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INSTALLATION.md

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Installation

Dependency Shore-Userspace Tools

Python dependencies

$ pip install pyquaternion seaborn numpy=1.20.3

LLVM-13 toolchain

  1. Install the dependency packages

    $ sudo apt-get install build-essential cmake ninja-build git python3

  2. Clone the llvm project

    $ git clone https://github.com/llvm/llvm-project.git ~/llvm-project
$ cd ~/llvm-project
$ git checkout release/13.x

  3. Compile the llvm project

    $ mkdir build
$ cd build
$ cmake -G "Unix Makefiles" \
    -DLLVM_ENABLE_PROJECTS="clang;lld" \
    -DLLVM_ENABLE_PLUGINS=ON \
    -DLLVM_BINUTILS_INCDIR=/usr/include \
    -DCMAKE_BUILD_TYPE=Release \
    ../llvm

$ make make -j$(nproc)      # This may take a while

  4. Export the llvm project path

    $ echo 'export LLVM_DIR=${HOME}/llvm-project/build' >> ~/.bashrc

Haros

Steps to setup to configure the prerequisite for haros:

  1. $ cd ~/Shore-user/case-study/haros and install the dependencies for haros: $ pip install -r requirements.txt
  2. Initialize haros: python3 haros-runner.py init

A haros initial configuration file will be created at ~/.haros/configs.yaml

Config the paths using the following example:

%YAML 1.1
---
workspace: '~/Shore-user/case-study/catkin_ws'
cpp:
   parser_lib: '/path/to/llvm_build/lib'
   std_includes: '/path/to/llvm_build/lib/clang/13.0.1/include'
   compile_db: '~/Shore-user/case-study/catkin_ws/build'

Dependency for the Running Example -- ORB-SLAM3

More details instructions are in the original repository: https://github.com/UZ-SLAMLab/ORB_SLAM3

From our experience, two dependencies are required:

Pangolin

Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.

OpenCV

We tested with OpenCV 4.2. Here are the steps to install it.

Install the dependency packages:

$ sudo apt update
$ sudo apt install build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
$ sudo apt install libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev

Download the OpenCV source code

$ git clone https://github.com/opencv/opencv.git
$ cd opencv
$ git checkout 4.2.0
$ cd ..

$ git clone https://github.com/opencv/opencv_contrib.git
$ cd opencv_contrib
$ git checkout 4.2.0
$ cd ..

Configure the build with cmake

$ cd opencv
$ mkdir build
$ cd build
$ cmake -D CMAKE_BUILD_TYPE=RELEASE \
      -D CMAKE_INSTALL_PREFIX=/usr/local \
      -D INSTALL_C_EXAMPLES=ON \
      -D INSTALL_PYTHON_EXAMPLES=ON \
      -D WITH_TBB=ON \
      -D WITH_V4L=ON \
      -D WITH_QT=ON \
      -D WITH_OPENGL=ON \
      -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules \
      -D BUILD_EXAMPLES=ON ..

Compile and install it

$ make -j$(nproc)
$ sudo make install
$ sudo ldconfig

Verify the installation

$ pkg-config --modversion opencv4

Now you finished the installation of dependency, go back to the Running Example in README.md TODO, give the link.