set -e

SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"

SRC_DIR="${SCRIPT_DIR//'/libbeam/scripts'}"

INSTALL_LIBBEAM_LOCALLY=0

INSTALL_OPENCV4=1

INSTALL_OPENCV4_LOCALLY=0

INSTALL_CERES=1

IGNORE_BEAM_CALIBRATION=0

IGNORE_BEAM_COLORIZE=0

IGNORE_BEAM_CONTAINERS=0

IGNORE_BEAM_CV=0

IGNORE_BEAM_DEFECTS=0

IGNORE_BEAM_DEPTH=0

IGNORE_BEAM_FILTERING=0

IGNORE_BEAM_MAPPING=0

IGNORE_BEAM_MATCHING=0

IGNORE_BEAM_OPTIMIZATION=0

IGNORE_BEAM_UTILS=0

main()

{

set_inputs $@

menu

install_routine

}

set_inputs()

{

for ARGUMENT in "$@"

do

KEY=$(echo $ARGUMENT | cut -f1 -d=)

VALUE=$(echo $ARGUMENT | cut -f2 -d=)

case "$KEY" in

INSTALL_LIBBEAM_LOCALLY) INSTALL_LIBBEAM_LOCALLY=${VALUE} ;;

INSTALL_OPENCV4) INSTALL_OPENCV4=${VALUE} ;;

INSTALL_OPENCV4_LOCALLY) INSTALL_OPENCV4_LOCALLY=${VALUE} ;;

INSTALL_CERES) INSTALL_CERES=${VALUE} ;;

IGNORE_BEAM_CALIBRATION) IGNORE_BEAM_CALIBRATION=${VALUE} ;;

IGNORE_BEAM_COLORIZE) IGNORE_BEAM_COLORIZE=${VALUE} ;;

IGNORE_BEAM_CONTAINERS) IGNORE_BEAM_CONTAINERS=${VALUE} ;;

IGNORE_BEAM_CV) IGNORE_BEAM_CV=${VALUE} ;;

IGNORE_BEAM_DEFECTS) IGNORE_BEAM_DEFECTS=${VALUE} ;;

IGNORE_BEAM_DEPTH) IGNORE_BEAM_DEPTH=${VALUE} ;;

IGNORE_BEAM_FILTERING) IGNORE_BEAM_FILTERING=${VALUE} ;;

IGNORE_BEAM_MAPPING) IGNORE_BEAM_MAPPING=${VALUE} ;;

IGNORE_BEAM_MATCHING) IGNORE_BEAM_MATCHING=${VALUE} ;;

IGNORE_BEAM_OPTIMIZATION) IGNORE_BEAM_OPTIMIZATION=${VALUE} ;;

INSTALL_OPENCV4) IGNORE_BEAM_UTILS=${VALUE} ;;

*) echo "INVALID ARGUMENT.";

esac

done

if(( $INSTALL_LIBBEAM_LOCALLY != 1 && $INSTALL_LIBBEAM_LOCALLY != 0 ))

then

echo "Invalid INSTALL_LIBBEAM_LOCALLY parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $INSTALL_OPENCV4 != 1 && $INSTALL_OPENCV4 != 0 ))

then

echo "Invalid INSTALL_OPENCV4 parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $INSTALL_CERES != 1 && $INSTALL_CERES != 0 ))

then

echo "Invalid INSTALL_CERES parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $INSTALL_OPENCV4_LOCALLY != 1 && $INSTALL_OPENCV4_LOCALLY != 0 ))

then

echo "Invalid INSTALL_OPENCV4_LOCALLY parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $IGNORE_BEAM_CALIBRATION != 1 && $IGNORE_BEAM_CALIBRATION != 0 ))

then

echo "Invalid IGNORE_BEAM_CALIBRATION parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $IGNORE_BEAM_COLORIZE != 1 && $IGNORE_BEAM_COLORIZE != 0 ))

then

echo "Invalid IGNORE_BEAM_COLORIZE parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $IGNORE_BEAM_CONTAINERS != 1 && $IGNORE_BEAM_CONTAINERS != 0 ))

then

echo "Invalid IGNORE_BEAM_CONTAINERS parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $IGNORE_BEAM_CV != 1 && $IGNORE_BEAM_CV != 0 ))

then

echo "Invalid IGNORE_BEAM_CV parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $IGNORE_BEAM_DEFECTS != 1 && $IGNORE_BEAM_DEFECTS != 0 ))

then

echo "Invalid IGNORE_BEAM_DEFECTS parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $IGNORE_BEAM_DEPTH != 1 && $IGNORE_BEAM_DEPTH != 0 ))

then

echo "Invalid IGNORE_BEAM_DEPTH parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $IGNORE_BEAM_FILTERING != 1 && $IGNORE_BEAM_FILTERING != 0 ))

then

echo "Invalid IGNORE_BEAM_FILTERING parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $IGNORE_BEAM_MAPPING != 1 && $IGNORE_BEAM_MAPPING != 0 ))

then

echo "Invalid IGNORE_BEAM_MAPPING parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $IGNORE_BEAM_MATCHING != 1 && $IGNORE_BEAM_MATCHING != 0 ))

then

echo "Invalid IGNORE_BEAM_MATCHING parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $IGNORE_BEAM_OPTIMIZATION != 1 && $IGNORE_BEAM_OPTIMIZATION != 0 ))

then

echo "Invalid IGNORE_BEAM_OPTIMIZATION parameter. Required: 1 or 0. Exiting"

exit

fi

if(( $IGNORE_BEAM_UTILS != 1 && $IGNORE_BEAM_UTILS != 0 ))

then

echo "Invalid IGNORE_BEAM_UTILS parameter. Required: 1 or 0. Exiting"

exit

fi

}

menu()

{

echo "* Running this script will install libbeam and all dependencies to your system "

echo " if they are not currently available including:"

echo " * ROS (and all required ROS depenencies)"

echo " * Catch2"

echo " * Eigen3"

echo " * Ceres"

echo " * PCL"

echo " * OpenCV4"

echo " * Gflags"

echo " * nlohmann json"

echo ""

echo "* libbeam depends on OpenCV4 for certain modules (e.g., beam_cv), however, "

echo " if you are not using all modules, you may be able to get away with older versions. "

echo " To disable OpenCV4 install set the parameter INSTALL_OPENCV4=0"

echo ""

echo "* You may also chose to not install ceres if you are using modules that do not "

echo " depend on ceres, by setting INSTALL_CERES=0 "

echo ""

echo "* You may chose to install libbeam and certain dependencies locally by setting the "

echo " appropriate params (see below). Installing these locally means that we assume "

echo " libbeam has been cloned to some catkin workspace (e.g., ~/catkin_ws/src/) and "

echo " therefore we will not run make install on any of those packages. Instead, you "

echo " will need to run catkin build in the workspace after this script has completed."

echo " See the source directory below for where your the dependent source code will be saved."

echo ""

echo "* Parameters are currently set to:"

echo " INSTALL_LIBBEAM_LOCALLY: $INSTALL_LIBBEAM_LOCALLY"

echo " INSTALL_OPENCV4: $INSTALL_OPENCV4"

echo " INSTALL_OPENCV4_LOCALLY: $INSTALL_OPENCV4_LOCALLY"

echo " INSTALL_CERES: $INSTALL_CERES"

echo ""

echo "* Found script directory: $SCRIPT_DIR"

echo "* Set source directory to: $SRC_DIR"

echo ""

echo "Would you like to continue? (y/n)"

while read ans; do

case "$ans" in

y) break;;

n) exit; break;;

*) echo "Invalid input (y/n):";;

esac

done

}

install_routine()

{

sudo -v

# Ensure wget is available

sudo apt-get install -qq wget > /dev/null

get_install_scripts

# get UBUNTU_CODENAME and ROS_DISTRO

source $INSTALL_SCRIPTS/identify_environment.bash

# Import functions to install required dependencies, and get ROS distro and ubuntu name

source $INSTALL_SCRIPTS/beam_dependencies_install.bash

bash $INSTALL_SCRIPTS/ros_install.bash

bash $INSTALL_SCRIPTS/rosdeps_install.bash

# Install dependencies

install_cmake

install_catch2

install_eigen3

install_pcl

install_json

install_gflags

if(( $INSTALL_CERES == 0 ))

then

echo "Not installing ceres"

else

echo "installing ceres"

install_ceres

fi

IGNORE_BEAM_OPENCV4=0

if(( $INSTALL_OPENCV4 == 0 ))

then

echo "Not installing opencv4"

IGNORE_BEAM_OPENCV4=1

else

echo "installing opencv4"

export OPENCV_SRC_PATH=$SRC_DIR

export INSTALL_OPENCV4_LOCALLY=$INSTALL_OPENCV4_LOCALLY

install_opencv4

fi

if(( $INSTALL_LIBBEAM_LOCALLY == 1 ))

then

echo "Not installing libbeam to system. "

echo "You will need to build your catkin workspace."

else

echo "building libbeam"

cd $SRC_DIR

cd libbeam

mkdir -p build

cd build

cmake .. -DCMAKE_IGNORE_BEAM_OPENCV4=$IGNORE_BEAM_OPENCV4 \

-DCMAKE_IGNORE_BEAM_CALIBRATION=$IGNORE_BEAM_CALIBRATION \

-DCMAKE_IGNORE_BEAM_COLORIZE=$IGNORE_BEAM_COLORIZE \

-DCMAKE_IGNORE_BEAM_CONTAINERS=$IGNORE_BEAM_CONTAINERS \

-DCMAKE_IGNORE_BEAM_CV=$IGNORE_BEAM_CV \

-DCMAKE_IGNORE_BEAM_DEFECTS=$IGNORE_BEAM_DEFECTS \

-DCMAKE_IGNORE_BEAM_DEPTH=$IGNORE_BEAM_DEPTH \

-DCMAKE_IGNORE_BEAM_FILTERING=$IGNORE_BEAM_FILTERING \

-DCMAKE_IGNORE_BEAM_MAPPING=$IGNORE_BEAM_MAPPING \

-DCMAKE_IGNORE_BEAM_MATCHING=$IGNORE_BEAM_MATCHING \

-DCMAKE_IGNORE_BEAM_OPTIMIZATION=$IGNORE_BEAM_OPTIMIZATION \

-DCMAKE_IGNORE_BEAM_UTILS=$IGNORE_BEAM_UTILS

make_with_progress -j$NUM_PROCESSORS

echo "installing libbeam to system"

sudo make install > /dev/null

fi

echo "libbeam installation completed. "

echo "Please run the following steps if appropriate:"

echo "* open a new terminal to re-source environment variables (if the bashrc was changed)"

echo "* build your catkin workspace using: cd /path_to/catkin_ws && catkin build"

}

get_install_scripts()

{

# Ensure that Beam install scripts are installed

INSTALL_SCRIPTS="$SRC_DIR/beam_install_scripts"

if [ -d $INSTALL_SCRIPTS ]; then

echo "Beam install scripts found. Pulling most recent version of master."

cd $INSTALL_SCRIPTS

git pull origin master

else

echo "Cloning Beam install scripts into:"

echo $SRC_DIR

cd $SRC_DIR

git clone https://github.com/BEAMRobotics/beam_install_scripts.git

fi

}

main $@