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Install ORBSLAM + python bindings
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#!/bin/bash | |
DIR1=$(pwd) | |
MAINDIR=$(pwd)/3rdparty | |
mkdir ${MAINDIR} | |
cd ${MAINDIR} | |
conda create -y -n "NavAgents" python=3.6 | |
source activate NavAgents | |
conda install opencv -y | |
conda install pytorch torchvision -c pytorch -y | |
conda install -c conda-forge imageio -y | |
conda install ffmpeg -c conda-forge -y | |
cd ${MAINDIR} | |
mkdir eigen3 | |
cd eigen3 | |
wget http://bitbucket.org/eigen/eigen/get/3.3.5.tar.gz | |
tar -xzf 3.3.5.tar.gz | |
cd eigen-eigen-b3f3d4950030 | |
mkdir build | |
cd build | |
cmake .. -DCMAKE_INSTALL_PREFIX=${MAINDIR}/eigen3_installed/ | |
make install | |
cd ${MAINDIR} | |
wget https://sourceforge.net/projects/glew/files/glew/2.1.0/glew-2.1.0.zip | |
unzip glew-2.1.0.zip | |
cd glew-2.1.0/ | |
cd build | |
cmake ./cmake -DCMAKE_INSTALL_PREFIX=${MAINDIR}/glew_installed | |
make -j4 | |
make install | |
cd ${MAINDIR} | |
pip install numpy --upgrade | |
rm Pangolin -rf | |
git clone https://github.com/stevenlovegrove/Pangolin.git | |
cd Pangolin | |
mkdir build | |
cd build | |
cmake .. -DCMAKE_PREFIX_PATH=${MAINDIR}/glew_installed/ -DCMAKE_LIBRARY_PATH=${MAINDIR}/glew_installed/lib/ -DCMAKE_INSTALL_PREFIX=${MAINDIR}/pangolin_installed | |
cmake --build . | |
cd ${MAINDIR} | |
rm ORB_SLAM2 -rf | |
rm ORB_SLAM2-PythonBindings -rf | |
git clone https://github.com/ducha-aiki/ORB_SLAM2 | |
git clone https://github.com/ducha-aiki/ORB_SLAM2-PythonBindings | |
cd ${MAINDIR}/ORB_SLAM2 | |
sed -i "s,cmake .. -DCMAKE_BUILD_TYPE=Release,cmake .. -DCMAKE_BUILD_TYPE=Release -DEIGEN3_INCLUDE_DIR=${MAINDIR}/eigen3_installed/include/eigen3/ -DCMAKE_INSTALL_PREFIX=${MAINDIR}/ORBSLAM2_installed ,g" build.sh | |
ln -s ${MAINDIR}/eigen3_installed/include/eigen3/Eigen ${MAINDIR}/ORB_SLAM2/Thirdparty/g2o/g2o/core/Eigen | |
./build.sh | |
cd build | |
make install | |
cd ${MAINDIR} | |
cd ORB_SLAM2-PythonBindings/src | |
ln -s ${MAINDIR}/eigen3_installed/include/eigen3/Eigen Eigen | |
cd ${MAINDIR}/ORB_SLAM2-PythonBindings | |
mkdir build | |
cd build | |
CONDA_DIR=$(dirname $(dirname $(which conda))) | |
sed -i "s,lib/python3.5/dist-packages,${CONDA_DIR}/envs/NavAgents/lib/python3.6/site-packages/,g" ../CMakeLists.txt | |
cmake .. -DPYTHON_INCLUDE_DIR=$(python -c "from distutils.sysconfig import get_python_inc; print(get_python_inc())") -DPYTHON_LIBRARY=$(python -c "import distutils.sysconfig as sysconfig; print(sysconfig.get_config_var('LIBDIR'))")/libpython3.6m.so -DPYTHON_EXECUTABLE:FILEPATH=`which python` -DCMAKE_LIBRARY_PATH=${MAINDIR}/ORBSLAM2_installed/lib -DCMAKE_INCLUDE_PATH=${MAINDIR}/ORBSLAM2_installed/include;${MAINDIR}/eigen3_installed/include/eigen3 -DCMAKE_INSTALL_PREFIX=${MAINDIR}/pyorbslam2_installed | |
make | |
make install | |
cp ${MAINDIR}/ORB_SLAM2/Vocabulary/ORBvoc.txt ${DIR1}/data/ |
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