install_thirdparty.sh

#!/usr/bin/env bash
# Author: Luigi Freda 
# This file is part of https://github.com/luigifreda/pyslam

#set -e

# NOTE: If you get build errors related to python interpreter check under Linux then run the following command:
# export WITH_PYTHON_INTERP_CHECK=ON

SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd ) # get script dir
SCRIPT_DIR=$(readlink -f $SCRIPT_DIR)  # this reads the actual path if a symbolic directory is used

ROOT_DIR="$SCRIPT_DIR"

# ====================================================
# import the bash utils 
. "$ROOT_DIR"/bash_utils.sh 

STARTING_DIR=`pwd`  
cd "$ROOT_DIR" 

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

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

export WITH_PYTHON_INTERP_CHECK=ON  # in order to detect the correct python interpreter 

# ====================================================
# detect and configure CUDA 
. cuda_config.sh

# ====================================================
# activate pyslam python environment
. pyenv-activate.sh

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

# check if we want to add a python interpreter check
if [[ -n "$WITH_PYTHON_INTERP_CHECK" ]]; then
    echo "WITH_PYTHON_INTERP_CHECK: $WITH_PYTHON_INTERP_CHECK " 
    EXTERNAL_OPTIONS="$EXTERNAL_OPTIONS -DWITH_PYTHON_INTERP_CHECK=$WITH_PYTHON_INTERP_CHECK"
fi

OpenCV_DIR="$ROOT_DIR/thirdparty/opencv/install/lib/cmake/opencv4"
if [[ -d "$OpenCV_DIR" ]]; then
    EXTERNAL_OPTIONS="$EXTERNAL_OPTIONS -DOpenCV_DIR=$OpenCV_DIR"
fi 

echo "EXTERNAL_OPTIONS: $EXTERNAL_OPTIONS"

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

CURRENT_USED_PYENV=$(get_virtualenv_name)
print_blue "Currently used pyenv: $CURRENT_USED_PYENV"

print_blue "=================================================================="
print_blue "Configuring and building thirdparty/orbslam2_features ..."
cd thirdparty/orbslam2_features
. build.sh $EXTERNAL_OPTIONS
cd "$ROOT_DIR"

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

INSTALL_PANGOLIN_ORIGINAL=0
cd thirdparty
if [ $INSTALL_PANGOLIN_ORIGINAL -eq 1 ] ; then
    # N.B.: pay attention this will generate a module 'pypangolin' ( it does not have the methods dcam.SetBounds(...) and pangolin.DrawPoints(points, colors)  )
    if [ ! -d "pangolin" ]; then
        if [[ "$OSTYPE" == "linux-gnu"* ]]; then
            sudo apt-get install -y libglew-dev
        fi     
        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 $EXTERNAL_OPTIONS
        make -j8
        cd build/src
        ln -s pypangolin.*-linux-gnu.so  pangolin.linux-gnu.so
    fi
else
    # N.B.: pay attention this will generate a module 'pypangolin' 
    if [ ! -d "pangolin" ]; then
        if [[ "$OSTYPE" == "linux-gnu"* ]]; then
            echo "OS: $OSTYPE"   
            sudo apt-get install -y libglew-dev
        fi
        git clone --recursive https://gitlab.com/luigifreda/pypangolin.git pangolin        
        cd pangolin
        git apply ../pangolin.patch
        cd ..
    fi
    cd pangolin
    if [ ! -f pypangolin.cpython-*.so ]; then   
        make_dir build   
        cd build
        cmake .. -DBUILD_PANGOLIN_LIBREALSENSE=OFF -DBUILD_PANGOLIN_LIBREALSENSE2=OFF \
                 -DBUILD_PANGOLIN_OPENNI=OFF -DBUILD_PANGOLIN_OPENNI2=OFF \
                 -DBUILD_PANGOLIN_FFMPEG=OFF -DBUILD_PANGOLIN_LIBOPENEXR=OFF $EXTERNAL_OPTIONS # disable realsense 
        make -j8
        cd ..
        #python setup.py install
    fi
fi
cd "$ROOT_DIR"


print_blue "=================================================================="
print_blue "Configuring and building thirdparty/g2o ..."

cd thirdparty
if [ ! -d g2opy ]; then
    if [[ "$OSTYPE" == "linux-gnu"* ]]; then
        sudo apt-get install -y libsuitesparse-dev libeigen3-dev
    fi     
	git clone https://github.com/uoip/g2opy.git
    cd g2opy
    G2OPY_REVISION=5587024
    git checkout $G2OPY_REVISION
    git apply ../g2opy.patch
    cd ..     
fi
cd g2opy
if [ ! -f lib/g2o.cpython*.so ]; then  
    make_buid_dir
    cd build
    cmake .. $EXTERNAL_OPTIONS
    make -j8
    cd ..
    #python3 setup.py install --user
fi    
cd $ROOT_DIR


print_blue "=================================================================="
print_blue "Configuring and building thirdparty/pydbow3 ..."

cd thirdparty/pydbow3
./build.sh $EXTERNAL_OPTIONS

cd $ROOT_DIR

print_blue "=================================================================="
print_blue "Configuring and building thirdparty/pydbow2 ..."

cd thirdparty/pydbow2
./build.sh $EXTERNAL_OPTIONS

cd $ROOT_DIR


print_blue "=================================================================="
print_blue "Configuring and building thirdparty/pyibow ..."

cd thirdparty/pyibow
./build.sh $EXTERNAL_OPTIONS

cd $ROOT_DIR


if [[ "$OSTYPE" == "darwin"* ]]; then
    print_blue "=================================================================="
    print_blue "Configuring and building thirdparty/open3d ..."

    # NOTE: Under mac I got segmentation faults when trying to use open3d python bindings
    #       This happends when trying to load the open3d dynamic library.
    ./install_open3d_python.sh

    cd $ROOT_DIR
fi 


print_blue "=================================================================="
print_blue "Configuring and building thirdparty/ml_depth_pro ..."

cd thirdparty
if [ ! -d ml_depth_pro ]; then
    git clone https://github.com/apple/ml-depth-pro.git ml_depth_pro
    cd ml_depth_pro
    #git checkout b2cd0d51daa95e49277a9f642f7fd736b7f9e91d # use this commit if you hit any problems

    git apply ../ml_depth_pro.patch

    source get_pretrained_models.sh   # Files will be downloaded to `ml_depth_pro/checkpoints` directory. 
fi

cd $ROOT_DIR



print_blue "=================================================================="
print_blue "Configuring and building thirdparty/depth_anything_v2 ..."

cd thirdparty
if [ ! -d depth_anything_v2 ]; then
    git clone https://github.com/DepthAnything/Depth-Anything-V2.git depth_anything_v2
    cd depth_anything_v2
    #git checkout 31dc97708961675ce6b3a8d8ffa729170a4aa273 # use this commit if you hit any problems

    git apply ../depth_anything_v2.patch

    ./download_metric_models.py
fi

cd $ROOT_DIR

print_blue "=================================================================="
print_blue "Configuring and building thirdparty/raft_stereo ..."

cd thirdparty
if [ ! -d raft_stereo ]; then
    git clone https://github.com/princeton-vl/RAFT-Stereo.git raft_stereo
    cd raft_stereo
    #git checkout 6068c1a26f84f8132de10f60b2bc0ce61568e085 # use this commit if you hit any problems

    git apply ../raft_stereo.patch
    
    ./download_models.sh
fi

cd $ROOT_DIR


print_blue "=================================================================="
print_blue "Configuring and building thirdparty/crestereo ..."

cd thirdparty
if [ ! -d crestereo ]; then
    git clone https://github.com/megvii-research/CREStereo.git crestereo
    cd crestereo
    #git checkout ad3a1613bdedd88b93247e5f002cb7c80799762d # use this commit if you hit any problems

    git apply ../crestereo.patch
    
    ./download_models.py
fi

cd $ROOT_DIR

print_blue "=================================================================="
print_blue "Configuring and building thirdparty/crestereo_pytorch ..."

cd thirdparty
if [ ! -d crestereo_pytorch ]; then
    git clone https://github.com/ibaiGorordo/CREStereo-Pytorch.git crestereo_pytorch
    cd crestereo_pytorch
    #git checkout b6c7a9fe8dc2e9e56ba7b96f4677312309282d15 # use this commit if you hit any problems

    git apply ../crestereo_pytorch.patch
    
    ./download_models.py
fi

cd $ROOT_DIR

print_blue "=================================================================="
print_blue "Configuring and building thirdparty/mast3r ..."

if [ "$CUDA_VERSION" != "0" ]; then
    # we need CUDA

    cd thirdparty
    if [ ! -d mast3r ]; then
        git clone --recursive https://github.com/naver/mast3r mast3r
        git checkout e06b0093ddacfd8267cdafe5387954a650af0d3b
        cd mast3r
        git apply ../mast3r.patch
        # DUST3R relies on RoPE positional embeddings for which you can compile some cuda kernels for faster runtime.
        cd dust3r 
        git apply ../../mast3r-dust3r.patch
        cd croco 
        git apply ../../../mast3r-dust3r-croco.patch
        cd models/curope/
        if [ "$CUDA_VERSION" != "0" ]; then        
            python setup.py build_ext --inplace
        fi
        cd ../../../../    
        make_dir checkpoints
        cd checkpoints
        if [ ! -f MASt3R_ViTLarge_BaseDecoder_512_catmlpdpt_metric.pth ]; then
            wget https://download.europe.naverlabs.com/ComputerVision/MASt3R/MASt3R_ViTLarge_BaseDecoder_512_catmlpdpt_metric.pth
        fi
    fi 
else
    print_yellow "MASt3R requires CUDA. Skipping..."
fi 

cd $ROOT_DIR

print_blue "=================================================================="
print_blue "Configuring and building thirdparty/mvdust3r ..."

if [ "$CUDA_VERSION" != "0" ]; then
    # we need CUDA

    cd thirdparty
    if [ ! -d mvdust3r ]; then
        git clone https://github.com/facebookresearch/mvdust3r.git mvdust3r
        git checkout 430ca6630b07567cfb2447a4dcee9747b132d5c7
        cd mvdust3r
        git apply ../mvdust3r.patch
        # DUST3R relies on RoPE positional embeddings for which you can compile some cuda kernels for faster runtime.
        cd croco/models/curope/
        if [ "$CUDA_VERSION" != "0" ]; then        
            python setup.py build_ext --inplace
        fi
        cd ../../../
        make_dir checkpoints
        cd checkpoints
        if [ ! -f DUSt3R_ViTLarge_BaseDecoder_224_linear.pth ]; then    
            wget https://huggingface.co/Zhenggang/MV-DUSt3R/resolve/main/checkpoints/DUSt3R_ViTLarge_BaseDecoder_224_linear.pth &
        fi
        if [ ! -f MVD.pth ]; then
            wget https://huggingface.co/Zhenggang/MV-DUSt3R/resolve/main/checkpoints/MVD.pth &
        fi
        if [ ! -f MVDp_s1.pth ]; then
            wget https://huggingface.co/Zhenggang/MV-DUSt3R/resolve/main/checkpoints/MVDp_s1.pth &
        fi
        if [ ! -f MVDp_s2.pth ]; then
            wget https://huggingface.co/Zhenggang/MV-DUSt3R/blob/main/checkpoints/MVDp_s2.pth &
        fi

        # Wait for all background download jobs to complete
        wait
    fi

else 
    print_yellow "MASt3R requires CUDA. Skipping..."
fi

echo "...done with thirdparty"

cd "$STARTING_DIR"


# NOTE: If you get build errors related to python interpreter check under Linux then run the following command:
# export WITH_PYTHON_INTERP_CHECK=ON