Add opencv to third party, split build for desktop/tx1

hannahvsawiuk · Apr 3, 2020 · 30e3eea · 30e3eea
1 parent 27d6433
commit 30e3eea
Show file tree

Hide file tree

Showing 4 changed files with 126 additions and 7 deletions.
diff --git a/scripts/opencv.xml b/scripts/opencv.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+
+<package format="2">
+  <name>libopencv-dev</name>
+  <version>3.4.9</version>
+  <license>GPLv3</license>
+  <description>OpenCV</description>
+
+  <maintainer email="[email protected]">Divya Budihal</maintainer>
+  <maintainer email="[email protected]">Nancy Hong</maintainer>
+  <maintainer email="[email protected]">Hannah Sawiuk</maintainer>
+  <maintainer email="[email protected]">Jerry Li</maintainer>
+  <maintainer email="[email protected]">Jack Guo</maintainer>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>python-dev</build_depend>
+  <build_depend>python-numpy</build_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>
diff --git a/scripts/propbot_3pp_autonomy.xml b/scripts/propbot_3pp_autonomy.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+
+<package format="2">
+  <name>propbot_3pp_autonomy</name>
+  <version>1.0.0</version>
+  <license>GPLv3</license>
+  <description>Propbot Autonomy Dependencies Metapackage</description>
+
+  <maintainer email="[email protected]">Divya Budihal</maintainer>
+  <maintainer email="[email protected]">Nancy Hong</maintainer>
+  <maintainer email="[email protected]">Hannah Sawiuk</maintainer>
+  <maintainer email="[email protected]">Jerry Li</maintainer>
+  <maintainer email="[email protected]">Jack Guo</maintainer>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>cartographer_ros</exec_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+</package>
diff --git a/scripts/propbot_3pp_mapviz.xml b/scripts/propbot_3pp_mapviz.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+
+<package format="2">
+  <name>propbot_3pp_mapviz</name>
+  <version>1.0.0</version>
+  <license>GPLv3</license>
+  <description>Propbot Mapviz Dependencies Metapackage</description>
+
+  <maintainer email="[email protected]">Divya Budihal</maintainer>
+  <maintainer email="[email protected]">Nancy Hong</maintainer>
+  <maintainer email="[email protected]">Hannah Sawiuk</maintainer>
+  <maintainer email="[email protected]">Jerry Li</maintainer>
+  <maintainer email="[email protected]">Jack Guo</maintainer>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>swri_image_util</exec_depend>
+  <exec_depend>swri_route_util</exec_depend>
+  <exec_depend>swri_transform_util</exec_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+</package>
diff --git a/scripts/setup_third_party_build.sh b/scripts/setup_third_party_build.sh
@@ -177,11 +177,20 @@ CARTOGRAPHER_ROS_DIR=src/cartographer_ros
 echo "Downloading Cartographer ROS..."
 _clone_repo "$CARTOGRAPHER_ROS_URL" "$CARTOGRAPHER_ROS_DIR" "$CARTOGRAPHER_ROS_VERSION"
 
+# ==== OpenCV 3.4.9 ====
+OPENCV_URL=https://github.com/opencv/opencv/archive/3.4.9.tar.gz
+OPENCV_DIR=src/libopencv-dev
+OPENCV_VERSION=opencv-3.4.9.tar.gz
+
+_download_file "$OPENCV_URL" "$OPENCV_VERSION"
+_untar_into_dir "$OPENCV_VERSION" "$OPENCV_DIR" --strip-components=1
+_check_run cp "$SCRIPT_DIR/opencv.xml" "$OPENCV_DIR/package.xml"
+
 # ==== cv_bridge (non-broken version) ====
 # Note that this is not the offical repository but a fork which fixed the opencv dependency
-CV_BRIDGE_URL=https://github.com/BrutusTT/vision_opencv
+CV_BRIDGE_URL=https://github.com/ros-perception/vision_opencv
 CV_BRIDGE_DIR=src/vision_opencv
-CV_BRIDGE_VERSION=8e01b44c5c1c0003dc91273076f8ca7feb9a8025
+CV_BRIDGE_VERSION=578af4d6c7846876b3fc64512b1cc92a54894483
 
 echo "Downloading cv_bridge"
 _clone_repo "$CV_BRIDGE_URL" "$CV_BRIDGE_DIR" "$CV_BRIDGE_VERSION"
@@ -191,13 +200,33 @@ if [ -d "$CV_BRIDGE_DIR/opencv_tests" ]; then
     touch "$CV_BRIDGE_DIR/opencv_tests/CATKIN_IGNORE" || true
 fi
 
+# ==== SWRI stuff for mapviz ====
+SWRI_URL=https://github.com/swri-robotics/marti_common
+SWRI_DIR=src/marti_common
+SWRI_VERSION=d4d21cef492e9554b0904c77266c17bee2fd43ca
+
+echo "Downloading SWRI marti common"
+_clone_repo "$SWRI_URL" "$SWRI_DIR" "$SWRI_VERSION"
+
 # ==== Darknet/YOLO ====
-DARKNET_VERSION=8d2584874a282a55875966ccfad4b9f80acab5c3
-DARKNET_URL=https://github.com/leggedrobotics/darknet_ros
-DARKNET_DIR=src/darknet_ros
+#DARKNET_VERSION=8d2584874a282a55875966ccfad4b9f80acab5c3
+#DARKNET_URL=https://github.com/leggedrobotics/darknet_ros
+#DARKNET_DIR=src/darknet_ros
 
 echo "Downloading Darknet ROS"
-_clone_repo "$DARKNET_URL" "$DARKNET_DIR" "$DARKNET_VERSION"
+#_clone_repo "$DARKNET_URL" "$DARKNET_DIR" "$DARKNET_VERSION"
+
+# ==== Propbot 3pp Autonomy ====
+PROPBOT_3PP_AUTONOMY_DIR=src/propbot_3pp_autonomy
+mkdir -p "$PROPBOT_3PP_AUTONOMY_DIR"
+
+_check_run cp "$SCRIPT_DIR/propbot_3pp_autonomy.xml" "$PROPBOT_3PP_AUTONOMY_DIR/package.xml"
+
+# ==== Propbot 3pp Autonomy ====
+PROPBOT_3PP_MAPVIZ_DIR=src/propbot_3pp_mapviz
+mkdir -p "$PROPBOT_3PP_MAPVIZ_DIR"
+
+_check_run cp "$SCRIPT_DIR/propbot_3pp_mapviz.xml" "$PROPBOT_3PP_MAPVIZ_DIR/package.xml"
 
 echo "Initializing Workspace"
 _check_run catkin init
@@ -231,6 +260,13 @@ fi
 extra_apt_packages=(
     libatlas-base-dev
     libsuitesparse-dev
+    libdc1394-22-dev
+    libjpeg-dev
+    libtbb2
+    libtbb-dev
+    libjpeg-dev
+    libpng-dev
+    libtiff-dev
 )
 
 if ! dpkg -l "${extra_apt_packages[@]}" > /dev/null; then
@@ -242,4 +278,17 @@ _check_run rosdep install --os=ubuntu:bionic --from-paths src --ignore-src -y
 
 _check_run catkin config --cmake-args "${cmake_args[@]}"
 
-echo "Everything is done. To build, run: catkin build in $WORKSPACE_ROOT"
+cat <<EOF
+Everything is done. Go into $WORKSPACE_ROOT to build.
+
+To build everything:
+\$ catkin build
+
+To build only mapviz/desktop dependencies:
+\$ catkin build propbot_3pp_mapviz
+
+To build only autonomy/tx1 dependencies:
+\$ catkin build propbot_3pp_autonomy
+
+EOF
+