From 53efafc3c3e8573cf3d0ad7ccb58485b01fd77d0 Mon Sep 17 00:00:00 2001
From: Pau Gargallo <pau.gargallo@gmail.com>
Date: Wed, 3 Feb 2016 13:43:21 +0100
Subject: [PATCH] Install ORB_SLAM2

Former-commit-id: ae589c1dc9a466a2dd93ba454a76ef8b166c4225
---
 SuperBuild/CMakeLists.txt                 |  4 +-
 SuperBuild/cmake/External-ORB_SLAM2.cmake | 71 +++++++++++++++++++++++
 SuperBuild/cmake/External-OpenCV.cmake    |  4 +-
 SuperBuild/cmake/External-Pangolin.cmake  | 29 +++++++++
 configure.sh                              |  5 +-
 5 files changed, 109 insertions(+), 4 deletions(-)
 create mode 100644 SuperBuild/cmake/External-ORB_SLAM2.cmake
 create mode 100644 SuperBuild/cmake/External-Pangolin.cmake

diff --git a/SuperBuild/CMakeLists.txt b/SuperBuild/CMakeLists.txt
index 152916e2..2aa28cbe 100644
--- a/SuperBuild/CMakeLists.txt
+++ b/SuperBuild/CMakeLists.txt
@@ -102,7 +102,9 @@ set(custom_libs OpenGV
 				CMVS
 				Catkin
 				Ecto
-				LAStools)
+				LAStools
+				Pangolin
+				ORB_SLAM2)
 
 foreach(lib ${custom_libs})
 	SETUP_EXTERNAL_PROJECT_CUSTOM(${lib})
diff --git a/SuperBuild/cmake/External-ORB_SLAM2.cmake b/SuperBuild/cmake/External-ORB_SLAM2.cmake
new file mode 100644
index 00000000..ffc0b2b6
--- /dev/null
+++ b/SuperBuild/cmake/External-ORB_SLAM2.cmake
@@ -0,0 +1,71 @@
+set(_proj_name orb_slam2)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  DEPENDS           opencv pangolin
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
+  URL               https://github.com/raulmur/ORB_SLAM2/archive/2fc9730d9716c36b25ea1b0eba3bbd094e20f0d5.zip
+  URL_MD5           629f19b6d424e676ce82fa1c3a0ba43b
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
+  CMAKE_ARGS
+    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
+  #--Build step-----------------
+  BINARY_DIR        ${_SB_BINARY_DIR}
+  #--Install step---------------
+  INSTALL_COMMAND    ""
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)
+
+# DBoW2
+set(DBoW2_BINARY_DIR "${SB_BINARY_DIR}/DBoW2")
+file(MAKE_DIRECTORY "${DBoW2_BINARY_DIR}")
+
+ExternalProject_Add_Step(${_proj_name} build_DBoW2
+  COMMAND make -j2
+  DEPENDEES configure_DBoW2
+  DEPENDERS configure
+  WORKING_DIRECTORY ${DBoW2_BINARY_DIR}
+  ALWAYS 1
+)
+
+ExternalProject_Add_Step(${_proj_name} configure_DBoW2
+  COMMAND ${CMAKE_COMMAND} <SOURCE_DIR>/Thirdparty/DBoW2
+    -DOpenCV_DIR=${SB_INSTALL_DIR}/share/OpenCV
+    -DCMAKE_BUILD_TYPE=Release
+  DEPENDEES download
+  DEPENDERS build_DBoW2
+  WORKING_DIRECTORY ${DBoW2_BINARY_DIR}
+  ALWAYS 1
+)
+
+# g2o
+set(g2o_BINARY_DIR "${SB_BINARY_DIR}/g2o")
+file(MAKE_DIRECTORY "${g2o_BINARY_DIR}")
+
+ExternalProject_Add_Step(${_proj_name} build_g2o
+  COMMAND make -j2
+  DEPENDEES configure_g2o
+  DEPENDERS configure
+  WORKING_DIRECTORY ${g2o_BINARY_DIR}
+  ALWAYS 1
+)
+
+ExternalProject_Add_Step(${_proj_name} configure_g2o
+  COMMAND ${CMAKE_COMMAND} <SOURCE_DIR>/Thirdparty/g2o
+    -DCMAKE_BUILD_TYPE=Release
+  DEPENDEES download
+  DEPENDERS build_g2o
+  WORKING_DIRECTORY ${g2o_BINARY_DIR}
+  ALWAYS 1
+)
+
diff --git a/SuperBuild/cmake/External-OpenCV.cmake b/SuperBuild/cmake/External-OpenCV.cmake
index 1ca96e61..a2c0d51f 100644
--- a/SuperBuild/cmake/External-OpenCV.cmake
+++ b/SuperBuild/cmake/External-OpenCV.cmake
@@ -27,7 +27,7 @@ ExternalProject_Add(${_proj_name}
     -DBUILD_opencv_photo=ON
     -DBUILD_opencv_legacy=ON
     -DBUILD_opencv_python=ON
-    -DWITH_FFMPEG=OFF
+    -DWITH_FFMPEG=ON
     -DWITH_CUDA=OFF
     -DWITH_GTK=OFF
     -DWITH_VTK=OFF
@@ -57,4 +57,4 @@ ExternalProject_Add(${_proj_name}
   LOG_DOWNLOAD      OFF
   LOG_CONFIGURE     OFF
   LOG_BUILD         OFF
-)
\ No newline at end of file
+)
diff --git a/SuperBuild/cmake/External-Pangolin.cmake b/SuperBuild/cmake/External-Pangolin.cmake
new file mode 100644
index 00000000..9fa02345
--- /dev/null
+++ b/SuperBuild/cmake/External-Pangolin.cmake
@@ -0,0 +1,29 @@
+set(_proj_name pangolin)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
+  URL               https://github.com/paulinus/Pangolin/archive/952c62bd6adbbc8bf58c5941fbb353ce7ff9e022.zip
+  URL_MD5           1b8a3713a1b9da699187cf1e8dc60eab
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
+  CMAKE_ARGS
+    -DCPP11_NO_BOOST=1
+    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
+
+  #--Build step-----------------
+  BINARY_DIR        ${_SB_BINARY_DIR}
+  #--Install step---------------
+  INSTALL_DIR       ${SB_INSTALL_DIR}
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)
+
diff --git a/configure.sh b/configure.sh
index 641bf744..33af7014 100644
--- a/configure.sh
+++ b/configure.sh
@@ -111,6 +111,9 @@ fi
 ## Get sys vars
 NUM_CORES=`grep -c processor /proc/cpuinfo`
 
+## Add SuperBuild path to the library path
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:`pwd`/SuperBuild/install/lib
+
 ## Add SuperBuild path to the python path
 export PYTHONPATH=$PYTHONPATH:`pwd`/SuperBuild/install/lib/python2.7/dist-packages
 
@@ -119,4 +122,4 @@ cd SuperBuild
 mkdir -p build && cd build
 cmake .. && make -j ${NUM_CORES}
 
-echo -e "\e[1;34mScript finished\e[0;39m"
\ No newline at end of file
+echo -e "\e[1;34mScript finished\e[0;39m"