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install_thirdparty.sh
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install_thirdparty.sh
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#!/usr/bin/env bash
#set -e
# ====================================================
# import the utils
. bash_utils.sh
# ====================================================
print_blue '================================================'
print_blue "Building Thirdparty"
print_blue '================================================'
STARTING_DIR=`pwd` # this should be the main folder directory of the repo
# ====================================================
# N.B.: this script requires that you have first run:
#./install_basic.sh
# ====================================================
# ====================================================
# check if we have external options
EXTERNAL_OPTION=$1
if [[ -n "$EXTERNAL_OPTION" ]]; then
echo "external option: $EXTERNAL_OPTION"
fi
# check if we want to add a python interpreter check
if [[ -n "$WITH_PYTHON_INTERP_CHECK" ]]; then
echo "WITH_PYTHON_INTERP_CHECK: $WITH_PYTHON_INTERP_CHECK "
EXTERNAL_OPTION="$EXTERNAL_OPTION -DWITH_PYTHON_INTERP_CHECK=$WITH_PYTHON_INTERP_CHECK"
fi
# ====================================================
echo '================================================'
print_blue "Configuring and building thirdparty/Pangolin ..."
make_dir thirdparty
INSTALL_PANGOLIN_ORIGINAL=0
cd thirdparty
if [ $INSTALL_PANGOLIN_ORIGINAL -eq 1 ] ; then
# N.B.: pay attention this will generate a module 'pypangolin' ( it does not have the methods dcam.SetBounds(...) and pangolin.DrawPoints(points, colors) )
if [ ! -d pangolin ]; then
sudo apt-get install -y libglew-dev
git clone https://github.com/stevenlovegrove/Pangolin.git pangolin
cd pangolin
git submodule init && git submodule update
cd ..
fi
cd pangolin
make_dir build
if [ ! -f build/src/libpangolin.so ]; then
cd build
cmake ../ -DAVFORMAT_INCLUDE_DIR="" -DCPP11_NO_BOOST=ON $EXTERNAL_OPTION
make -j8
cd build/src
ln -s pypangolin.*-linux-gnu.so pangolin.linux-gnu.so
fi
else
# N.B.: pay attention this will generate a module 'pangolin'
if [ ! -d pangolin ]; then
sudo apt-get install -y libglew-dev
git clone https://github.com/uoip/pangolin.git
cd pangolin
PANGOLIN_UOIP_REVISION=3ac794a
git checkout $PANGOLIN_UOIP_REVISION
cd ..
# copy local changes
cp ./pangolin_changes/python_CMakeLists.txt ./pangolin/python/CMakeLists.txt
fi
cd pangolin
if [ ! -f pangolin.cpython-*-linux-gnu.so ]; then
make_dir build
cd build
cmake .. -DBUILD_PANGOLIN_LIBREALSENSE=OFF $EXTERNAL_OPTION # disable realsense
make -j8
cd ..
#python setup.py install
fi
fi
cd $STARTING_DIR
print_blue "=================================================================="
print_blue "Configuring and building thirdparty/g2o ..."
cd thirdparty
if [ ! -d g2opy ]; then
sudo apt-get install -y libsuitesparse-dev libeigen3-dev
git clone https://github.com/uoip/g2opy.git
cd g2opy
G2OPY_REVISION=5587024
git checkout $G2OPY_REVISION
cd ..
# copy local changes
cp ./g2opy_changes/types_six_dof_expmap.h ./g2opy/python/types/sba/types_six_dof_expmap.h
cp ./g2opy_changes/sparse_optimizer.h ./g2opy/python/core/sparse_optimizer.h
cp ./g2opy_changes/python_CMakeLists.txt ./g2opy/python/CMakeLists.txt
fi
cd g2opy
if [ ! -f lib/g2o.cpython-*-linux-gnu.so ]; then
make_buid_dir
cd build
cmake .. $EXTERNAL_OPTION
make -j8
cd ..
#python3 setup.py install --user
fi
cd $STARTING_DIR
print_blue "=================================================================="
print_blue "Configuring and building thirdparty/orbslam2_features ..."
cd thirdparty/orbslam2_features
. build.sh $EXTERNAL_OPTION
cd $STARTING_DIR