update install scripts

CONDA.md

@@ -46,11 +46,19 @@ Now, you can launch pySLAM scripts.
 
 ## Deactivate `pyslam` conda environment 
 
-To deactivate the `pyslam` environment, use
+To deactivate the `pyslam` environment, run
 ```
 $ conda deactivate
 ```
 
+## Delete `pyslam` conda environment 
+
+To delete the `pyslam` environment, run
+```
+$ . pyenv-conda-delete.sh 
+```
+
+
 --- 
 # General Notes About Conda
 

PYTHON-VIRTUAL-ENVS.md

@@ -1,8 +1,32 @@
 # pySLAM2 Virtual Environment 
 
+The following instructions allow you to create a custom `pyslam` virtual environment by using the package `python3-venv`. You will be able to run pyslam scripts within such environment. 
+
+## Basic Installation 
+
+In order to run `main_vo.py` with venv, get in the root of this repository and run the following command:
+```
+$ . pyenv-create.sh 
+```
+**N.B.**: do not forget the dot! (without '/' !)
+
+This will create a custom `pyslam` environment and will also activate it. 
+
+## Full Installation 
+
+In order to run `main_slam.py` with venv, get in the root of this repository and run the following command:
+```
+$ . install_all_venv.sh  
+```
+**N.B.**: do not forget the dot! (without '/' !)
+
+This will compile the required thirdparty packages and will also activate the created `pyslam` environment. 
+
+
+
 ## Create a `pyslam` python virtual environment 
 
-In order to create a custom `pyslam` python virtual environment, get in the root of this repository and run the following command: 
+You already see this above. In order to create a custom `pyslam` python virtual environment, get in the root of this repository and run the following command: 
 ```
 $ . pyenv-create.sh 
 ```
@@ -25,6 +49,13 @@ Run the command:
 $ deactivate 
 ```
 
+## Delete `pyslam` environment 
+
+To delete the `pyslam` environment, run
+```
+$ . pyenv-delete.sh 
+```
+
 
 --- 
 # General Notes About Python Virtual Environments 

TROUBLESHOOTING.md

@@ -54,7 +54,9 @@ If you get an error message like
 import g2o 
 ModuleNotFoundError: No module named 'g2o' error
 ```
-it's very likely you have libraries compiled in a 'mixed' way. Then, try to clean everything with the script `clean.sh`, and follow the installation procedure again. 
+First of all, check if you have a compiled `thirdparty/g2opy/lib/g2o.cpython-*-linux-gnu.so`. If not, Did you use one of the install_all scripts? Depending on your selected working environment (native, conda, python3-venv), you need to launch its companion install_all script in order to actually install all the required libraries (including g2o). Please, read the install instruction in the main [README](./README.md) file. 
+
+On the other hand, if you already have a compiled `thirdparty/g2opy/lib/g2o.cpython-*-linux-gnu.so`, it's very likely you have libraries compiled in a 'mixed' way. Then, try to clean everything with the script `clean.sh`, and follow the installation procedure again (see the main [README](./README.md) file). 
 
 ### Problems with ROS and OpenCV
 

clean.sh

@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
 
-# clean thirdparty install and utils 
+# clean thirdparty install and compiled libraries  
 
 # ====================================================
 # import the utils 
@@ -14,7 +14,17 @@ print_blue "=================================================================="
 print_blue "clearning thirdparty packages and utils..."
 
 rm -Rf thirdparty/pangolin 
+
 rm -Rf thirdparty/g2opy
-rm -Rf thirdparty/protoc  # set by install_delf.sh 
+
+rm -Rf thirdparty/protoc                   # set by install_delf.sh 
+
 rm -Rf thirdparty/orbslam2_features/build
-rm -Rf cpp/utils/build  
+rm -Rf thirdparty/orbslam2_features/lib
+
+rm -Rf cpp/utils/build  
+rm -Rf cpp/utils/lib 
+
+
+# TODO
+# clean downloaded models 

cpp/utils/CMakeLists.txt

@@ -7,6 +7,8 @@ ENDIF()
 
 set(CMAKE_CXX_STANDARD 11)
 
+set(WITH_PYTHON_INTERP_CHECK OFF CACHE BOOL "Checking python interpreter") # to be activate when called within virtual python environment 
+
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -O3 -march=native -fPIC -DNDEBUG")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -march=native -fPIC -DNDEBUG")
 
@@ -22,7 +24,16 @@ message(STATUS "opencv include: ${OpenCV_INCLUDE_DIRS}")
 message(STATUS "opencv lib dirs: ${OpenCV_INSTALL_PATH}")
 message(STATUS "opencv libs: ${OpenCV_LIBS}")
 
-find_package(PythonLibs)
+
+# the following 2 lines are added to correctly detect the python version 
+if(WITH_PYTHON_INTERP_CHECK)
+  message(STATUS "WITH_PYTHON_INTERP_CHECK: ${WITH_PYTHON_INTERP_CHECK}")
+  find_package(PythonInterp) 
+  find_package(PythonLibs)
+  message(STATUS "PythonInterp: ${PythonInterp}")
+  message(STATUS "PythonLibs: ${PythonLibs}")
+endif()
+
 
 include_directories(
     ${PYTHON_INCLUDE_DIRS}

cpp/utils/build.sh

@@ -6,11 +6,17 @@ if [ ! -d $1 ]; then
 fi
 }
 
-STARTING_DIR=`pwd`
+# ====================================================
+# check if we have external options
+EXTERNAL_OPTION=$1
+if [[ -n "$EXTERNAL_OPTION" ]]; then
+    echo "external option: $EXTERNAL_OPTION" 
+fi
+# ====================================================
 
 make_dir build
 cd build
-cmake ..
+cmake .. $EXTERNAL_OPTION
 make -j 4
 
-cd $STARTING_DIR
+cd ..

install_all.sh

@@ -2,16 +2,16 @@
 
 #N.B: this install script allows you to run main_slam.py and all the scripts 
 
+set -e
+
 # ====================================================
 # import the utils 
 . bash_utils.sh 
 
 # ====================================================
 
-set -e
-
-# set up git submodules  
-./install_basic.sh 
+# install basic modules and set up git submodules  
+. install_basic.sh          # use . in order to inherit python env configuration and possible other env vars 
 
 # build and install thirdparty 
-./install_thirdparty.sh 
+. install_thirdparty.sh     # use . in order to inherit python env configuration and possible other env vars 

install_all_conda.sh

@@ -8,16 +8,22 @@
 
 # ====================================================
 
-set -e
+#set -e
 
 # set up git submodules  
-./install_basic.sh 0 # the '0' is an option for skipping pip3 packages installation  
+. install_basic.sh 0 0 # the first '0' is an option for skipping pip3 packages installation (script install_pip3_packages.sh),
+                       # the second '0' is for skipping the install_cpp.sh script therein (that will be called below) 
 
 # create a pyslam environment within conda and activate it 
 . pyenv-conda-create.sh 
 
+export WITH_PYTHON_INTERP_CHECK=ON  # in order to detect the correct python interpreter 
+
+# build and install cpp stuff 
+. install_cpp.sh                    # use . in order to inherit python env configuration and other environment vars 
+
 # build and install thirdparty 
-. install_thirdparty.sh 
+. install_thirdparty.sh             # use . in order to inherit python env configuration and other environment vars 
 
 
 # N.B.:

install_all_venv.sh

@@ -0,0 +1,36 @@
+#!/usr/bin/env bash
+
+#N.B: this install script allows you to run main_slam.py and all the scripts 
+
+# ====================================================
+# import the utils 
+. bash_utils.sh 
+
+# ====================================================
+
+#set -e
+
+# set up git submodules  
+. install_basic.sh 0 0 # the first '0' is an option for skipping pip3 packages installation (script install_pip3_packages.sh),
+                       # the second '0' is for skipping the install_cpp.sh script therein (that will be called below) 
+
+# create a pyslam environment within venv 
+. pyenv-create.sh 
+
+export WITH_PYTHON_INTERP_CHECK=ON  # in order to detect the correct python interpreter 
+
+# build and install cpp stuff 
+. install_cpp.sh                    # use . in order to inherit python env configuration and other environment vars 
+
+# build and install thirdparty 
+. install_thirdparty.sh             # use . in order to inherit python env configuration and other environment vars 
+
+
+# N.B.:
+# if your run into troubles with opencv xfeatures2D/SIFT/SURF then run the following commands into your pyslam environment 
+# $ pip3 uninstall opencv-contrib-python
+# $ pip3 install opencv-contrib-python==3.4.2.16
+
+# HACK (this is actually run inside the created pyenv environment ) 
+#pip uninstall opencv-contrib-python
+#pip install opencv-contrib-python==3.4.2.16

install_basic.sh

@@ -1,7 +1,9 @@
 #!/usr/bin/env bash
 
 #N.B: this install script allows you to run main_vo.py and the test scripts 
-# echo "usage: ./${0##*/} <INSTALL_PIP3_PACKAGES>"   # the argument is optional 
+# echo "usage: ./${0##*/} <INSTALL_PIP3_PACKAGES> <INSTALL_CPP>"   # the arguments are optional 
+
+#set -e
 
 # ====================================================
 # import the utils 
@@ -10,29 +12,39 @@
 # ====================================================
 
 export INSTALL_PIP3_PACKAGES=1   # install pip3 packages by default 
-if [ $# -eq 1 ]; then
+if [ $# -ge 1 ]; then
     # check optional argument 
     INSTALL_PIP3_PACKAGES=$1
     echo INSTALL_PIP3_PACKAGES: $INSTALL_PIP3_PACKAGES
 fi
-# ====================================================
 
-set -e
+export INSTALL_CPP=1   # install cpp by default 
+if [ $# -ge 2 ]; then
+    # check optional argument 
+    INSTALL_CPP=$2
+    echo INSTALL_CPP: $INSTALL_CPP
+fi
+
+# ====================================================
 
 echo `pwd`
 
 # install system packages 
-./install_system_packages.sh
+. install_system_packages.sh     # use . in order to inherit python env configuration 
 
 # install pip3 packages 
 # N.B.: install_pip3_packages script can be skipped if you intend to use a virtual python environment 
 if [ $INSTALL_PIP3_PACKAGES -eq 1 ]; then
     echo 'installing pip3 packages'
-    ./install_pip3_packages.sh 
+    ./install_pip3_packages.sh   
 fi 
 
 # set up git submodules  
 ./install_git_modules.sh 
 
 # build and install cpp stuff 
-./install_cpp.sh 
+# N.B.: install_cpp script can be skipped here if you intend to use a virtual python environment 
+#       but it must be then called within your virtual python environment in order to properly install libs 
+if [ $INSTALL_CPP -eq 1 ]; then
+    ./install_cpp.sh                
+fi 

install_cpp.sh

@@ -7,7 +7,23 @@
 
 # ====================================================
 
-set -e
+#set -e
+
+
+# ====================================================
+# check if we have external options
+EXTERNAL_OPTION=$1
+if [[ -n "$EXTERNAL_OPTION" ]]; then
+    echo "external option: $EXTERNAL_OPTION" 
+fi
+
+# check if we want to add a python interpreter check
+if [[ -n "$WITH_PYTHON_INTERP_CHECK" ]]; then
+    echo "WITH_PYTHON_INTERP_CHECK: $WITH_PYTHON_INTERP_CHECK " 
+    EXTERNAL_OPTION="$EXTERNAL_OPTION -DWITH_PYTHON_INTERP_CHECK=$WITH_PYTHON_INTERP_CHECK"
+fi
+# ====================================================
+
 
 print_blue '================================================'
 print_blue "Building and installing cpp ..."
@@ -16,8 +32,10 @@ cd cpp
 
 # build utils 
 cd utils 
-./build.sh
+. build.sh $EXTERNAL_OPTION       # use . in order to inherit python env configuration 
 cd ..
 
-# ... 
+cd .. 
+
+
 

install_delf.sh

@@ -10,7 +10,7 @@
 STARTING_DIR=`pwd`  # this should be the main folder directory of the repo
 
 
-set -e
+#set -e
 
 # N.B.: this must be run after having run the script install_git_modules.sh  
 

install_git_modules.sh

@@ -7,7 +7,7 @@
 
 # ====================================================
 
-set -e
+#set -e
 
 
 STARTING_DIR=`pwd`  # this should be the main folder directory of the repo
@@ -76,4 +76,5 @@ cd $STARTING_DIR
 
 
 # install delf   
-./install_delf.sh 
+./install_delf.sh 
+cd $STARTING_DIR

install_pip3_packages.sh

@@ -7,7 +7,7 @@
 
 # ====================================================
 
-set -e
+#set -e
 
 print_blue '================================================'
 print_blue "Configuring and installing python packages ..."

install_system_packages.sh

@@ -7,7 +7,7 @@
 
 # ====================================================
 
-set -e
+#set -e
 
 print_blue '================================================'
 print_blue "Configuring and installing system packages ..."