install_pip3_packages.sh

#!/usr/bin/env bash
# Author: Luigi Freda 
# This file is part of https://github.com/luigifreda/pyslam

SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd ) # get script dir
SCRIPT_DIR=$(readlink -f $SCRIPT_DIR)  # this reads the actual path if a symbolic directory is used

ROOT_DIR="$SCRIPT_DIR"

# ====================================================
# import the bash utils 
. "$ROOT_DIR"/bash_utils.sh 

cd "$ROOT_DIR" 

# ====================================================

#set -e

PYTHON_ENV=$(python3 -c "import sys; print(sys.prefix)")
echo "PYTHON_ENV: $PYTHON_ENV"

print_blue '================================================'
print_blue "Configuring and installing python packages ..."

export WITH_PYTHON_INTERP_CHECK=ON  # in order to detect the correct python interpreter

# detect and configure CUDA 
. cuda_config.sh


pip3 install --upgrade pip 
pip3 install --upgrade setuptools wheel

pip3 install ninja

# Install opencv_python from source with non-free modules enabled 
INSTALL_OPENCV_FROM_SOURCE=1
if [ $INSTALL_OPENCV_FROM_SOURCE -eq 1 ]; then
    #NOTE: This procedures is preferable since it avoids issues with Qt linking/configuration
    print_green "Installing opencv_python from source with non-free modules enabled"
    ./install_opencv_python.sh
else
    PRE_OPTION="--pre"   # this sometimes helps because a pre-release version of the package might have a wheel available for our version of Python.
    MAKEFLAGS_OPTION="-j$(nproc)"
    CMAKE_ARGS_OPTION="-DOPENCV_ENABLE_NONFREE=ON" # install nonfree modules

    MAKEFLAGS="$MAKEFLAGS_OPTION" CMAKE_ARGS="$CMAKE_ARGS_OPTION" pip3 install $PIP_MAC_OPTIONS opencv-python -vvv $PRE_OPTION
    MAKEFLAGS="$MAKEFLAGS_OPTION" CMAKE_ARGS="$CMAKE_ARGS_OPTION" pip3 install $PIP_MAC_OPTIONS opencv-contrib-python -vvv $PRE_OPTION
fi

# pip3 packages 
install_pip_package pygame==2.6.0 
install_pip_package matplotlib==3.7.5 
install_pip_package pyopengl==3.1.7 
install_pip_package pillow==10.4.0
install_pip_package pybind11==2.13.1 
install_pip_package numpy==1.23.5
install_pip_package pyyaml==6.0.1 
install_pip_package termcolor==2.4.0 
install_pip_package yacs==0.1.8
install_pip_package gdown  # to download from google drive
install_pip_package ordered-set==4.1.0 # from https://pypi.org/project/ordered-set/

install_pip_package numpy-quaternion==2023.0.4
install_pip_package psutil

install_pip_package PyQt5-sip==12.15.0    # NOTE: This is required by pyqt5. The the next versions of PyQt5-sip require python 3.9.
install_pip_package pyqt5==5.15.11        # version 5.15.11 working under mac
install_pip_package pyqtgraph==0.13.3  

install_pip_package tqdm==4.66.4 
install_pip_package scipy==1.10.1
#install_pip_package scikit-image==0.16.2 # ubuntu 
install_pip_package scikit-image==0.21.0 # mac
install_pip_package seaborn==0.13.2

install_pip_package tensorflow==2.13
install_pip_package tf_slim==1.1.0

install_pip_package kornia==0.7.3
install_pip_package kornia_moons==0.2.9
install_pip_package importlib_metadata==8.0.0

install_pip_package hjson    # for reading hjson files (https://hjson.github.io/)
install_pip_package jinja2

install_pip_package timm             # ml-depth-pro
if [ "$OSTYPE" == "darwin"* ]; then
    pip3 install pillow_heif==0.17.0 # ml-depth-pro
else
    install_pip_package pillow_heif # ml-depth-pro
fi

if [ "$OSTYPE" == "darwin"* ]; then
    install_pip_package torch==2.1           # torch==2.2.0 causes some segmentation faults on mac
    install_pip_package torchvision==0.16         
else
    TORCH_CUDA_VERSION=0
    if [ "$CUDA_VERSION" != "0" ]; then
        TORCH_CUDA_VERSION=$(python3 -c "import torch; print(torch.version.cuda)")
    fi
    # if [ "$CUDA_VERSION" == "11.8" ]; then
    #     # See also docs/TROUBLESHOOTING.md
    #     # This is to avoid the RuntimeError: "The detected CUDA version (11.8) mismatches the version that was used to compile PyTorch (12.1). Please make sure to use the same CUDA versions."
    #     print_green "Installing torch==2.2.0+cu118 and torchvision==0.17+cu118"
    #     pip3 install torch==2.2.0+cu118 torchvision==0.17+cu118 --index-url https://download.pytorch.org/whl/cu118
    # fi
    INSTALL_CUDA_SPECIFIC_TORCH=false
    if [[ "$CUDA_VERSION" != "0" && "$TORCH_CUDA_VERSION" != "$CUDA_VERSION" ]]; then
        INSTALL_CUDA_SPECIFIC_TORCH=true
    fi

    print_blue "CUDA_VERSION: $CUDA_VERSION, TORCH_CUDA_VERSION: $TORCH_CUDA_VERSION"

    if $INSTALL_CUDA_SPECIFIC_TORCH; then
        print_green "System CUDA_VERSION is $CUDA_VERSION but the detected TORCH CUDA version is $TORCH_CUDA_VERSION. Installing torch==2.2.0+cu${CUDA_VERSION_STRING_COMPACT} and torchvision==0.17+cu${CUDA_VERSION_STRING_COMPACT}"
        pip3 install torch=="2.2.0+cu${CUDA_VERSION_STRING_COMPACT}" torchvision=="0.17+cu${CUDA_VERSION_STRING_COMPACT}" --index-url https://download.pytorch.org/whl/cu${CUDA_VERSION_STRING_COMPACT}   
        # check if last command was ok  (in the case we don't find the CUDA-specific torch version)
        if [[ $? -ne 0 ]]; then
            print_yellow "WARNING: Failed to install CUDA-specific torch and torchvision. Installing default versions."
            install_pip_package torch==2.2.0
            install_pip_package torchvision==0.17
        fi
    else
        install_pip_package torch==2.2.0
        install_pip_package torchvision==0.17
    fi             
fi 

pip3 install gtsam

pip3 install "rerun-sdk>=0.17.0"

install_pip_package ujson
install_pip_package tensorflow_hub  # required for VPR

pip3 install protobuf==3.20.*    # for delf NN

pip3 install einops                       # for VLAD
pip3 install fast-pytorch-kmeans #==0.1.6 # for VLAD
 
pip3 install pyflann-py3 # for loop closure database
pip3 install faiss-cpu # for loop closure database
if [ "$CUDA_VERSION" != "0" ]; then
    install_pip_package faiss-gpu  # for loop closure database on GPU
fi 

if [[ "$OSTYPE" != "darwin"* ]]; then
    pip3 install open3d
fi

# crestereo
if [[ "$OSTYPE" != "darwin"* ]]; then
    # Unfortunately, megengine is not supported on macOS with arm architecture
    pip3 install --upgrade cryptography pyOpenSSL
    python3 -m pip install megengine -f https://megengine.org.cn/whl/mge.html # This brings issues when launched in parallel processes
    #pip3 install megengine  # This brings issues with non-supported CUDA architecture on my machine
fi

if [[ "$OSTYPE" != "darwin"* ]]; then
    # for ROS
    pip3 install pycryptodomex
    pip3 install gnupg
    pip3 install rospkg
fi

pip3 install evo      #==1.11.0
pip3 install trimesh  # for utils_dust3r.py 

# pip install jax # not used at the moment 
# if [ "$CUDA_VERSION" != "0" ]; then
#     if [[ "$CUDA_VERSION" =~ ^11\. ]]; then
#         pip install --upgrade "jax[cuda11]" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html
#     fi
#     if [[ "$CUDA_VERSION" =~ ^12\. ]]; then
#         pip install --upgrade "jax[cuda12]" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html
#     fi
# fi

# MonoGS
if [ "$CUDA_VERSION" != "0" ]; then
    # We need cuda for MonoGS

    #MAKEFLAGS_OPTION="-j$(nproc)"
    
    pip3 install munch
    pip3 install wandb
    pip3 install plyfile
    pip3 install glfw
    pip3 install torchmetrics
    pip3 install imgviz
    pip3 install PyOpenGL
    pip3 install PyGLM
    pip3 install lpips
    pip3 install rich
    pip3 install ruff
    
    #pip3 install lycon  # removed since it creates install issues under ubuntu 24.04
    
    #sudo apt install -y cuda-command-line-tools-$CUDA_VERSION_STRING_WITH_HYPHENS cuda-libraries-$CUDA_VERSION_STRING_WITH_HYPHENS  # moved to install_system_packages.sh

    cd "$ROOT_DIR"    
    #pip3 install ./thirdparty/lietorch --verbose                              # to clean: $ rm -rf thirdparty/lietorch/build thirdparty/lietorch/*.egg-info

    . thirdparty/lietorch/build.sh                                             # building with cmake to enable parallel threads (for some reasons, enabling parallel threads in pip3 install fails)
    
    pip3 install ./thirdparty/monogs/submodules/simple-knn                     # to clean: $ rm -rf thirdparty/monogs/submodules/simple-knn/build thirdparty/monogs/submodules/simple-knn/*.egg-info
    pip3 install ./thirdparty/monogs/submodules/diff-gaussian-rasterization    # to clean: $ rm -rf thirdparty/monogs/submodules/diff-gaussian-rasterization/build thirdparty/monogs/submodules/diff-gaussian-rasterization/*.egg-info
else
    print_yellow "Skipping MonoGS since CUDA_VERSION is 0"
fi


# mast3r and mvdust3r
if [ "$CUDA_VERSION" != "0" ]; then
    # We need cuda for mast3r and mvdust3r

    pip3 install gradio 
    pip3 install roma 

    #sudo apt install -y libcusparse-dev-$CUDA_VERSION_STRING_WITH_HYPHENS libcusolver-dev-$CUDA_VERSION_STRING_WITH_HYPHENS # moved to install_system_packages.sh

    #MAKEFLAGS_OPTION="-j$(nproc)"
    
    # to install from source (to avoid linking issue with CUDA)
    pip3 install "git+https://github.com/facebookresearch/pytorch3d.git@stable"    
else 
    print_yellow "Skipping mast3r and mvdust3r since CUDA_VERSION is 0"
fi