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rtabmap/app/ios/RTABMapApp/install_deps.sh
matlabbe 595f200a89 iOS various updates (#1340) 
* Added Data Recording Mode. Added option to filter ARKit localization jumps.

* Implemented max acc relocalization filtering (working on iOS)

* Fixed android build, added re-localization max acceleration parameter

* ARCore Java: Fixed pose of depth not available at stamp requested

* Android log fix

* Added libLAS support

* ios: added LAS support

* updated dep install script to skip libraries already installed

* CameraMobile: Fixed origin not updated if updateOnRender() is used

* Default max opt error increased to 2x to reduce number of loop closures rejected. OptimizerGTSAM: updated gravity noise model to use same sigma for both parameters.

* Updated license

* bump 0.21.7

* updated license date
2024-10-06 17:16:22 -07:00

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#!/bin/bash
set -euxo pipefail
# Tested on Apple Silicon Mac, with cmake 3.19.2.
mkdir -p Libraries
cd Libraries
pwd=$(pwd)
prefix=$pwd
sysroot=iphoneos
#sysroot=iphonesimulator
# openmp
# based on https://github.com/Homebrew/homebrew-core/blob/HEAD/Formula/libomp.rb
#curl -L https://github.com/llvm/llvm-project/releases/download/llvmorg-11.1.0/openmp-11.1.0.src.tar.xz -o openmp-11.1.0.src.tar.xz
#tar -xzf openmp-11.1.0.src.tar.xz
#cd openmp-11.1.0.src
#curl -L https://raw.githubusercontent.com/Homebrew/formula-patches/7e2ee1d7/libomp/arm.patch -o arm.patch
#patch -p1 < arm.patch
#mkdir build
#cd build
#cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DLIBOMP_INSTALL_ALIASES=OFF -DLIBOMP_ENABLE_SHARED=OFF ..
#cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
#cp runtime/src/Release-iphoneos/libomp.a runtime/src/.
#cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
# Boost
if [ ! -e $prefix/include/boost ]
then
if [ ! -e boost_1_59_0 ]
then
echo "wget boost..."
curl -L https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz -o boost_1_59_0.tar.gz
tar -xzf boost_1_59_0.tar.gz
fi
cd boost_1_59_0
curl -L https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/489ff2869eccd6f8d03ffb9090ef839108762741/BoostConfig.cmake.in -o BoostConfig.cmake.in
curl -L https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/b07fe7d4e5dfe5f1d110c733e5cf660d79a26378/CMakeLists.txt -o CMakeLists.txt
mkdir -p build
cd build
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix ..
cmake --build . --config Release
cmake --build . --config Release --target install
cd $pwd
#rm -r boost_1_59_0.tar.gz boost_1_59_0
fi
# eigen
if [ ! -e $prefix/include/eigen3 ]
then
if [ ! -e eigen-3.3.9 ]
then
echo "wget eigen..."
curl -L https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.tar.gz -o 3.3.9.tar.gz
tar -xzf 3.3.9.tar.gz
fi
cd eigen-3.3.9
mkdir -p build
cd build
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix ..
cmake --build . --config Release
cmake --build . --config Release --target install
cd $pwd
#rm -r 3.3.9.tar.gz eigen-3.3.9
fi
# FLANN
if [ ! -e $prefix/include/flann ]
then
if [ ! -e flann ]
then
echo "wget flann..."
git clone https://github.com/flann-lib/flann.git -b 1.8.4
fi
cd flann
if [ ! -e flann_ios.patch ]
then
curl -L https://gist.githubusercontent.com/matlabbe/c858ba36fb85d5e44d8667dfb3543e12/raw/8fc40aa9bc3267604869444020476a49f14ab424/flann_ios.patch -o flann_ios.patch
git apply flann_ios.patch
fi
mkdir -p build
cd build
# comment "add_subdirectory( test )" in top CMakeLists.txt
# comment "add_subdirectory( doc )" in top CMakeLists.txt
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_PYTHON_BINDINGS=OFF -DBUILD_MATLAB_BINDINGS=OFF -DBUILD_C_BINDINGS=OFF ..
cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
cd $pwd
#rm -r flann
fi
# GTSAM
if [ ! -e $prefix/include/gtsam ]
then
if [ ! -e gtsam ]
then
git clone https://bitbucket.org/gtborg/gtsam.git
cd gtsam
git checkout fbb9d3bdda8b88df51896bc401bfd170573e66f5
else
cd gtsam
fi
# patch
if [ ! -e gtsam_GKlib_ios_fix.patch ]
then
curl -L https://gist.github.com/matlabbe/76d658dddb841b3355ae3a6e32850cd8/raw/7033cba1c89097b0c830651d7277c04dc92cbdd9/gtsam_GKlib_ios_fix.patch -o gtsam_GKlib_ios_fix.patch
git apply gtsam_GKlib_ios_fix.patch
fi
mkdir -p build
cd build
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_WRAP_SERIALIZATION=OFF -DGTSAM_BUILD_WRAP=OFF -DGTSAM_INSTALL_CPPUNITLITE=OFF -DCMAKE_FIND_ROOT_PATH=$prefix ..
cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
cd $pwd
#rm -rf gtsam
fi
# g2o
if [ ! -e $prefix/include/g2o ]
then
if [ ! -e g2o ]
then
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
git checkout a3f7706bdbb849b2808dc3e1b7aee189f63b498e
else
cd g2o
fi
# patch
if [ ! -e g2o_ios_fix.patch ]
then
curl -L https://gist.github.com/matlabbe/b9ccfeae8f0744b275cab23510872680/raw/a58e06accba3976420d4b61341685c123193810e/g2o_ios_fix.patch -o g2o_ios_fix.patch
git apply g2o_ios_fix.patch
fi
mkdir -p build
cd build
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DCMAKE_FIND_ROOT_PATH=$prefix ..
cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
cd $pwd
#rm -rf g2o
fi
# VTK
if [ ! -e $prefix/lib/vtk.framework ]
then
if [ ! -e VTK ]
then
git clone https://github.com/Kitware/VTK.git
cd VTK
git checkout tags/v8.2.0
else
cd VTK
fi
git cherry-pick bf3ae8072df2393c7270509bae41be0776826346
mkdir -p build
cd build
cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_FRAMEWORK_INSTALL_PREFIX=$prefix/lib -DIOS_DEVICE_ARCHITECTURES="arm64" -DIOS_SIMULATOR_ARCHITECTURES="" -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_IOS_BUILD=ON -DModule_vtkFiltersModeling=ON ..
# For iphonesimulator: add -DIOS_DEVICE_ARCHITECTURES=""
cmake --build . --config Release
cd $pwd
#rm -rf VTK
fi
# PCL
if [ ! -e $prefix/include/pcl-1.11 ]
then
if [ ! -e pcl ]
then
git clone https://github.com/PointCloudLibrary/pcl.git
cd pcl
git checkout tags/pcl-1.11.1
else
cd pcl
fi
# patch
if [ ! -e pcl_1_11_1_vtk_ios_support.patch ]
then
curl -L https://gist.github.com/matlabbe/f3ba9366eb91e1b855dadd2ddce5746d/raw/6869cf26211ab15492599e557b0e729b23b2c119/pcl_1_11_1_vtk_ios_support.patch -o pcl_1_11_1_vtk_ios_support.patch
git apply pcl_1_11_1_vtk_ios_support.patch
fi
mkdir -p build
cd build
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DPCL_ENABLE_SSE=OFF -DCMAKE_FIND_ROOT_PATH=$prefix ..
cmake --build . --config Release
cmake --build . --config Release --target install
cd $pwd
#rm -rf pcl
fi
# OpenCV
if [ ! -e $prefix/include/opencv2 ]
then
if [ ! -e opencv_contrib ]
then
git clone https://github.com/opencv/opencv_contrib.git
cd opencv_contrib
git checkout tags/3.4.2
fi
cd $pwd
if [ ! -e opencv ]
then
git clone https://github.com/opencv/opencv.git
cd opencv
git checkout tags/3.4.2
else
cd opencv
fi
if [ ! -e opencv_ios.patch ]
then
curl -L https://gist.githubusercontent.com/matlabbe/fdc3ab4854f3a68fbde7277f543b4e5b/raw/f340839c09165056d3845645df24b76507542fd2/opencv_ios.patch -o opencv_ios.patch
git apply opencv_ios.patch
fi
mkdir -p build
cd build
# add "add_definitions(-DPNG_ARM_NEON_OPT=0)" in 3rdparty/libpng/CMakeLists.txt
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DOPENCV_EXTRA_MODULES_PATH=$prefix/opencv_contrib/modules -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DBUILD_opencv_apps=OFF -DBUILD_opencv_xobjdetect=OFF -DBUILD_opencv_stereo=OFF ..
cmake --build . --config Release
cmake --build . --config Release --target install
cd $pwd
#rm -rf opencv opencv_contrib
fi
# LAS
if [ ! -e $prefix/include/liblas ]
then
if [ ! -e libLAS ]
then
git clone https://github.com/libLAS/libLAS.git
fi
cd libLAS
sed -i '' 's/SHARED/STATIC/g' src/CMakeLists.txt
mkdir -p build
cd build
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DCMAKE_FIND_ROOT_PATH=$prefix -DWITH_UTILITIES=OFF -DWITH_TESTS=OFF -DWITH_GEOTIFF=OFF ..
cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
cd $pwd
fi
mkdir -p rtabmap
cd rtabmap
cmake -DANDROID_PREBUILD=ON ../../../../..
cmake --build . --config Release
mkdir -p ios
cd ios
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DCMAKE_FIND_ROOT_PATH=$prefix -DWITH_QT=OFF -DBUILD_APP=OFF -DBUILD_TOOLS=OFF -DWITH_TORO=OFF -DWITH_VERTIGO=OFF -DWITH_MADGWICK=OFF -DWITH_ORB_OCTREE=OFF -DBUILD_EXAMPLES=OFF -DWITH_LIBLAS=ON ../../../../../..
cmake --build . --config Release
cmake --build . --config Release --target install
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