From 8c4d6f3bf85d95b2a658acc35f3717db6ab59322 Mon Sep 17 00:00:00 2001
From: Kaiyu Zheng <kaiyutony@gmail.com>
Date: Thu, 24 Feb 2022 10:45:58 -0500
Subject: [PATCH] en route to building open3d (but decided to do it in docker
 instead)

---
 shared/install_open3d.sh       | 40 ++++++++++++++++++++++++++++++++++
 spot/docs/Functions/Mapping.md |  4 ++++
 tools.sh                       | 10 +++++++++
 3 files changed, 54 insertions(+)
 create mode 100644 shared/install_open3d.sh

diff --git a/shared/install_open3d.sh b/shared/install_open3d.sh
new file mode 100644
index 0000000..4dfc788
--- /dev/null
+++ b/shared/install_open3d.sh
@@ -0,0 +1,40 @@
+# Install Open3D from source
+# https://github.com/isl-org/Open3D
+# Note:
+#  - you should activate the desired robot python virtualenv (e.g. spot)
+#    before you run this script.
+# Run this script by source setup_movo.bash
+if [[ ! $PWD = *robotdev ]]; then
+    echo "You must be in the root directory of the robotdev repository."
+    return 1
+else
+    . "./tools.sh"
+fi
+repo_root=$PWD
+
+if not in_venv; then
+    echo "You must activate the robot-specific virtualenv."
+    return 1
+
+OPEN3D_INSTALL_PATH=$repo_root/thirdparty/Open3D/install
+
+cd thirdparty
+git clone https://github.com/isl-org/Open3D
+cd Open3D
+
+# Install dependencies
+util/install_deps_ubuntu.sh
+
+# build
+mkdir build
+cd build
+cmake .. -DCMAKE_INSTALL_PREFIX=$OPEN3D_INSTALL_PATH
+make -j$(nproc)
+make install
+
+# install python package
+pip install cmake    # from open3d docs https://github.com/isl-org/Open3D/blob/master/docs/arm.rst
+make install-pip-package
+make python-package
+make pip-package
+python -c "import open3d"
diff --git a/spot/docs/Functions/Mapping.md b/spot/docs/Functions/Mapping.md
index 8ec80ca..0a2fe75 100644
--- a/spot/docs/Functions/Mapping.md
+++ b/spot/docs/Functions/Mapping.md
@@ -27,3 +27,7 @@ There does not seem to be [active support for ROS](https://github.com/UZ-SLAMLab
 and the authors have basically left the repository hanging.
 
 **I think to build complicated software like this, you need to use docker. Docker is the way to for "one effort and release stress forever".**
+
+The question is: do you want to use docker for ORB_SLAM3 or RTABMap?
+
+**THE ANSWER IS: NEITHER. We will use Open3D.**
diff --git a/tools.sh b/tools.sh
index 4d0ed82..e4d34fc 100644
--- a/tools.sh
+++ b/tools.sh
@@ -242,3 +242,13 @@ function ping_success {
         false
     fi
 }
+
+function in_venv {
+    # returns true if you are in virtualenv.
+    if [[ "$VIRTUAL_ENV" != "" ]]
+    then
+        true && return
+    else
+        false
+    fi
+}