feat(slam): add rtabmap_ros
This commit is contained in:
X-lanni
+168
@@ -0,0 +1,168 @@
|
||||
#!/bin/bash
|
||||
|
||||
if [ $# -ne 1 ]; then
|
||||
echo "install_deps.bash android_install_prefix # Example: install_deps.bash /opt/android"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
cpus=-j4
|
||||
prefix=$1
|
||||
pwd=$(pwd)
|
||||
wget -nv https://github.com/introlab/rtabmap/raw/master/cmake_modules/android.toolchain.cmake
|
||||
|
||||
# Install directory for all dependencies
|
||||
mkdir -p $prefix/armeabi-v7a
|
||||
mkdir -p $prefix/arm64-v8a
|
||||
|
||||
# Boost
|
||||
echo "wget boost..."
|
||||
wget -nv https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz
|
||||
tar -xzf boost_1_59_0.tar.gz
|
||||
cd boost_1_59_0
|
||||
wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/489ff2869eccd6f8d03ffb9090ef839108762741/BoostConfig.cmake.in
|
||||
wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/e7fbf0e301cfea417a7aa69989a761a4de08b8c3/CMakeLists.txt
|
||||
mkdir build
|
||||
cd build
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
|
||||
make $cpus
|
||||
make install
|
||||
rm -r *
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
|
||||
make $cpus
|
||||
make install
|
||||
cd $pwd
|
||||
rm -r boost_1_59_0.tar.gz boost_1_59_0
|
||||
|
||||
# eigen
|
||||
echo "wget eigen..."
|
||||
wget -nv http://bitbucket.org/eigen/eigen/get/3.2.7.tar.gz
|
||||
tar -xzf 3.2.7.tar.gz
|
||||
cd eigen-eigen-b30b87236a1b
|
||||
mkdir build
|
||||
cd build
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
|
||||
make $cpus
|
||||
make install
|
||||
rm -r *
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
|
||||
make $cpus
|
||||
make install
|
||||
cd $pwd
|
||||
rm -r 3.2.7.tar.gz eigen-eigen-b30b87236a1b
|
||||
|
||||
# FLANN
|
||||
echo "wget flann..."
|
||||
wget -nv http://www.cs.ubc.ca/research/flann/uploads/FLANN/flann-1.8.4-src.zip
|
||||
unzip -qq flann-1.8.4-src.zip
|
||||
cd flann-1.8.4-src
|
||||
mkdir build
|
||||
cd build
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
|
||||
make $cpus
|
||||
make install
|
||||
rm -r *
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
|
||||
make $cpus
|
||||
make install
|
||||
cd $pwd
|
||||
rm -r flann-1.8.4-src.zip flann-1.8.4-src
|
||||
|
||||
# GTSAM
|
||||
git clone https://bitbucket.org/gtborg/gtsam.git
|
||||
cd gtsam
|
||||
git checkout fbb9d3bdda8b88df51896bc401bfd170573e66f5
|
||||
# patch
|
||||
wget -nv https://gist.github.com/matlabbe/726b490c658afd3293f4b3f2f501b863/raw/df09fc8e238a495d66b062d92dc1c1fb20a581e8/gtsam_GKlib_android_fix.patch
|
||||
git apply gtsam_GKlib_android_fix.patch
|
||||
mkdir build
|
||||
cd build
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
|
||||
make $cpus
|
||||
make install
|
||||
rm -r *
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
|
||||
make $cpus
|
||||
make install
|
||||
cd $pwd
|
||||
rm -rf gtsam
|
||||
|
||||
# g2o
|
||||
git clone https://github.com/RainerKuemmerle/g2o.git
|
||||
cd g2o
|
||||
git checkout a3f7706bdbb849b2808dc3e1b7aee189f63b498e
|
||||
mkdir build
|
||||
cd build
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
|
||||
make $cpus
|
||||
make install
|
||||
rm -r *
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
|
||||
make $cpus
|
||||
make install
|
||||
cd $pwd
|
||||
rm -rf g2o
|
||||
|
||||
#CMake 3.7 for VTK
|
||||
echo "wget cmake3.7..."
|
||||
wget -nv https://cmake.org/files/v3.7/cmake-3.7.2-Linux-x86_64.tar.gz
|
||||
tar -xzf cmake-3.7.2-Linux-x86_64.tar.gz
|
||||
rm cmake-3.7.2-Linux-x86_64.tar.gz
|
||||
|
||||
# VTK
|
||||
git clone https://github.com/Kitware/VTK.git
|
||||
cd VTK
|
||||
git checkout tags/v7.1.1
|
||||
mkdir build
|
||||
cd build
|
||||
$pwd/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DANDROID_ARCH_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
|
||||
make $cpus
|
||||
cp -r CMakeExternals/Install/vtk-android/* $prefix/armeabi-v7a/.
|
||||
rm -r *
|
||||
$pwd/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DANDROID_ARCH_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
|
||||
make $cpus
|
||||
cp -r CMakeExternals/Install/vtk-android/* $prefix/arm64-v8a/.
|
||||
cd $pwd
|
||||
rm -rf VTK cmake-3.7.2-Linux-x86_64
|
||||
|
||||
# PCL
|
||||
git clone https://github.com/PointCloudLibrary/pcl.git
|
||||
cd pcl
|
||||
git checkout tags/pcl-1.8.0
|
||||
# patch
|
||||
wget -nv https://gist.github.com/matlabbe/41812e50e459b2f27b331a2343569e5d/raw/921bbb90d5115f7aec1640f255aec3036a518553/pcl_1_8_0_vtk_android_support.patch
|
||||
git apply pcl_1_8_0_vtk_android_support.patch
|
||||
mkdir build
|
||||
cd build
|
||||
# do it 2 times because there is a cmake error on the first time and not the second time!?
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
|
||||
make $cpus
|
||||
make install
|
||||
rm -r *
|
||||
# do it 2 times because there is a cmake error on the first time and not the second time!?
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
|
||||
make $cpus
|
||||
make install
|
||||
cd $pwd
|
||||
rm -rf pcl
|
||||
|
||||
# OpenCV
|
||||
git clone https://github.com/opencv/opencv_contrib.git
|
||||
cd opencv_contrib
|
||||
git checkout tags/3.4.2
|
||||
cd $pwd
|
||||
git clone https://github.com/opencv/opencv.git
|
||||
cd opencv
|
||||
git checkout tags/3.4.2
|
||||
mkdir build
|
||||
cd build
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DOPENCV_EXTRA_MODULES_PATH=$pwd/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
|
||||
make $cpus
|
||||
make install
|
||||
rm -r *
|
||||
cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DOPENCV_EXTRA_MODULES_PATH=$pwd/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
|
||||
make $cpus
|
||||
make install
|
||||
cd $pwd
|
||||
rm -rf opencv opencv_contrib
|
||||
Reference in New Issue
Block a user