Merge branch 'develop' of https://github.com/cpvrlab/SLProject4 into …

…develop
cpvrlab · Jan 22, 2024 · 61d15b6 · 61d15b6
2 parents 6749e93 + 8fd18c6
commit 61d15b6
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Showing 10 changed files with 182 additions and 92 deletions.
diff --git a/cmake/DownloadPrebuilts.cmake b/cmake/DownloadPrebuilts.cmake
@@ -132,10 +132,11 @@ function(copy_dylibs LIBS)
         get_target_property(DYLIB_PATH ${LIB} LOCATION_${CMAKE_BUILD_TYPE})
         get_filename_component(DYLIB_FILENAME ${DYLIB_PATH} NAME)
         message(STATUS "Copying ${DYLIB_FILENAME}")
-        file(COPY ${DYLIB_PATH} DESTINATION ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE})
+        file(COPY ${DYLIB_PATH} DESTINATION ${CMAKE_BINARY_DIR})
     endforeach ()
 endfunction ()
 
+
 #=======================================================================================================================
 if ("${SYSTEM_NAME_UPPER}" STREQUAL "LINUX")
 
@@ -157,13 +158,19 @@ if ("${SYSTEM_NAME_UPPER}" STREQUAL "LINUX")
     set(OpenCV_LIBS ${OpenCV_LINK_LIBS})
     set(OpenCV_LIBS_DEBUG ${OpenCV_LIBS})
 
-    build_external_lib("build_opencv_w_contrib_for_linux.sh" "${OpenCV_VERSION}" "${OpenCV_PREBUILT_DIR}")
+
+    if ("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "x86_64")
+        download_lib("${OpenCV_PREBUILT_DIR}")
+    else ()
+        build_external_lib("build_opencv_w_contrib_for_linux.sh" "${OpenCV_VERSION}" "${OpenCV_PREBUILT_DIR}")
+    endif ()
+
 
     #################
     # g2o for Linux #
     #################
 
-    set(g2o_PREBUILT_DIR "linux_g2o")
+    set(g2o_PREBUILT_DIR "linux_g2o_20170730")
     set(g2o_DIR "${PREBUILT_PATH}/${g2o_PREBUILT_DIR}")
     set(g2o_INCLUDE_DIR "${g2o_DIR}/include")
 
@@ -175,8 +182,12 @@ if ("${SYSTEM_NAME_UPPER}" STREQUAL "LINUX")
                 INTERFACE_INCLUDE_DIRECTORIES "${g2o_INCLUDE_DIR}")
         set(g2o_LIBS ${g2o_LIBS} ${lib})
     endforeach (lib)
-
-    build_external_lib("build_g2o_for_linux.sh" "" "${g2o_PREBUILT_DIR}")
+
+    if ("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "x86_64")
+        download_lib("${g2o_PREBUILT_DIR}")
+    else ()
+        build_external_lib("build_g2o_for_linux.sh" "" "${g2o_PREBUILT_DIR}")
+    endif ()
 
     ####################
     # Assimp for Linux #
@@ -202,13 +213,18 @@ if ("${SYSTEM_NAME_UPPER}" STREQUAL "LINUX")
 
     set(assimp_LIBS assimp::assimp assimp::irrxml)
 
-    build_external_lib("build_assimp_for_linux.sh" "${assimp_VERSION}" "${assimp_PREBUILT_DIR}")
+    if ("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "x86_64")
+        download_lib("${assimp_PREBUILT_DIR}")
+    else ()
+        build_external_lib("build_assimp_for_linux.sh" "${assimp_VERSION}" "${assimp_PREBUILT_DIR}")
+    endif ()
 
     #####################
     # OpenSSL for Linux #
     #####################
 
-    set(openssl_PREBUILT_DIR "linux_openssl")
+    set(openssl_VERSION "1.1.1h")
+    set(openssl_PREBUILT_DIR "linux_openssl_${openssl_VERSION}")
     set(openssl_DIR "${PREBUILT_PATH}/${openssl_PREBUILT_DIR}")
     set(openssl_INCLUDE_DIR ${openssl_DIR}/include)
 
@@ -221,7 +237,11 @@ if ("${SYSTEM_NAME_UPPER}" STREQUAL "LINUX")
         set(openssl_LIBS ${openssl_LIBS} ${lib})
     endforeach (lib)
 
-    build_external_lib("build_openssl_for_linux.sh" "OpenSSL_1_1_1h" "${openssl_PREBUILT_DIR}")
+    if ("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "x86_64")
+        download_lib("${openssl_PREBUILT_DIR}")
+    else ()
+        build_external_lib("build_openssl_for_linux.sh" "" "${openssl_PREBUILT_DIR}")
+    endif ()
 
     ####################
     # Vulkan for Linux #
@@ -345,7 +365,7 @@ elseif ("${SYSTEM_NAME_UPPER}" STREQUAL "WINDOWS") #----------------------------
     ###################
 
     if (SL_BUILD_WAI)
-        set(g2o_PREBUILT_DIR "win64_g2o")
+        set(g2o_PREBUILT_DIR "win64_g2o_20170730")
         set(g2o_DIR "${PREBUILT_PATH}/${g2o_PREBUILT_DIR}")
         set(g2o_INCLUDE_DIR "${g2o_DIR}/include")
         set(g2o_LIB_DIR "${g2o_DIR}/lib")
@@ -557,14 +577,15 @@ elseif ("${SYSTEM_NAME_UPPER}" STREQUAL "DARWIN" AND
     # g2o for MacOS-x86_64 #
     ########################
 
-    set(g2o_PREBUILT_DIR "mac64_g2o")
+    set(g2o_PREBUILT_DIR "mac64_g2o_20170730")
     set(g2o_DIR "${PREBUILT_PATH}/${g2o_PREBUILT_DIR}")
     set(g2o_INCLUDE_DIR "${g2o_DIR}/include")
 
     foreach (lib ${g2o_LINK_LIBS})
         add_library(${lib} SHARED IMPORTED)
         set_target_properties(${lib} PROPERTIES
-                IMPORTED_LOCATION "${g2o_DIR}/Debug/lib${lib}.dylib"
+                IMPORTED_LOCATION "${g2o_DIR}/Release/lib${lib}.dylib"
+                IMPORTED_LOCATION_DEBUG "${g2o_DIR}/Debug/lib${lib}.dylib"
                 INTERFACE_INCLUDE_DIRECTORIES "${g2o_INCLUDE_DIR}")
         set(g2o_LIBS ${g2o_LIBS} ${lib})
     endforeach (lib)
@@ -761,7 +782,7 @@ elseif ("${SYSTEM_NAME_UPPER}" STREQUAL "DARWIN" AND
     # g2o for MacOS-arm64 #
     #######################
 
-    set(g2o_PREBUILT_DIR "macArm64_g2o")
+    set(g2o_PREBUILT_DIR "macArm64_g2o_20170730")
     set(g2o_DIR "${PREBUILT_PATH}/${g2o_PREBUILT_DIR}")
     set(g2o_INCLUDE_DIR "${g2o_DIR}/include")
 

diff --git a/externals/prebuild_scripts/build_assimp_for_linux.sh b/externals/prebuild_scripts/build_assimp_for_linux.sh
@@ -87,8 +87,22 @@ cp LICENSE "$ZIPFOLDER"
 cp Readme.md "$ZIPFOLDER"
 
 if [ -d "../../prebuilt/$ZIPFILE" ]; then
-    rm -rf ../../prebuilt/$ZIPFILE
+    rm -rf "../../prebuilt/$ZIPFILE"
 fi
 
-mv "$ZIPFOLDER" "../../prebuilt/"
+if [ ! -d "../../prebuilt/" ]; then
+    mkdir "../../prebuilt/"
+fi
+
+echo "ls . : $(ls .)"
+echo "ls ../../ : $(ls ../../)"
+echo "ls ../../prebuilt : $(ls ../../prebuilt)"
+
+echo "cp -r $ZIPFOLDER ../../prebuilt/"
+echo "PWD IS $PWD"
+echo "../../prebuilt IS $PWD/../../prebuilt/"
+
+cp -r "$ZIPFOLDER" "../../prebuilt/"
+
+echo "prebuilt content is $(ls ../../prebuilt)"
 
diff --git a/externals/prebuild_scripts/build_g2o_for_linux.sh b/externals/prebuild_scripts/build_g2o_for_linux.sh
@@ -9,7 +9,7 @@ ZIPFILE="$ARCH"_g2o
 ZIPFOLDER="build/$ZIPFILE"
 BUILD_D=build/"$ARCH"_debug
 BUILD_R=build/"$ARCH"_release
-
+VERSION="20170730_git"
 clear
 echo "Building g2o using the sources in the thirdparty directory"
 if [ ! -d ../g2o ]
@@ -20,12 +20,15 @@ fi
 
 cd ../g2o
 
+git checkout $VERSION
+
 # Make build folder for debug version
 mkdir build
 rm -rf $BUILD_D
 mkdir "$BUILD_D"
 cd "$BUILD_D"
 
+
 # Run cmake to configure and generate the make files
 cmake \
     -DCMAKE_INSTALL_PREFIX=install \

diff --git a/externals/prebuild_scripts/build_g2o_for_mac64.sh b/externals/prebuild_scripts/build_g2o_for_mac64.sh
@@ -1,25 +1,34 @@
 #!/bin/sh
-
+ 
 # ####################################################
 # Build script for g2o for mac64
 # ####################################################
-
+ 
 ARCH=mac64
-ZIPFILE="$ARCH"_g2o
-ZIPFOLDER=build/$ZIPFILE
+VERSION="20170730_git"
+ZIPFOLDER="$ARCH"_g2o_20170730
 BUILD_D=build/"$ARCH"_debug
 BUILD_R=build/"$ARCH"_release
-
+ 
 clear
+echo "Building g2o using the sources in the thirdparty directory"
+if [ ! -d ../g2o ]
+then
+    echo "g2o directory doesn't exists"
+    git clone https://github.com/RainerKuemmerle/g2o.git ../g2o
+fi
+
 echo "Building g2o using the sources in the thirdparty directory"
 cd ../g2o
-
+
+git checkout $VERSION
+
 # Make build folder for debug version
 mkdir build
 rm -rf $BUILD_D
 mkdir $BUILD_D
 cd $BUILD_D
-
+ 
 # Run cmake to configure and generate the make files
 cmake \
     -DCMAKE_OSX_ARCHITECTURES=x86_64 \
@@ -30,46 +39,51 @@ cmake \
     -DCMAKE_DEBUG_POSTFIX="" \
     -DEIGEN3_INCLUDE_DIR=../eigen \
     ../..
-
+ 
 # finally build it
 make -j8
-
+ 
 # copy all into install folder
 make install
 cd ../.. # back to g2o
-
+ 
 # Make build folder for release version
 rm -rf $BUILD_R
 mkdir $BUILD_R
 cd $BUILD_R
-
+ 
 # Run cmake to configure and generate the make files
 cmake \
+    -DCMAKE_OSX_ARCHITECTURES=x86_64 \
     -DCMAKE_INSTALL_PREFIX=install \
     -DG2O_BUILD_APPS=off \
     -DG2O_BUILD_EXAMPLES=off \
     -DCMAKE_BUILD_TYPE=Release \
     -DEIGEN3_INCLUDE_DIR=../eigen \
+    -DG2O_USE_OPENGL=off \
     ../..
-
+ 
 # finally build it
 make -j8
-
+ 
 # copy all into install folder
 make install
 cd ../.. # back to g2o
-
+ 
 # Create zip folder for debug and release version
-rm -rf $ZIPFOLDER
-mkdir $ZIPFOLDER
-cp -R $BUILD_R/install/include   $ZIPFOLDER/include
-cp -R $BUILD_R/install/lib       $ZIPFOLDER/Release
-cp -R $BUILD_D/install/lib       $ZIPFOLDER/Debug
-cp doc/license* $ZIPFOLDER
-cp README.md $ZIPFOLDER
-
-if [ -d "../prebuilt/$ZIPFILE" ]; then
-    rm -rf ../prebuilt/$ZIPFILE
-fi
-
-mv $ZIPFOLDER ../prebuilt
+rm -rf ../prebuilt/$ZIPFOLDER
+mkdir ../prebuilt/$ZIPFOLDER
+echo $BUILD_R
+echo $(pwd)
+echo ../prebuilt/$ZIPFOLDER
+cp -R $BUILD_R/install/include   ../prebuilt/$ZIPFOLDER/include
+cp -R $BUILD_R/install/lib       ../prebuilt/$ZIPFOLDER/Release
+cp -R $BUILD_D/install/lib       ../prebuilt/$ZIPFOLDER/Debug
+cp doc/license* ../prebuilt/$ZIPFOLDER
+cp README.md ../prebuilt/$ZIPFOLDER
+
+#if [ -d "../prebuilt/$ZIPFILE" ]; then
+#    rm -rf ../prebuilt/$ZIPFILE
+#fi
+
+#mv $ZIPFOLDER ../prebuilt
diff --git a/externals/prebuild_scripts/build_g2o_for_macArm64.sh b/externals/prebuild_scripts/build_g2o_for_macArm64.sh
@@ -1,25 +1,33 @@
 #!/bin/sh
-
+ 
 # ####################################################
 # Build script for g2o for macArm64
 # ####################################################
-
+ 
 ARCH="macArm64"
-ZIPFILE="$ARCH"_g2o
-ZIPFOLDER=build/$ZIPFILE
+VERSION="20170730_git"
+ZIPFOLDER="$ARCH"_g2o_20170730
 BUILD_D=build/"$ARCH"_debug
 BUILD_R=build/"$ARCH"_release
-
 clear
+echo "Building g2o using the sources in the thirdparty directory"
+if [ ! -d ../g2o ]
+then
+    echo "g2o directory doesn't exists"
+    git clone https://github.com/RainerKuemmerle/g2o.git ../g2o
+fi
+
 echo "Building g2o using the sources in the thirdparty directory"
 cd ../g2o
-
+
+git checkout $VERSION
+
 # Make build folder for debug version
 mkdir build
 rm -rf $BUILD_D
 mkdir $BUILD_D
 cd $BUILD_D
-
+ 
 # Run cmake to configure and generate the make files
 cmake \
     -DCMAKE_OSX_ARCHITECTURES=arm64 \
@@ -29,47 +37,51 @@ cmake \
     -DCMAKE_BUILD_TYPE=Debug \
     -DCMAKE_DEBUG_POSTFIX="" \
     -DEIGEN3_INCLUDE_DIR=../eigen \
+    -DG2O_USE_OPENGL=off \
     ../..
-
+ 
 # finally build it
 make -j8
-
+ 
 # copy all into install folder
 make install
 cd ../.. # back to g2o
-
+ 
 # Make build folder for release version
 rm -rf $BUILD_R
 mkdir $BUILD_R
 cd $BUILD_R
-
+ 
 # Run cmake to configure and generate the make files
 cmake \
+    -DCMAKE_OSX_ARCHITECTURES=arm64 \
     -DCMAKE_INSTALL_PREFIX=install \
     -DG2O_BUILD_APPS=off \
     -DG2O_BUILD_EXAMPLES=off \
     -DCMAKE_BUILD_TYPE=Release \
     -DEIGEN3_INCLUDE_DIR=../eigen \
     ../..
-
+ 
 # finally build it
 make -j8
-
+ 
 # copy all into install folder
 make install
 cd ../.. # back to g2o
-
+ 
 # Create zip folder for debug and release version
-rm -rf $ZIPFOLDER
-mkdir $ZIPFOLDER
-cp -R $BUILD_R/install/include   $ZIPFOLDER/include
-cp -R $BUILD_R/install/lib       $ZIPFOLDER/Release
-cp -R $BUILD_D/install/lib       $ZIPFOLDER/Debug
-cp doc/license* $ZIPFOLDER
-cp README.md $ZIPFOLDER
-
-if [ -d "../prebuilt/$ZIPFILE" ]; then
-    rm -rf ../prebuilt/$ZIPFILE
-fi
-
-mv $ZIPFOLDER ../prebuilt
+rm -rf ../prebuilt/$ZIPFOLDER
+mkdir ../prebuilt/$ZIPFOLDER
+echo "dst is ../prebuilt/$ZIPFOLDER/"
+cp -R $BUILD_R/install/include   ../prebuilt/$ZIPFOLDER/include
+cp -R $BUILD_R/install/lib       ../prebuilt/$ZIPFOLDER/Release
+cp -R $BUILD_D/install/lib       ../prebuilt/$ZIPFOLDER/Debug
+cp doc/license* ../prebuilt/$ZIPFOLDER
+cp README.md ../prebuilt/$ZIPFOLDER
+
+#if [ -d "../prebuilt/$ZIPFILE" ]; then
+#    rm -rf ../prebuilt/$ZIPFILE
+#fi
+
+#mv $ZIPFOLDER ../prebuilt
+