ]]; then
	cd build
    cmake .. -DCMAKE_INSTALL_PREFIX="`pwd`/../install" -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fPIC" $EXTERNAL_OPTIONS
	make -j 8
    make install 
fi 
cd $SCRIPT_DIR


print_blue '================================================'
print_blue "Configuring and building Thirdparty/DBoW2 ..."

cd Thirdparty/DBoW2
make_buid_dir
cd build
cmake .. $EXTERNAL_OPTIONS
make -j 8
cd $SCRIPT_DIR


print_blue '================================================'
print_blue "Configuring and building Thirdparty/g2o ..."

cd Thirdparty/g2o
if [ ! -d build ]; then
    sudo apt-get install -y libsuitesparse-dev libeigen3-dev
fi
make_buid_dir
cd build
cmake .. $EXTERNAL_OPTIONS
make -j 8
cd $SCRIPT_DIR

./install_local_g2o_new.sh $EXTERNAL_OPTIONS


print_blue '================================================'
print_blue "Configuring and building Thirdparty/volumetric_mapping ... "

cd Thirdparty/volumetric_mapping
if [ ! -d build ]; then
    sudo apt-get install -y libgoogle-glog-dev
fi
make_buid_dir
cd build
cmake .. $EXTERNAL_OPTIONS
make -j 8
cd $SCRIPT_DIR


print_blue '================================================'
print_blue "Configuring and building Thirdparty/open_chisel ... "

cd Thirdparty/open_chisel
make_buid_dir
cd build
cmake .. $EXTERNAL_OPTIONS
make -j 8
cd $SCRIPT_DIR


print_blue '================================================'
print_blue "Configuring and building Thirdparty/chisel_server ... "

cd Thirdparty/chisel_server
make_buid_dir
cd build
cmake .. $EXTERNAL_OPTIONS
make -j 8
cd $SCRIPT_DIR


print_blue '================================================'
print_blue "Configuring and building Thirdparty/fastfusion ... "

HAVE_SSE4=$(gcc -march=native -dM -E - </dev/null | grep SSE4 || :)
HAVE_AVX=$(gcc -march=native -dM -E - </dev/null | grep AVX || : )
if [[ -n "$HAVE_SSE4" ]] || [[ -n "$HAVE_AVX" ]] ; then
	echo "Configuring and building Thirdparty/fastfusion ... "
	cd Thirdparty/fastfusion
	make_buid_dir
	cd build
	cmake .. $EXTERNAL_OPTIONS
	make -j 8
fi
cd $SCRIPT_DIR


print_blue '================================================'
print_blue "Configuring and building Thirdparty/voxblox ... "

cd Thirdparty/voxblox
if [ ! -d build ]; then
    sudo apt-get install -y libprotobuf-dev protobuf-compiler
fi
make_buid_dir
cd build
cmake .. $EXTERNAL_OPTIONS
make -j 8
# HACK (to be fixed inside cmake) copy the protobuffer files in the include folder
if [ ! -f Thirdparty/voxblox/include/Block.pb.h ] && [ ! -f Thirdparty/voxblox/include/Layer.pb.h ] ; then
    cmake .. $EXTERNAL_OPTIONS
fi
cd $SCRIPT_DIR


print_blue '================================================'
print_blue "Configuring and building Thirdparty/voxblox_sever ... "

cd Thirdparty/voxblox_server
make_buid_dir
cd build
cmake .. $EXTERNAL_OPTIONS
make -j 8
cd $SCRIPT_DIR


print_blue '================================================'

if [[ -n "$HAVE_SSE3" ]]; then
    echo "Configuring and building Thirdparty/libelas-gpu ... "
    cd Thirdparty/libelas-gpu
    make_buid_dir
    cd build
    cmake .. $EXTERNAL_OPTIONS
    make -j 8
fi
cd $SCRIPT_DIR


print_blue '================================================'

if [ $CUDA_FOUND -eq 1 ]; then
    echo "Configuring and building Thirdparty/stereo_libsgm... "
    
    cd Thirdparty/libsgm
    if [ ! -d build ]; then 
        if [[ $UBUNTU_VERSION == *"18.04"* ]] ; then
            sudo apt-get install -y libglfw3-dev
        fi
        if [[ $UBUNTU_VERSION == *"20.04"* ]] ; then
            sudo apt-get install -y libglfw3-dev
            sudo apt-get install -y libxxf86vm-dev
        fi
    fi 
    make_buid_dir
    cd build
    cmake .. $EXTERNAL_OPTIONS
    make -j 8
fi
cd $SCRIPT_DIR


print_blue '================================================'
print_blue "Configuring and building Thirdparty/line_descriptor ... "

cd Thirdparty/line_descriptor
make_buid_dir
cd build
cmake .. $EXTERNAL_OPTIONS
make -j 8
cd $SCRIPT_DIR


print_blue '================================================'
print_blue "Checking pip and evo package for odometry evaluation... "

DO_INSTALL_PIP=$(check_package python3-pip)
if [ $DO_INSTALL_PIP -eq 1 ] ; then
	echo "installing pip"
	sudo apt-get install -y python3-pip
fi	


# original package from https://github.com/MichaelGrupp/evo
#                       https://github.com/MichaelGrupp/evo/wiki/evo_traj
DO_INSTALL_EVO=$(check_pip_package evo)
if [ $DO_INSTALL_EVO -eq 1 ] ; then
	echo "installing evo package"
    if [[ "$UBUNTU_VERSION" == *"24.04"* ]]; then
        sudo apt install -y python3-matplotlib
        sudo apt install -y python3-pandas
        pip3 install evo --upgrade --no-binary evo --user --break-system-packages
    else
        pip3 install matplotlib --upgrade
        pip3 install pandas --upgrade
        pip3 install evo --upgrade --no-binary evo --user
    fi  
     
    
fi


if [ $USE_OAK -eq 1 ]; then
    print_blue '================================================'
    print_blue "Configuring and building Thirdparty/depthai-core ... "

    BUILD_EXAMPLES=ON  # enable/disable building the examples 
    cd Thirdparty
    if [ ! -d depthai-core ]; then 
        
        sudo apt install -y libspdlog-dev libbz2-dev liblzma-dev

        git clone --recursive https://github.com/luxonis/depthai-core.git depthai-core
        cd depthai-core
        git checkout 6b5093dd3d51bdb19c019b47af4e6a226051ab99 
        git apply ../depthai-core.patch  # applied to commit 6b5093dd3d51bdb19c019b47af4e6a226051ab99
        cd ..
    fi 
    if [ ! -f depthai-core/build/libdepthai-core.a ]; then 
        cd depthai-core 
        make_buid_dir
        cd build
        cmake .. $EXTERNAL_OPTIONS -DDEPTHAI_BUILD_EXAMPLES=$BUILD_EXAMPLES -DCMAKE_POSITION_INDEPENDENT_CODE=ON #-DCMAKE_POSITION_INDEPENDENT_CODE=ON #-DCONFIG_MODE=ON #-DCMAKE_CXX_FLAGS+=-fPIC
        make -j 8
        cd $SCRIPT_DIR
    fi 
fi