install_openvslam.sh

#!/bin/bash
echo "----------------------------------------"
echo "This script installs OpenVSLAM and its dependencies"
echo ""
echo "The default installation creates the following structure: "
echo ""
echo "INSTALL_SCRIPT__DIR"
echo "     |- lib_openvslam"
echo "     |-     |- external_dependencies"
echo "     |-     |-     |- <dependecy>"
echo "     |-     |-     |-     |- build"
echo "     |-     |-     |-     |- <other folders within dependency>"
echo "     |-     |-     |- install"
echo "     |-     |-     |-     |- <dependecy>"
echo "     |-     |-     |-     |- lib"
echo "     |-     |-     |-     |- include"
echo "     |-     |-     |-     |- <other folders installed, example: bin>"
echo "     |-     |- openvslam"
echo "     |-     |-     |- install"
echo "     |-     |-     |-     |- lib"
echo "     |-     |-     |-     |- include"
echo "     |-     |-     |- <other folders in openvslam>"
echo ""
echo "The install locations for all the dependencies are appended to a variable"
echo "$(tput bold)CMAKE_PREFIX_PATH $(tput sgr0) and added to ~/.bashrc."
echo "The runtime locations for all the dependencies are appended to a variable"
echo "$(tput bold)LD_LIBRARY_PATH $(tput sgr0) and added to ~/.bashrc."
echo "This ensures that removing the build and install directory and the added"
echo "line in the .bashrc file effectively uninstalls the dependencies."
echo "It also makes managing different versions of these libraries easier."
echo "----------------------------------------"
echo ""

export MAIN_DIR=$(pwd)

#Begin openvslam dependencies
mkdir lib_openvslam
cd lib_openvslam

git clone https://github.com/xdspacelab/openvslam.git

mkdir external_dependencies
cd external_dependencies
export EXT_DEP=$(pwd)

echo "External dependecies install path: ${EXT_DEP}"
echo ""

sudo echo "# Paths added for openvslam" >> ~/.bashrc

sudo apt update -y
sudo apt upgrade -y --no-install-recommends
# basic dependencies
sudo apt install -y build-essential pkg-config cmake git wget curl unzip
# g2o dependencies
sudo apt install -y libatlas-base-dev libsuitesparse-dev
# OpenCV dependencies
sudo apt install -y libgtk-3-dev
sudo apt install -y ffmpeg
sudo apt install -y libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libavresample-dev
# eigen dependencies
sudo apt install -y gfortran
# other dependencies
sudo apt install -y libyaml-cpp-dev libgoogle-glog-dev libgflags-dev

# (if you plan on using PangolinViewer)
# Pangolin dependencies
sudo apt install -y libglew-dev

# (if you plan on using SocketViewer)
# Protobuf dependencies
sudo apt install -y autogen autoconf libtool
curl -sL https://deb.nodesource.com/setup_6.x | sudo -E bash -
sudo apt install -y nodejs

echo "----------------------------------------"
echo "Installing Eigen 3.3.4"
echo "----------------------------------------"

cd ${EXT_DEP}
wget -q https://gitlab.com/libeigen/eigen/-/archive/3.3.4/eigen-3.3.4.tar.bz2
tar xf eigen-3.3.4.tar.bz2
rm -rf eigen-3.3.4.tar.bz2
cd eigen-3.3.4
mkdir -p build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=${EXT_DEP}/install/eigen-3.3.4/ \
    ..
make -j2 --silent
make install
cd ${EXT_DEP}/install/eigen-3.3.4/
sudo echo "export CMAKE_PREFIX_PATH=\$CMAKE_PREFIX_PATH:$(pwd)" >> ~/.bashrc
sudo echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:$(pwd)/lib" >> ~/.bashrc

echo "----------------------------------------"
echo "Sourcing bashrc"
echo "----------------------------------------"
source ~/.bashrc

echo "----------------------------------------"
echo "Installing OpenCV 3.4"
echo "----------------------------------------"
cd ${EXT_DEP}
wget -q https://github.com/opencv/opencv/archive/3.4.0.zip
unzip -q 3.4.0.zip
rm -rf 3.4.0.zip
cd opencv-3.4.0
mkdir -p build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=${EXT_DEP}/install/opencv-3.4.0/ \
    -DENABLE_CXX11=ON \
    -DBUILD_DOCS=OFF \
    -DBUILD_EXAMPLES=OFF \
    -DBUILD_JASPER=OFF \
    -DBUILD_OPENEXR=OFF \
    -DBUILD_PERF_TESTS=OFF \
    -DBUILD_TESTS=OFF \
    -DWITH_EIGEN=ON \
    -DWITH_FFMPEG=ON \
    -DWITH_OPENMP=ON \
    -DBUILD_opencv_cudacodec=OFF \
    -DCMAKE_CXX_FLAGS="-w" \
    ..
make -j2 --silent
make install
cd ${EXT_DEP}/install/opencv-3.4.0
sudo echo "export CMAKE_PREFIX_PATH=\$CMAKE_PREFIX_PATH:$(pwd)" >> ~/.bashrc
sudo echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:$(pwd)/lib" >> ~/.bashrc

echo "----------------------------------------"
echo "Sourcing bashrc"
echo "----------------------------------------"
source ~/.bashrc

echo "----------------------------------------"
echo "Installing DBoW2"
echo "----------------------------------------"
cd ${EXT_DEP}
git clone https://github.com/shinsumicco/DBoW2.git
cd DBoW2
mkdir build
cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=${EXT_DEP}/install/DBoW2/ \
    -DCMAKE_CXX_FLAGS="-w" \
    ..
make -j2 --silent
make install
cd ${EXT_DEP}/install/DBoW2/
sudo echo "export CMAKE_PREFIX_PATH=\$CMAKE_PREFIX_PATH:$(pwd)" >> ~/.bashrc
sudo echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:$(pwd)/lib" >> ~/.bashrc

echo "----------------------------------------"
echo "Sourcing bashrc"
echo "----------------------------------------"
source ~/.bashrc

echo "----------------------------------------"
echo "Installing g2o"
echo "----------------------------------------"
cd ${EXT_DEP}
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
git checkout 9b41a4ea5ade8e1250b9c1b279f3a9c098811b5a
mkdir build
cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=${EXT_DEP}/install/g2o/ \
    -DCMAKE_CXX_FLAGS=-std=c++11 \
    -DBUILD_SHARED_LIBS=ON \
    -DBUILD_UNITTESTS=OFF \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DG2O_USE_CHOLMOD=OFF \
    -DG2O_USE_CSPARSE=ON \
    -DG2O_USE_OPENGL=OFF \
    -DG2O_USE_OPENMP=ON \
    -DBUILD_opencv_apps=ON \
    -DCMAKE_CXX_FLAGS="-w" \
    ..
make -j2 --silent
make install
cd ${EXT_DEP}/install/g2o/
sudo echo "export CMAKE_PREFIX_PATH=\$CMAKE_PREFIX_PATH:$(pwd)" >> ~/.bashrc
sudo echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:$(pwd)/lib" >> ~/.bashrc

echo "----------------------------------------"
echo "Sourcing bashrc"
echo "----------------------------------------"
source ~/.bashrc

echo "----------------------------------------"
echo "Installing Pangolin"
echo "----------------------------------------"
cd ${EXT_DEP}
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
git checkout ad8b5f83222291c51b4800d5a5873b0e90a0cf81
mkdir build
cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=${EXT_DEP}/install/Pangolin/ \
    -DCMAKE_CXX_FLAGS="-w" \
    ..
make -j2 --silent
make install
cd ${EXT_DEP}/install/Pangolin/
sudo echo "export CMAKE_PREFIX_PATH=\$CMAKE_PREFIX_PATH:$(pwd)" >> ~/.bashrc
sudo echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:$(pwd)/lib" >> ~/.bashrc

echo "----------------------------------------"
echo "Sourcing bashrc"
echo "----------------------------------------"
source ~/.bashrc

echo "----------------------------------------"
echo "Installing socket.io-client-cpp"
echo "----------------------------------------"
cd ${EXT_DEP}
git clone https://github.com/shinsumicco/socket.io-client-cpp
cd socket.io-client-cpp
git submodule init
git submodule update
mkdir build
cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=${EXT_DEP}/install/socket.io-client-cpp/ \
    -DBUILD_UNIT_TESTS=OFF \
    -DCMAKE_CXX_FLAGS="-w" \
    ..
make -j2 --silent
make install
cd ${EXT_DEP}/install/socket.io-client-cpp/
sudo echo "export CMAKE_PREFIX_PATH=\$CMAKE_PREFIX_PATH:$(pwd)" >> ~/.bashrc
sudo echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:$(pwd)/lib" >> ~/.bashrc

sudo apt install -y libprotobuf-dev protobuf-compiler

echo "----------------------------------------"
echo "Sourcing bashrc"
echo "----------------------------------------"
source ~/.bashrc

echo "----------------------------------------"
echo "Installing OpenVSLAM"
echo "----------------------------------------"

cd ${MAIN_DIR}
git apply ${MAIN_DIR}/patches/pangolin_viewer.diff

cd ${EXT_DEP}/../openvslam

mkdir build
cd build

cmake \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DUSE_PANGOLIN_VIEWER=ON \
    -DINSTALL_PANGOLIN_VIEWER=ON \
    -DUSE_SOCKET_PUBLISHER=OFF \
    -DUSE_STACK_TRACE_LOGGER=ON \
    -DBOW_FRAMEWORK=DBoW2 \
    -DBUILD_TESTS=ON \
    -DCMAKE_INSTALL_PREFIX=$(pwd)/../install/ \
    -DCMAKE_CXX_FLAGS="-w" \
    ..
make -j2 --silent
make install
cd ../install
sudo echo "export CMAKE_PREFIX_PATH=\$CMAKE_PREFIX_PATH:$(pwd)" >> ~/.bashrc
sudo echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:$(pwd)/lib" >> ~/.bashrc

sudo echo "# End paths added for openvslam" >> ~/.bashrc