Add build script and devcontainer configurations for VIO development

2026-04-25 12:16:54 +00:00
parent 10ffc327b2
commit ae3946e650
4 changed files with 189 additions and 0 deletions
@@ -0,0 +1,114 @@
+#!/bin/bash
+
+set -x
+# ./build.sh -t DESKTOP -p "vins_estimator" -b RelWithDebInfo
+# ./build.sh -t RK3588 -p "depthai_examples" -b RelWithDebInfo
+# ./build.sh -t DESKTOP -p "device_manager" -b RelWithDebInfo
+# ./build.sh -t RK3588 -p "depthai_examples vins_estimator" -b Release 
+# ./build.sh -t RK3588 -p "svo_ros" -b Release 
+# ./build.sh -t DESKTOP -p "ov_core ov_init ov_msckf" -b RelWithDebInfo -l 1
+
+# export WORKSPACE="$(dirname "$(realpath "$BASH_SOURCE")")"
+# export WORKSPACE="$(realpath "$BASH_SOURCE")"
+export WORKSPACE="$(dirname "$0")"
+
+TARGET_PLATFORM=""
+BUILD_TYPE=Release
+PACKAGE_UP_TO=""
+TOOLCHAIN_FILE=""
+INSTALL_METHOD="--merge-install"
+CMAKE_FORCE_CONFIG=""
+
+CMAKE_ARGS='-DBUILD_TESTING=OFF
+    -DDEPTHAI_ENABLE_CURL=OFF 
+    -DBUILD_SHARED_LIBS=ON
+    -DCMAKE_POSITION_INDEPENDENT_CODE=ON'
+
+# if number of arguments is less than 2, add -h to list of args
+if [ $# -lt 2 ]; then
+    set -- "$@" -h
+fi
+
+usage() {
+    echo "Usage: build.bash [-h] [-b <build_type>] -t <target_platform> -p <package> [-c] "
+    echo "Options:"
+    echo "  -h              : show this help text"
+    echo "  -b <build_type> : build type to use (default is RelWithDebInfo for platform=PC and Release for others)"
+    echo "  -t <target>     : platform to build for (DESKTOP/RK3588)"
+    echo "  -p              : Build select package"
+    echo "  -c              : Do a clean build"
+    echo "  -f              : Force cmake configure"
+    exit 0
+}
+
+# Parse the build options.
+while getopts ":hb:t:p:m:f:d:l:c" opt; do
+  case $opt in
+    h) usage;;
+    b) BUILD_TYPE="$OPTARG";;
+    t) TARGET_PLATFORM="$OPTARG";;
+    p) PACKAGE_UP_TO="--packages-up-to $OPTARG";;
+    d) PRODUCT="$OPTARG";;
+    c) CLEAN_BUILD="true";;
+    f) CMAKE_FORCE_CONFIG="--cmake-force-configure";;
+    l) INSTALL_METHOD='--symlink-install';;
+    ?) usage;;
+  esac
+done
+
+if [[ "${TARGET_PLATFORM}" = "" ]]; then
+    echo "Please specify the platform to build for"
+    exit 1
+fi
+
+CMAKE_ARGS+=" -DCMAKE_EXPORT_COMPILE_COMMANDS=ON "
+
+if [[ "${BUILD_TYPE}" = "" ]];then
+    if [[ "${TARGET_PLATFORM}" = "PC" ]]; then
+        BUILD_TYPE=RelWithDebInfo
+    else
+        BUILD_TYPE=Release
+    fi
+fi
+CMAKE_ARGS+=" -DCMAKE_BUILD_TYPE=${BUILD_TYPE}"
+
+if [[ ${CLEAN_BUILD} = "true" ]]; then
+    rm -rf ${WORKSPACE}/output/${TARGET_PLATFORM}
+fi
+
+if [[ "${TARGET_PLATFORM}" = "RK3588" ]]; then
+    # in rk3588_dev container
+    TOOLCHAIN_FILE=/opt/cmake/rk3588.toolchain.cmake
+    CMAKE_ARGS+=" -DCMAKE_TOOLCHAIN_FILE=${TOOLCHAIN_FILE}"
+    export ARM_ARCHITECTURE=arm64
+fi
+
+export TARGET=${TARGET_PLATFORM}
+
+INSTALL_DIR=${WORKSPACE}/output/${TARGET_PLATFORM}/install
+BUILD_DIR=${WORKSPACE}/output/${TARGET_PLATFORM}/build
+LOG_DIR=${WORKSPACE}/output/${TARGET_PLATFORM}/log
+
+# CMAKE_ARGS+=" -DCMAKE_FIND_USE_CMAKE_SYSTEM_PATH=OFF"
+CMAKE_ARGS+=" -DCMAKE_EXE_LINKER_FLAGS="-Wl,-rpath-link,/workspace/output/RK3588/install/lib""
+
+
+echo "TARGET: ${TARGET_PLATFORM}"
+echo "TOOLCHAIN_FILE: ${TOOLCHAIN_FILE}"
+echo "PACKAGE_UP_TO: ${PACKAGE_UP_TO}"
+
+MAKEFLAGS="-j8" colcon --log-base ${LOG_DIR} build \
+       --build-base ${BUILD_DIR} \
+       --install-base  ${INSTALL_DIR} \
+       --parallel-workers 8 \
+       ${INSTALL_METHOD} \
+       ${PACKAGE_UP_TO} \
+       ${CMAKE_FORCE_CONFIG} \
+       --cmake-args \
+       --no-warn-unused-cli \
+       ${CMAKE_ARGS}
+
+if [ $? -eq 0 ]; then
+    mkdir -p "${INSTALL_DIR}"
+    echo "Build: $(date "+%Y-%m-%d %H:%M:%S")" > "${INSTALL_DIR}/version"
+fi