#!/bin/bash -e

#

# This is a build script for MaskFusion.

#

# Use parameters:

# `--install-packages` to install required Ubuntu packages

# `--install-cuda` to install the NVIDIA CUDA suite

# `--build-dependencies` to build third party dependencies

#

# Example:

# ./build.sh --install-packages --build-dependencies

#

# which will create:

# - ./deps/densecrf

# - ./deps/gSLICr

# - ./deps/OpenNI2

# - ./deps/Pangolin

# - ./deps/opencv-3.1.0

# - ./deps/boost (unless env BOOST_ROOT is defined)

# - ./deps/coco

# - ./deps/Mask_RCNN

# Function that executes the clone command given as $1 iff repo does not exist yet. Otherwise pulls.

# Only works if repository path ends with '.git'

# Example: git_clone "git clone --branch 3.4.1 --depth=1 https://github.com/opencv/opencv.git"

function git_clone(){

repo_dir=`basename "$1" .git`

git -C "$repo_dir" pull 2> /dev/null || eval "$1"

}

# Ensure that current directory is root of project

cd $(dirname `realpath $0`)

# Enable colors

source deps/bashcolors/bash_colors.sh

function highlight(){

clr_magentab clr_bold clr_white "$1"

}

highlight "Starting MaskFusion build script ..."

echo "Available parameters:

--install-packages

--install-cuda

--build-dependencies"

if [[ $* == *--install-packages* ]] ; then

highlight "Installing system packages..."

# Get ubuntu version:

sudo apt-get install -y wget software-properties-common

source /etc/lsb-release # fetch DISTRIB_CODENAME

if [[ $DISTRIB_CODENAME == *"trusty"* ]] ; then

# g 4.9.4

sudo add-apt-repository -y ppa:ubuntu-toolchain-r/test

sudo apt-get install \

g -4.9 \

gcc-4.9

# cmake 3.2.2

sudo add-apt-repository -y ppa:george-edison55/cmake-3.x

# openjdk 8

sudo add-apt-repository -y ppa:openjdk-r/ppa

fi

sudo apt-get update > /dev/null

sudo apt-get install -y \

build-essential \

cmake \

freeglut3-dev \

git \

g \

gcc \

libeigen3-dev \

libglew-dev \

libjpeg-dev \

libsuitesparse-dev \

libudev-dev \

libusb-1.0-0-dev \

openjdk-8-jdk \

unzip \

zlib1g-dev \

cython3 \

libboost-all-dev \

libfreetype6-dev

sudo -H pip3 install virtualenv

if [[ $DISTRIB_CODENAME == *"trusty"* ]] ; then

# switch to g -4.9

sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.9 60 --slave /usr/bin/g g /usr/bin/g -4.9

# switch to java-1.8.0

sudo update-java-alternatives -s java-1.8.0-openjdk-amd64

fi

fi # --install-packages

if [[ $* == *--install-cuda* ]] ; then

highlight "Installing CUDA..."

# Get ubuntu version:

sudo apt-get install -y wget software-properties-common

source /etc/lsb-release # fetch DISTRIB_CODENAME

if [[ $DISTRIB_CODENAME == *"trusty"* ]] ; then

# CUDA

wget http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1404/x86_64/cuda-repo-ubuntu1404_7.5-18_amd64.deb

sudo dpkg -i cuda-repo-ubuntu1404_7.5-18_amd64.deb

rm cuda-repo-ubuntu1404_7.5-18_amd64.deb

sudo apt-get update > /dev/null

sudo apt-get install -y cuda-7-5

elif [[ $DISTRIB_CODENAME == *"vivid"* ]] ; then

# CUDA

wget http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1504/x86_64/cuda-repo-ubuntu1504_7.5-18_amd64.deb

sudo dpkg -i cuda-repo-ubuntu1504_7.5-18_amd64.deb

rm cuda-repo-ubuntu1504_7.5-18_amd64.deb

sudo apt-get update > /dev/null

sudo apt-get install cuda-7-5

elif [[ $DISTRIB_CODENAME == *"xenial"* ]]; then

wget http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64/cuda-repo-ubuntu1604_8.0.44-1_amd64.deb

sudo dpkg -i cuda-repo-ubuntu1604_8.0.44-1_amd64.deb

rm cuda-repo-ubuntu1604_8.0.44-1_amd64.deb

sudo apt-get update > /dev/null

sudo apt-get install -y cuda-8-0

else

echo "$DISTRIB_CODENAME is not yet supported"

exit 1

fi

fi # --install-cuda

# Create virtual python environment and install packages

highlight "Setting up virtual python environment..."

virtualenv python-environment

source python-environment/bin/activate

pip3 install pip --upgrade

pip3 install tensorflow-gpu==1.8.0

pip3 install scikit-image

pip3 install keras

pip3 install IPython

pip3 install h5py

pip3 install cython

pip3 install imgaug

pip3 install opencv-python

pip3 install pytoml

ln -s `python -c "import numpy as np; print(np.__path__[0])"`/core/include/numpy Core/Segmentation/MaskRCNN || true # Provide numpy headers to C

if [[ $* == *--build-dependencies* ]] ; then

# Build dependencies

mkdir -p deps

cd deps

highlight "Building opencv..."

git_clone "git clone --branch 3.4.1 --depth=1 https://github.com/opencv/opencv.git"

cd opencv

mkdir -p build

cd build

cmake \

-DCMAKE_BUILD_TYPE=Release \

-DCMAKE_INSTALL_PREFIX="`pwd`/../install" \

\

`# OpenCV: (building is not possible when DBUILD_opencv_video/_videoio is OFF?)` \

-DWITH_CUDA=OFF \

-DBUILD_DOCS=OFF \

-DBUILD_PACKAGE=OFF \

-DBUILD_TESTS=OFF \

-DBUILD_PERF_TESTS=OFF \

-DBUILD_opencv_apps=OFF \

-DBUILD_opencv_calib3d=OFF \

-DBUILD_opencv_cudaoptflow=OFF \

-DBUILD_opencv_dnn=OFF \

-DBUILD_opencv_dnn_BUILD_TORCH_IMPORTER=OFF \

-DBUILD_opencv_features2d=OFF \

-DBUILD_opencv_flann=OFF \

-DBUILD_opencv_java=OFF \

-DBUILD_opencv_objdetect=OFF \

-DBUILD_opencv_python2=OFF \

-DBUILD_opencv_python3=OFF \

-DBUILD_opencv_photo=OFF \

-DBUILD_opencv_stitching=OFF \

-DBUILD_opencv_superres=OFF \

-DBUILD_opencv_shape=OFF \

-DBUILD_opencv_videostab=OFF \

-DBUILD_PROTOBUF=OFF \

-DWITH_1394=OFF \

-DWITH_GSTREAMER=OFF \

-DWITH_GPHOTO2=OFF \

-DWITH_MATLAB=OFF \

-DWITH_NVCUVID=OFF \

-DWITH_OPENCL=OFF \

-DWITH_OPENCLAMDBLAS=OFF \

-DWITH_OPENCLAMDFFT=OFF \

-DWITH_TIFF=OFF \

-DWITH_VTK=OFF \

-DWITH_WEBP=OFF \

..

make -j8

cd ../build

OpenCV_DIR=$(pwd)

cd ../..

if [ -z "${BOOST_ROOT}" -a ! -d boost ]; then

highlight "Building boost..."

wget --no-clobber -O boost_1_62_0.tar.bz2 https://sourceforge.net/projects/boost/files/boost/1.62.0/boost_1_62_0.tar.bz2/download

tar -xjf boost_1_62_0.tar.bz2 > /dev/null

rm boost_1_62_0.tar.bz2

cd boost_1_62_0

mkdir -p ../boost

./bootstrap.sh --prefix=../boost

./b2 --prefix=../boost --with-filesystem install > /dev/null

cd ..

rm -r boost_1_62_0

BOOST_ROOT=$(pwd)/boost

fi

# build pangolin

highlight "Building pangolin..."

git_clone "git clone --depth=1 https://github.com/stevenlovegrove/Pangolin.git"

cd Pangolin

git pull

mkdir -p build

cd build

cmake -DAVFORMAT_INCLUDE_DIR="" -DCPP11_NO_BOOST=ON ..

make -j8

Pangolin_DIR=$(pwd)

cd ../..

# build OpenNI2

highlight "Building openni2..."

git_clone "git clone --depth=1 https://github.com/occipital/OpenNI2.git"

cd OpenNI2

git pull

make -j8

cd ..

# build freetype-gl-cpp

highlight "Building freetype-gl-cpp..."

git_clone "git clone --depth=1 --recurse-submodules https://github.com/martinruenz/freetype-gl-cpp.git"

cd freetype-gl-cpp

mkdir -p build

cd build

cmake -DBUILD_EXAMPLES=OFF -DCMAKE_INSTALL_PREFIX="`pwd`/../install" -DCMAKE_BUILD_TYPE=Release ..

make -j8

make install

cd ../..

# build DenseCRF, see: http://graphics.stanford.edu/projects/drf/

highlight "Building densecrf..."

git_clone "git clone --depth=1 https://github.com/martinruenz/densecrf.git"

cd densecrf

git pull

mkdir -p build

cd build

cmake \

-DCMAKE_BUILD_TYPE=Release \

-DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fPIC" \

..

make -j8

cd ../..

# build gSLICr, see: http://www.robots.ox.ac.uk/~victor/gslicr/

highlight "Building gslicr..."

git_clone "git clone --depth=1 https://github.com/carlren/gSLICr.git"

cd gSLICr

git pull

mkdir -p build

cd build

cmake \

-DOpenCV_DIR="${OpenCV_DIR}" \

-DCMAKE_BUILD_TYPE=Release \

-DCUDA_HOST_COMPILER=/usr/bin/gcc \

-DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -D_FORCE_INLINES" \

..

make -j8

cd ../..

# Prepare MaskRCNN and data

highlight "Building mask-rcnn with ms-coco..."

git_clone "git clone --depth=1 https://github.com/matterport/Mask_RCNN.git"

git_clone "git clone --depth=1 https://github.com/waleedka/coco.git"

cd coco/PythonAPI

make

make install # Make sure to source the correct python environment first

cd ../..

cd Mask_RCNN

mkdir -p data

cd data

wget --no-clobber https://github.com/matterport/Mask_RCNN/releases/download/v1.0/mask_rcnn_coco.h5

cd ../..

# c toml

highlight "Building toml11..."

git_clone "git clone --depth=1 --branch v2.4.0 https://github.com/ToruNiina/toml11.git"

cd ..

fi # --build-dependencies

if [ -z "${BOOST_ROOT}" -a -d deps/boost ]; then

BOOST_ROOT=$(pwd)/deps/boost

fi

# Build MaskFusion

highlight "Building MaskFusion..."

mkdir -p build

cd build

ln -s ../deps/Mask_RCNN ./ || true # Also, make sure that the file 'mask_rcnn_model.h5' is linked or present

cmake \

-DBOOST_ROOT="${BOOST_ROOT}" \

-DOpenCV_DIR="$(pwd)/../deps/opencv/build" \

-DPangolin_DIR="$(pwd)/../deps/Pangolin/build/src" \

-DMASKFUSION_PYTHON_VE_PATH="$(pwd)/../python-environment" \

-DCUDA_HOST_COMPILER=/usr/bin/gcc \

-DWITH_FREENECT2=OFF \

..

make -j8

cd ..