#!/bin/bash

# Consider $ sudo nvpmodel -m 2 or $ sudo nvpmodel -m 0

OPENCV_VERSION=4.7.0

INSTALL_DIR=/usr/local

OPENCV_SOURCE_DIR=$HOME/Documents

PYTHON_DIR=~/.pyenv/versions/3.11-dev

DEPENDENCIES=YES

CLEANUP=NO

usage () 
{
    echo "usage: ./buildAndPackageOpenCV.sh [[-s sourcedir ] | [-h]]"
    echo "-s | --sourcedir   Directory in which to place the opencv sources (default $HOME/Documents)"
    echo "-i | --installdir  Directory in which to install opencv libraries (default /usr/local)"
    echo "-d | --dependencies Install required dependencies (default YES)"
    echo "-c | --cleanup build folder (default NO)"
    echo "-h | --help  This message"
}

checkout ()
{
  cd $1

  branch=$(git symbolic-ref --short HEAD)
  if [ "$branch" != "v${OPENCV_VERSION}" ]; then
    git checkout -b v${OPENCV_VERSION} ${OPENCV_VERSION}
  else
    echo
    echo "$1 git repository binds to v${OPENCV_VERSION} branch"
  fi
}

# Iterate through command line inputs
while [ "$1" != "" ]; do
    case $1 in
        -s | --sourcedir )      shift
				                        OPENCV_SOURCE_DIR=$1
                                ;;
        -i | --installdir )     shift
                                INSTALL_DIR=$1
                                ;;
        -d | --dependencies )   shift
                                DEPENDENCIES=$1
                                ;;
        -c | --cleanup )        shift
                                CLEANUP=$1
                                ;;
        -h | --help )           usage
                                exit
                                ;;
        * )                     usage
                                exit 1
    esac
    shift
done

CMAKE_INSTALL_PREFIX=$INSTALL_DIR
WHEREAMI=$PWD
NUM_CPU=$(nproc)

if [ "$UID" = "0" ]; then
  echo "Error: Can't execute this script as root user."
  exit 1
fi

# Print out the current configuration
echo
echo "** Build configuration: "
echo "  Jetson Module: $JETSON_MODULE"
echo "  Operating System: $JETSON_L4T [Jetpack $JETSON_JETPACK]"
echo "  Jetson Cuda Architecture Binaries: $JETSON_CUDA_ARCH_BIN"
echo
echo "  OpenCV sources will be installed in: $OPENCV_SOURCE_DIR"
echo "  OpenCV binaries will be installed in: $CMAKE_INSTALL_PREFIX"

if [ "$DEPENDENCIES" = "YES" ] ; then

  # Dependencies setup
  echo
  echo "** Installing dependencies"

  sudo apt-add-repository universe
  sudo apt-get update
  sudo apt-get upgrade

  cd $WHEREAMI
   
  sudo apt-get install -y \
      cmake \
      libavcodec-dev \
      libavformat-dev \
      libavutil-dev \
      libeigen3-dev \
      libglew-dev \
      libgtk2.0-dev \
      libgtk-3-dev \
      libjpeg-dev \
      libpng-dev \
      libpostproc-dev \
      libswscale-dev \
      libtbb-dev \
      libtiff5-dev \
      libv4l-dev \
      libxvidcore-dev \
      libx264-dev \
      qt5-default \
      zlib1g-dev \
      libgl1 \
      libglvnd-dev \
      pkg-config

  # GStreamer support
  sudo apt-get install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev

else

  echo
  echo "** Skipping dependencies installation"

fi

if [ ! -d "$OPENCV_SOURCE_DIR/opencv" ]; then

  echo
  echo "** Installing OpenCV sources in $OPENCV_SOURCE_DIR"

  cd $OPENCV_SOURCE_DIR
  git clone https://github.com/opencv/opencv.git

fi

checkout "$OPENCV_SOURCE_DIR/opencv"

if [ ! -d "$OPENCV_SOURCE_DIR/opencv_contrib" ]; then

  echo
  echo "** Installing OpenCV Contributions sources in $OPENCV_SOURCE_DIR"

  cd $OPENCV_SOURCE_DIR
  git clone https://github.com/opencv/opencv_contrib.git

fi

checkout "$OPENCV_SOURCE_DIR/opencv_contrib"

if [ ! -d "$OPENCV_SOURCE_DIR/opencv/build" ]; then

  mkdir "$OPENCV_SOURCE_DIR/opencv/build"

else

  if [ "$CLEANUP" = "YES" ] ; then

    rm -rf "$OPENCV_SOURCE_DIR/opencv/build"
    mkdir "$OPENCV_SOURCE_DIR/opencv/build"

  fi

fi

cd "$OPENCV_SOURCE_DIR/opencv/build"

echo
echo "** Configuring Cmake"

time cmake  -D CMAKE_BUILD_TYPE=RELEASE \
            -D CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
            -D OPENCV_EXTRA_MODULES_PATH="$OPENCV_SOURCE_DIR/opencv_contrib/modules" \
            -D BUILD_TESTS=OFF \
            -D BUILD_PERF_TESTS=OFF \
            -D BUILD_LIST=\
                    opencv_core \
                    opencv_imgproc \
                    opencv_calib3d \
                    opencv_objdetect \
                    opencv_highgui \
                    opencv_videoio \
                    cudev \
                    aruco \
                    python2 \
                    python3 \
            -D WITH_CUDA=ON \
            -D CUDA_ARCH_BIN=${JETSON_CUDA_ARCH_BIN} \
            -D CUDA_ARCH_PTX="" \
            -D CUDA_FAST_MATH=ON \
            -D CUDA_NVCC_FLAGS="--expt-relaxed-constexpr" \
            -D ENABLE_FAST_MATH=ON \
            -D WITH_CUBLAS=ON \
            -D WITH_LIBV4L=ON \
            -D WITH_GSTREAMER=ON \
            -D WITH_GSTREAMER_0_10=OFF \
            -D WITH_OPENGL=ON \
            -D WITH_TBB=ON \
            -D OpenGL_GL_PREFERENCE="LEGACY" \
            -D PYTHON_DEFAULT_EXECUTABLE="$PYTHON_DIR/bin/python3" \
            -D PYTHON3_EXECUTABLE="$PYTHON_DIR/bin/python3" \
            -D PYTHON3_INCLUDE_DIR="$PYTHON_DIR/include/python3.11" \
            -D PYTHON3_PACKAGES_PATH="$PYTHON_DIR/lib/python3.11" \
            -D CPACK_BINARY_DEB=ON \
            ../

if [ $? -eq 0 ] ; then
  echo
  echo "CMake configuration make successful"
else
  echo
  echo "CMake issues " >&2
  echo "Please check the configuration being used"
  exit 1
fi

echo
echo "** Building OpenCV"

time make -j$(($NUM_CPU - 1))

if [ $? -eq 0 ] ; then
  echo
  echo "OpenCV make successful"
else
  echo
  echo "Make did not build " >&2
  echo "Retrying ... "

  # Single thread this time
  make

  if [ $? -eq 0 ] ; then
    echo
    echo "OpenCV make successful"
  else
    echo
    echo "Make did not successfully build" >&2
    echo "Please fix issues and retry build"
    exit 1
  fi
fi

echo
echo "** Installing OpenCV"

sudo make install

if [ $? -eq 0 ] ; then
    echo
   echo "OpenCV installed in: $CMAKE_INSTALL_PREFIX"
else
   echo "There was an issue with the final installation"
   exit 1
fi

# check installation
IMPORT_CHECK="$(python -c "import cv2 ; print cv2.__version__")"
if [[ $IMPORT_CHECK != *$OPENCV_VERSION* ]]; then
  echo "There was an error loading OpenCV in the Python sanity test."
  echo "The loaded version does not match the version built here."
  echo "Please check the installation."
  echo "The first check should be the PYTHONPATH environment variable."
fi

echo
echo "** Starting Packaging"

sudo ldconfig  

time sudo make package -j$(($NUM_CPU - 1))

if [ $? -eq 0 ] ; then
  echo "OpenCV make package successful"
else
  # Try to make again; Sometimes there are issues with the build
  # because of lack of resources or concurrency issues
  echo "Make package did not build " >&2
  echo "Retrying ... "

  # Single thread this time
  sudo make package

  if [ $? -eq 0 ] ; then
    echo "OpenCV make package successful"
  else
    # Try to make again
    echo "Make package did not successfully build" >&2
    echo "Please fix issues and retry build"
    exit 1
  fi
fi

# check installation
IMPORT_CHECK="$(python -c "import cv2 ; print(cv2.__version__)")"
if [[ $IMPORT_CHECK != *$OPENCV_VERSION* ]]; then
  echo "There was an error loading OpenCV in the Python sanity test."
  echo "The loaded version does not match the version built here."
  echo "Please check the installation."
  echo "The first check should be the PYTHONPATH environment variable."
fi