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Prerequisites for Matterport3D Simulator on MacOS

A C++ compiler with C++11 support is required. Matterport3D Simulator has several dependencies:

Install dependencies on MacOS

Install dependencies on Ubuntu is easy and straightforward, but it gets a little bit tricky on MacOS.

FIrst let's install Conda.

Install Homebew. We will be using it to install other dependencies.

/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"

Install Opencv via Homebew.

brew install opencv3 --with-python3

Note that this will install OpenCV without OpenGL support. This will be enough if you don't need it with the Matterport3D Simulator, i.e.

sim = MatterSim.Simulator()
sim.setRenderingEnabled(False)

After the above step, your OpenCV is installed, but we would want it to be used in a controllable environment.

Create Anaconda enviorment with python 3.6 version. (We will probably be using AllenNLP, and it currently supports only python 3.6)

# Choose whichever names of the environment you like, I am using 'r2r36' here.
conda create -n r2r36 python=3.6
# activate the env 
source activate r2r36

# install numpy. It will later on be used by OpenCV
pip install numpy

Now that we have OpenCV installed and conda env set up, we need to sym-link the OpenCV bindings.

Go to the site-package in your env

cd /anaconda3/envs/r2r36/lib/python3.6/site-packages

# create sym-link to where you installed OpenCV
ln -s /usr/local/opt/opencv/lib/python3.6/site-packages/cv2.cpython-36m-darwin.so cv2.so

Test if the OpenCV installation is correct. You should something similar like this:

(r2r36) cma@cma-ltm:/anaconda3/envs/r2r36$ python 
Python 3.6.5 |Anaconda, Inc.| 
[GCC 4.2.1 Compatible Clang 4.0.1 (tags/RELEASE_401/final)] on darwin
Type "help", "copyright", "credits" or "license" for more information.
>>> import cv2
>>>

Install OpenCV from source within Anaconda Environment

The following instruction will guide you to install OpenCV 3.4.1.

As stated earlier, we will not use the OpenCV provided in Anaconda, because we need OpenGL support for rendering in Matterport3D Simulator.

# Download the OpenCV from their GitHub repo
cd ~
git clone https://github.com/opencv/opencv
cd opencv
git checkout 3.4.1

mkdir release
cd release

# activate the enviorment, if you haven't
source activate r2r36

# configure the OpenCV with your conda enviorment
cmake .. \
    -DOPENCV_ENABLE_NONFREE=ON \
    -DWITH_FFMPEG=ON \
    -DWITH_LIBV4L=ON \
    -DWITH_OPENGL=ON \
    -DWITH_OPENVX=ON \
    -DWITH_QT=ON \
    -DWITH_OPENCL=ON \
    -DBUILD_PNG=ON \
    -DBUILD_TIFF=ON \
    -DWITH_1394=OFF \
    -DWITH_CUDA=OFF \
    -DBUILD_opencv_python2=OFF \
    -DBUILD_opencv_python3=ON \
    -DPYTHON3_EXECUTABLE=`which python3` \
    -DPYTHON3_LIBRARY=`python3-config --configdir`/libpython3.6.dylib \
    -DPYTHON3_INCLUDE_DIR=`python3 -c "import distutils.sysconfig as s; print(s.get_python_inc())"`

Compile and Install OpenCV source

# compile with 8 threads
make -j8
make install   # do not use sudo!

Now that we have OpenCV installed and conda env set up, we need to sym-link the OpenCV bindings.

Go to the site-package in your env

cd /anaconda3/envs/r2r36/lib/python3.6/site-packages

# create sym-link to where you installed OpenCV
ln -s ~/opencv/release/lib/python3/cv2.cpython-36m-darwin.so cv2.so

Test if the OpenCV installation is correct. You should something similar like this:

(r2r36) cma@cma-ltm:/anaconda3/envs/r2r36$ python 
Python 3.6.5 |Anaconda, Inc.| 
[GCC 4.2.1 Compatible Clang 4.0.1 (tags/RELEASE_401/final)] on darwin
Type "help", "copyright", "credits" or "license" for more information.
>>> import cv2
>>>

Install OpenGL

Make sure you are not in the virtual env.

source deactivate

We need to install GLFW3 and Glew

brew install glfw3 glew

Install OSMesa

In MacOS, OSMesa will be installed by installing XQuartz. You can dowload it directly from the URL.

You should be prompted to log out and log in again.

Install GLM, Pybind11, and Doxygen

brew install glm pybind11 doxygen

Compiling

Before compiling, you may want to make sure you have all the compiling tools you need, e.g. cmake, pkg-config, etc.

brew install cmake pkg-config jsoncpp

Build OpenGL version using CMake:

# Make sure you are in the working directory for Matterport3DSimulator
cd ~/Documents/Matterport3DSimulator

# create the folder
mkdir build_mac && cd build_mac

# activate the env you created earlier with conda
source activate r2r36

# if you use conda, make sure it finds the correct python path to your virtual env
cmake -DPYTHON_EXECUTABLE:FILEPATH=/path/to/your/bin/python ..
make

Check if the installation of MatterSim is correct. You should see something similar like below.

(r2r36) cma@cma-ltm:~/Documents/Matterport3DSimulator/build_mac$ python 
Python 3.6.5 |Anaconda, Inc.| 
[GCC 4.2.1 Compatible Clang 4.0.1 (tags/RELEASE_401/final)] on darwin
Type "help", "copyright", "credits" or "license" for more information.
>>> import MatterSim
>>>