Updates to install scripts (#290)

* Update install scripts

* Change to robotics-wavelab PPA
This PPA installs things to /opt/wavelab to avoid accidentally interfering with other software.
By default, add /opt/wavelab to CMAKE_PREFIX_PATH (with CMake option to disable)

* Add script to install opencv 3.2.0

* Remove install.bash

Remove install.bash for reasons discussed in the PR. Mainly, it _seems_ like
a magic one-size-fits-all solution for all users but may do unexpected things.
Where desired, dependencies can be installed using the individual scripts.

* Update instructions and dependencies list in README
- Add notes about dependency scripts and about opencv build issue

Author: Kathleen Wang

.travis.yml

@@ -19,7 +19,6 @@ addons:
       - libpcl-dev
       - libopencv-dev
       - libceres-dev
-      - libkindr-dev
       - clang-format-3.8
 
 before_script:

CMakeLists.txt

@@ -36,7 +36,12 @@ OPTION(BUILD_BENCHMARKS
 
 
 # Find all dependencies here, and ensure they have IMPORTED targets
-
+# The install scripts install some dependencies in /opt/wavelab
+OPTION(APPEND_OPT_WAVELAB "Append /opt/wavelab to CMAKE_PREFIX_PATH" ON)
+IF(APPEND_OPT_WAVELAB)
+    MESSAGE(STATUS "Adding /opt/wavelab to CMAKE_PREFIX_PATH")
+    LIST(APPEND CMAKE_PREFIX_PATH "/opt/wavelab")
+ENDIF()
 # Require Eigen 3.2.92, also called 3.3 beta-1, since it's in xenial
 FIND_PACKAGE(Eigen3 3.2.92 REQUIRED)
 FIND_PACKAGE(Boost 1.54.0 COMPONENTS system filesystem)

README.md

@@ -11,51 +11,84 @@ This library contains reusable code for:
 
 ## Requirements
 
+`libwave` is divided into modules which can be built separately.
+Each has its own dependecies.
+
+| Module             | Dependencies |
+| ------------------ | ------------ |
+| wave\_benchmark    | wave\_containers, wave\_geometry, wave\_utils |
+| wave\_containers   | Eigen, Boost |
+| wave\_controls     | Eigen |
+| wave\_geography    | Eigen, GeographicLib |
+| wave\_geometry     | Eigen, Boost |
+| wave\_gtsam        | wave\_utils, gtsam |
+| wave\_kinematics   | wave\_utils, wave\_controls |
+| wave\_matching     | wave\_utils, Boost, PCL  |
+| wave\_optimization | wave\_utils, wave\_kinematics, wave\_vision, Ceres |
+| wave\_utils        | Eigen, yaml-cpp |
+| wave\_vision       | wave\_utils, wave\_kinematics, wave\_containers, Boost Filesystem, OpenCV (calib3d, features2d, highgui, imgproc, videoio) |
+
+
+The following versions are the minimum we test against.
+Some earlier versions may work, but are not tested.
+
 - Boost 1.54
 - Ceres 1.13
 - Eigen 3.3.2
-- Kindr 1.0.4
 - OpenCV 3.2.0
 - PCL 1.8
 - yaml-cpp 0.5.1
-- CMake 2.8.3
-- GCC 5.4
+- gtsam
+- GeographicLib 1.49
 
-The above versions are the minimum we test against.
-Some earlier versions may work, but are not tested.
-For convenience, we provide a script which installs these dependencies (except 
-GCC) on Ubuntu 14.04 or Ubuntu 16.04, in `scripts/install/install_deps.bash`.
+Building libwave requires CMake 3.2 and a C++11 compiler (tested on GCC 5.4).
 
-## Install
+### Installing dependencies
+The basic set of dependencies can be installed with the Ubuntu package manager
+using the command
 
-Execute the following in the terminal where you want libwave to reside:
+    sudo apt-get install libboost-dev libyaml-cpp-dev libeigen3-dev \
+    build-essential cmake
 
-    curl -L https://git.io/vyKXR > install.bash && bash install.bash
+For convenience, scripts to install other dependencies on Ubuntu 16.04 are
+provided in `scripts/install`. **Note**: the scripts are not tested on a wide
+variety of systems. They may be incompatible with other packages installed on
+your system.
 
-**Or** you can perform the installation manually:
+## Install from source
 
-    # clone repo
-    git clone https://github.com/wavelab/libwave.git
-    cd libwave
+Clone the repo with submodules:
 
-    # initialize git submodules
-    git submodule init
-    git submodule update
+    git clone --recursive https://github.com/wavelab/libwave.git
 
-    # install dependencies
-    bash scripts/install/install_deps.bash
+Install the dependencies required for the modules you want to build, as
+described above. Then build using CMake:
 
-    # compile libwave
+    cd libwave
     mkdir -p build
     cd build
     cmake ..
-    make
+    make -j8
+    
+By default, all libraries whose dependencies are found will be built. Individual
+libraries can be disabled using CMake options. For example,
+
+    cmake .. -DBUILD_wave_vision=OFF
+    
+will disable building `wave_vision`.
 
-Install libwave with `make install`. Alternatively, you can enable the
+Install libwave by running `make install`. Alternatively, you can enable the
 `EXPORT_BUILD` option in CMake, which will make the libwave build directory 
 searchable by CMake without installation.
 
 
+**Known issue with OpenCV**: `wave_vision` may
+[fail to build](https://github.com/wavelab/libwave/issues/267) if OpenCV 2 is
+installed in the default system directory on Ubuntu 16.04 (and OpenCV 3 is
+installed elsewhere). A workaround is to remove OpenCV 2 via
+`sudo apt remove libopencv-dev`.
+
+
 ## Use with CMake
 
 One libwave has been either installed or exported by CMake, it can be used in

scripts/install/install.bash

@@ -9,17 +9,15 @@ echo
 
 # Echo the commands before running them
 set -x
-sudo apt-add-repository ppa:lkoppel/robotics
+sudo add-apt-repository ppa:lkoppel/robotics-wavelab
 sudo apt-get update
 
 sudo apt-get install cmake \
   libboost-dev \
   libyaml-cpp-dev \
   libeigen3-dev \
-  libpcl-dev \
-  libopencv-dev \
-  libceres-dev \
-  libkindr-dev
+  libpcl1.8-dev \
+  libceres-wavelab-dev
 
 set +x
 echo

scripts/install/install_deps.bash

@@ -0,0 +1,47 @@
+#!/bin/bash
+set -e  # exit on first error
+
+DEPS_DIR="/tmp/wave_dependencies"
+
+main()
+{
+    install_gtsam
+}
+
+make_with_progress()
+{
+    if [ -z "$CONTINUOUS_INTEGRATION" ]; then
+        local awk_arg="-W interactive"
+    fi
+    # Run make, printing a character for every 10 lines
+    make "$@" | awk ${awk_arg} 'NR%5==1 { printf ".", $0}'
+    echo "done"
+}
+
+install_gtsam()
+{
+    GTSAM_DIR="gtborg-gtsam-250a03943591"
+    FILE="250a03943591.zip"
+    URL="https://bitbucket.org/gtborg/gtsam/get/250a03943591.zip"
+
+    if (ldconfig -p | grep -q libgtsam.so.4 ); then
+        echo "gtsam is already installed."
+    else
+        echo "Installing gtsam ..."
+        mkdir -p "$DEPS_DIR"
+        cd "$DEPS_DIR"
+        wget "$URL"
+        unzip "$FILE"
+        rm -rf "$FILE"
+
+        cd "$GTSAM_DIR"
+        mkdir -p BUILD
+        cd BUILD
+        cmake ..
+
+        make_with_progress -j$(nproc)
+        sudo make install > /dev/null
+    fi
+}
+
+main

scripts/install/install_gtsam.bash

@@ -0,0 +1,49 @@
+#!/bin/bash
+set -e  # exit on first error
+
+DEPS_DIR="/tmp/wave_dependencies"
+
+main()
+{
+    install_opencv
+}
+
+make_with_progress()
+{
+    if [ -z "$CONTINUOUS_INTEGRATION" ]; then
+        local awk_arg="-W interactive"
+    fi
+    # Run make, printing a character for every 10 lines
+    make "$@" | awk ${awk_arg} 'NR%5==1 { printf ".", $0}'
+    echo "done"
+}
+
+install_opencv()
+{
+    VERSION="3.3.1"
+    URL="https://github.com/opencv/opencv/archive/$VERSION.zip"
+    OPENCV_DIR="opencv-$VERSION"
+    FILE="$VERSION.zip"
+
+    local RETVAL=$(pkg-config --atleast-version=$VERSION opencv)
+    if [ "$RETVAL" == "0" ]; then
+        echo "opencv version $(pkg-config --modversion opencv) is already installed."
+    else
+        echo "Installing opencv version $VERSION ..."
+        mkdir -p "$DEPS_DIR"
+        cd "$DEPS_DIR"
+        wget "$URL"
+        unzip "$FILE"
+        rm -rf "$FILE"
+
+        cd "$OPENCV_DIR"
+        mkdir -p BUILD
+        cd BUILD
+        cmake ..
+
+        make_with_progress -j$(nproc)
+        sudo make install > /dev/null
+    fi
+}
+
+main