InstallDependencies.bash

#!/usr/bin/env bash

# libRSF - A Robust Sensor Fusion Library
#
# Copyright (C) 2023 Chair of Automation Technology / TU Chemnitz
# For more information see https://www.tu-chemnitz.de/etit/proaut/self-tuning
#
# libRSF is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# libRSF is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with libRSF.  If not, see <http://www.gnu.org/licenses/>.
#
# Author: Tim Pfeifer (tim.pfeifer@etit.tu-chemnitz.de)

# This script installs all dependencies of the libRSF

# stop script on any error
set -e

# get linux version
readonly linux_distributor=$(lsb_release -is)
readonly linux_version=$(lsb_release -rs)

# check linux version
if [ "$linux_distributor" != "Ubuntu" ]; then
    echo "ERROR: Unsupported operation system, this script covers only Ubuntu systems!"
    exit 1 # terminate and indicate error
elif [ "$linux_version" == "16.04" ]; then 
    # Ubuntu 16.04 does not support C++17 out-of-the-box
    echo "WARNING: C++17 is required! Please set it up manually!" 
fi

# function to check dependencies
install_if_not_exist ()
{
  if dpkg -s $1 &>/dev/null; then
    PKG_EXIST=$(dpkg -s $1 | grep "install ok installed")
    if [ -z "$PKG_EXIST" ]; then
      sudo apt-get install $1 --assume-yes
    fi
  else
    sudo apt-get install $1 --assume-yes
  fi
}

# Bugfix for Ubuntu Jammy
if [ "$linux_version" == "22.04" ]; then
  install_if_not_exist libunwind-dev
fi

# install libRSF dependencies
install_if_not_exist build-essential
install_if_not_exist cmake
install_if_not_exist libgeographic-dev
install_if_not_exist libyaml-cpp-dev

# install ceres dependencies
install_if_not_exist libgoogle-glog-dev
install_if_not_exist libgflags-dev
install_if_not_exist libatlas-base-dev
install_if_not_exist libsuitesparse-dev

# prepare external dependencies
mkdir -p externals/install

# install eigen locally
if [ "$linux_version" == "16.04" ] || [ "$linux_version" == "18.04" ]; then # Eigen < 3.3.5 is to old for libRSF & Ceres
  echo "WARNING: Your Eigen version is below 3.3.5, we install it locally!"
  git submodule update --init externals/eigen
  cd externals/eigen
  
  mkdir -p build && cd build
  cmake -DCMAKE_INSTALL_PREFIX=../../install/ ..
  make install
  cd ../../..
else
    install_if_not_exist libeigen3-dev
fi

# install ceres locally
git submodule update --init externals/ceres-solver
cd externals/ceres-solver

mkdir -p build && cd build
if [ "$linux_version" == "16.04" ] || [ "$linux_version" == "18.04" ]; then
    cmake -DCMAKE_INSTALL_PREFIX=../../install/ -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DSCHUR_SPECIALIZATIONS=OFF -DEigen3_DIR=../install/share/eigen3/cmake ..
else
    cmake -DCMAKE_INSTALL_PREFIX=../../install/ -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DSCHUR_SPECIALIZATIONS=OFF  ..
fi
make all -j$(getconf _NPROCESSORS_ONLN)
make install
cd ../..

# leave externals
cd ..