build_arch.sh

#!/bin/bash
# Build script of XIVO software.
# Author: Xiaohan Fei (feixh@cs.ucla.edu)
# Basic usage: execute the script in terminal
# ./build.sh
# Options:
# 1) ros: build with ROS support
# 2) g2o: build with pose graph optimization from g2o library
# 3) gperf: use google performance profiling tools
# Example:
# ./build.sh ros g2o gperf

# parsing options
BUILD_G2O=false
USE_GPERFTOOLS=false

for arg in "$@"
do
  if [ $arg == "g2o" ]; then
    BUILD_G2O=true
  fi

  if [ $arg == "gperf" ]; then
    USE_GPERFTOOLS=true
  fi
done

if [ $BUILD_G2O = true ]; then
  echo "BUILD WITH G2O SUPPORT"
fi

if [ $USE_GPERFTOOLS = true ]; then
  echo "USE GOOGLE PERFORMANCE TOOLS (GPERFTOOLS) FOR PROFILING"
fi

CPU_COUNT=4
OPENCV_INSTALL_DIR=/home/stephanie/DevelopmentEnvironments/xivo/share/OpenCV
PYTHON_BINARY=/home/stephanie/PythonEnvs/xivo-py39env/bin/python

# build dependencies
PROJECT_DIR=$(pwd)
echo $PROJECT_DIR

cd $PROJECT_DIR/thirdparty/googletest
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=..
make install -j $CPU_COUNT

cd $PROJECT_DIR/thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=.. -DOpenCV_DIR=$OPENCV_INSTALL_DIR
make install -j $CPU_COUNT

cd $PROJECT_DIR/thirdparty/eigen
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=.. -DOpenGL_GL_PREFERENCE=GLVND
make install -j $CPU_COUNT

cd $PROJECT_DIR/thirdparty/Pangolin
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=.. -DOpenGL_GL_PREFERENCE=GLVND
make install -j $CPU_COUNT

cd $PROJECT_DIR/thirdparty/jsoncpp
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=.. -DBUILD_SHARED_LIBS=TRUE
make install -j $CPU_COUNT

cd $PROJECT_DIR/thirdparty/ceres-solver
mkdir build
cd build
cmake .. \
  -DCMAKE_INSTALL_PREFIX=.. \
  -DEigen3_DIR=$PROJECT_DIR/thirdparty/eigen/share/eigen3/cmake
make install -j $CPU_COUNT

cd $PROJECT_DIR/thirdparty/pnp
mkdir build
cd build
cmake .. \
  -DBUILD_PNP_MAIN=ON \
  -DEigen3_DIR=$PROJECT_DIR/thirdparty/eigen/share/eigen3/cmake \
  -DCeres_DIR=$PROJECT_DIR/thirdparty/ceres-solver/lib/cmake/Ceres \
  -DCMAKE_INSTALL_PREFIX=..
make -j $CPU_COUNT

# to build gperftools, need to install autoconf and libtool first
if [ $USE_GPERFTOOLS = true ]; then
  sudo pacman -S autoconf libtool
  cd $PROJECT_DIR/thirdparty/gperftools
  ./autogen.sh
  ./configure --prefix=$PROJECT_DIR/thirdparty/gperftools
  make install
fi

if [ $BUILD_G2O = true ]; then
  cd $PROJECT_DIR/thirdparty/g2o
  mkdir build
  cd build
  cmake .. \
    -DCMAKE_INSTALL_PREFIX=../release \
    -DEIGEN3_INCLUDE_DIR=../eigen \
    -DOpenGL_GL_PREFERENCE=GLVND
  make install -j $CPU_COUNT
fi


# build xivo
mkdir ${PROJECT_DIR}/build
cd ${PROJECT_DIR}/build

cmake .. \
  -DBUILD_G2O=$BUILD_G2O \
  -DUSE_GPERFTOOLS=$USE_GPERFTOOLS \
  -DCMAKE_BUILD_TYPE=Debug \
  -DOpenCV_DIR=$OPENCV_INSTALL_DIR \
  -DPYTHON_EXECUTABLE=$PYTHON_BINARY \
  -DCMAKE_CXX_STANDARD=17 \
  -DCMAKE_EXE_LINKER_FLAGS=-lcblas

make -j $CPU_COUNT