[Ubuntu] OpenVSLAM automatic installation script

install.sh

#!/bin/bash

cd ~/Desktop

# ---------------------------
## 0. Requirements
# ---------------------------
sudo apt-get update
sudo apt-get install -y build-essential git pkg-config cmake make \
    gcc curl wget unzip \
    libeigen3-dev gfortran libyaml-cpp-dev libgoogle-glog-dev


# ---------------------------
## 1. Install OpenCV
# ---------------------------

# Find the library
ls /usr/local/lib/libopencv_core.so > /dev/null
if [ $? -ne 0 ]  # 0 = found the library, 1 = error
then
    # [0] Requirements
    sudo apt-get install -y libgtk-3-dev libavresample-dev libavutil-dev \
        libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
        libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev \
        gfortran openexr libatlas-base-dev python3-dev python3-numpy \
        libtbb2 libtbb-dev libdc1394-22-dev ffmpeg

    # [1] Make a directory
    mkdir build
    pushd build

    # [2] Get the source
    VERSION=4.4.0

    wget -O opencv.tar.gz https://github.com/opencv/opencv/archive/$VERSION.tar.gz
    wget -O opencv_contrib.tar.gz https://github.com/opencv/opencv_contrib/archive/$VERSION.tar.gz

    # unpack
    tar xf opencv.tar.gz
    tar xf opencv_contrib.tar.gz

    # [3] Build Makefile
    mkdir -p opencv-$VERSION/build
    pushd opencv-$VERSION/build
    cmake \
        -D CMAKE_BUILD_TYPE=Release \
        -D CMAKE_INSTALL_PREFIX=/usr/local \
        -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-$VERSION/modules \
        -D ENABLE_CXX11=ON \
        -D BUILD_DOCS=OFF \
        -D BUILD_EXAMPLES=OFF \
        -D BUILD_JASPER=OFF \
        -D BUILD_OPENEXR=OFF \
        -D BUILD_PERF_TESTS=OFF \
        -D BUILD_TESTS=OFF \
        -D WITH_EIGEN=ON \
        -D WITH_FFMPEG=ON \
        -D WITH_OPENMP=ON \
        ..

    # [4] Compile the source using the Makefile [3]
    # -j: the number of your processors
    make -j8

    # [5] Install the libraries compiled in [4]
    sudo make install

    # [6] Clean the project
    popd  # the source directory [2]
    popd  # the main directory [1]
    rm -rf build
fi


# ---------------------------
## 2. Install g2o
# ---------------------------

# Find the library
ls /usr/local/lib/libg2o_core.so > /dev/null
if [ $? -ne 0 ]  # 0 = found the library, 1 = error
then
    # [0] Requirements
    sudo apt-get install -y libatlas-base-dev libsuitesparse-dev

    # [1] Make a directory
    mkdir build
    pushd build

    # [2] Get the source
    git clone https://github.com/RainerKuemmerle/g2o

    # [3] Build Makefile
    mkdir -p g2o/build
    pushd g2o/build
    cmake \
        -D CMAKE_BUILD_TYPE=Release \
        -D CMAKE_INSTALL_PREFIX=/usr/local \
        -D CMAKE_CXX_FLAGS=-std=c++11 \
        -D BUILD_SHARED_LIBS=ON \
        -D BUILD_UNITTESTS=OFF \
        -D BUILD_WITH_MARCH_NATIVE=ON \
        -D G2O_USE_CHOLMOD=OFF \
        -D G2O_USE_CSPARSE=ON \
        -D G2O_USE_OPENGL=OFF \
        -D G2O_USE_OPENMP=ON \
        ..

    # [4] Compile the source using the Makefile [3]
    # -j: the number of your processors
    make -j8

    # [5] Install the libraries compiled in [4]
    sudo make install

    # [6] Clean the project
    popd  # the source directory [2]
    popd  # the main directory [1]
    rm -rf build
fi


# ---------------------------
## 3. Install DBoW2 (Modified)
# ---------------------------

# Find the library
ls /usr/local/lib/libdbow2.so > /dev/null
if [ $? -ne 0 ]  # 0 = found the library, 1 = error
then
    # [0] Requirements

    # [1] Make a directory
    mkdir build
    pushd build

    # [2] Get the source
    git clone https://github.com/shinsumicco/DBoW2

    # [3] Build Makefile
    mkdir -p DBoW2/build
    pushd DBoW2/build
    cmake \
        -D CMAKE_BUILD_TYPE=Release \
        -D CMAKE_INSTALL_PREFIX=/usr/local \
        ..

    # [4] Compile the source using the Makefile [3]
    # -j: the number of your processors
    make -j8

    # [5] Install the libraries compiled in [4]
    sudo make install

    # [6] Clean the project
    popd  # the source directory [2]
    popd  # the main directory [1]
    rm -rf build
fi


# ---------------------------
## 4. Install Pangolin
# ---------------------------

# Find the library
ls /usr/local/lib/libpangolin.so > /dev/null
if [ $? -ne 0 ]  # 0 = found the library, 1 = error
then
    # [0] Requirements
    sudo apt-get install -y libgl1-mesa-dev libglew-dev

    # [1] Make a directory
    mkdir build
    pushd build

    # [2] Get the source
    git clone https://github.com/stevenlovegrove/Pangolin.git

    # [3] Build Makefile
    mkdir -p Pangolin/build
    pushd Pangolin/build
    cmake \
        -D CMAKE_BUILD_TYPE=Release \
        -D CMAKE_INSTALL_PREFIX=/usr/local \
        ..

    # [4] Compile the source using the Makefile [3]
    # -j: the number of your processors
    make -j8

    # [5] Install the libraries compiled in [4]
    sudo make install

    # [6] Clean the project
    popd  # the source directory [2]
    popd  # the main directory [1]
    rm -rf build
fi


# ---------------------------
## 5. Install OpenVSLAM
# ---------------------------

cd openvslam/build
if [ $? -ne 0 ]  # 0 = found the library, 1 = error
then
    # [1] Get the source
    git clone https://github.com/xdspacelab/openvslam

    # [2] Build Makefile
    mkdir -p openvslam/build
    cd openvslam/build
    cmake \
        -D BUILD_WITH_MARCH_NATIVE=ON \
        -D USE_PANGOLIN_VIEWER=ON \
        -D USE_SOCKET_PUBLISHER=OFF \
        -D USE_STACK_TRACE_LOGGER=ON \
        -D BOW_FRAMEWORK=DBoW2 \
        -D BUILD_TESTS=ON \
        ..

    # [3] Compile the source using the Makefile [3]
    # -j: the number of your processors
    make -j8

    # [4] Download the pretrained binaries

    # download an ORB vocabulary from Google Drive
        FILE_ID="1wUPb328th8bUqhOk-i8xllt5mgRW4n84"
        curl -sc /tmp/cookie "https://drive.google.com/uc?export=download&id=${FILE_ID}" > /dev/null
        CODE="$(awk '/_warning_/ {print $NF}' /tmp/cookie)"
        curl -sLb /tmp/cookie "https://drive.google.com/uc?export=download&confirm=${CODE}&id=${FILE_ID}" -o orb_vocab.zip
        unzip orb_vocab.zip
    
    # download a sample dataset from Google Drive
        FILE_ID="1d8kADKWBptEqTF7jEVhKatBEdN7g0ikY"
        curl -sc /tmp/cookie "https://drive.google.com/uc?export=download&id=${FILE_ID}" > /dev/null
        CODE="$(awk '/_warning_/ {print $NF}' /tmp/cookie)"
        curl -sLb /tmp/cookie "https://drive.google.com/uc?export=download&confirm=${CODE}&id=${FILE_ID}" -o aist_living_lab_1.zip
        unzip aist_living_lab_1.zip

    # download a sample dataset from Google Drive
        FILE_ID="1TVf2D2QvMZPHsFoTb7HNxbXclPoFMGLX"
        curl -sc /tmp/cookie "https://drive.google.com/uc?export=download&id=${FILE_ID}" > /dev/null
        CODE="$(awk '/_warning_/ {print $NF}' /tmp/cookie)"
        curl -sLb /tmp/cookie "https://drive.google.com/uc?export=download&confirm=${CODE}&id=${FILE_ID}" -o aist_living_lab_2.zip
        unzip aist_living_lab_2.zip

    # [5] Clean up temporary zip files
    rm *.zip
fi


# ---------------------------
## 6. END!
# ---------------------------

# the programs are in "~/Desktop/openvslam/build"
./run_video_slam \
    -v ./orb_vocab/orb_vocab.dbow2 \
    -m ./aist_living_lab_1/video.mp4 \
    -c ./aist_living_lab_1/config.yaml \
    --frame-skip 3 --no-sleep --map-db map.msg