INDEMINO ROS版本安装
Opencv3.3.1安装
1. 安装依赖
sudo apt install gcc g++
sudo apt install build-essential cmake git pkg-config libgtk-3-dev libcanberra-gtk*
sudo apt install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev
sudo apt install libjpeg-dev libpng-dev libtiff-dev gfortran openexr libatlas-base-dev opencl-headers
sudo apt install python3-dev python3-numpy libtbb2 libtbb-dev libdc1394-22-dev
2.下载好源码包,后编译
[下载地址](https://download.csdn.net/download/qq_43145072/11422560?ops_requ est_misc=%257B%2522request%255Fid%2522%253A%2522160347221119724842909833%2522%252C%2522scm%2522%253A%252220140713.130102334…%2522%257D&request_id=160347221119724842909833&biz_id=1&utm_medium=distribute.pc_search_result.none-task-download-2downloadfirst_rank_v2~rank_dl_default-2-11422560.pc_v2_rank_dl_default&utm_term=OpenCV+3.3.1&spm=1018.2118.3001.4187)
OpenCV 编译安装参考
weixin_40494464ubuntu16.04安装OpenCV3.3.1
mkdir build
cd build/
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j
sudo make install
3.编译OpenCV时内存不足
报错:c++: internal compiler error: Killed (program cc1plus)
解决方案就是:使用swap创建临时分区
感谢搞嵌入式的Lucas
3.1.解决方案
使用swap创建临时分区
sudo dd if=/dev/zero of=/swapfile bs=64M count=16
#count的大小就是增加的swap空间的大小,64M是块大小,所以空间大小是bs*count=1024MB
sudo mkswap /swapfile
#把刚才空间格式化成swap格式
chmod 0600 /swapfile
#该目录权限,不改的话,在下一步启动时会报“swapon: /swapfile: insecure permissions 0644, 0600 suggested.”错误
sudo swapon /swapfile
#使用刚才创建的swap空间
3.2.工作做完可以把临时空间关闭
swapoff -a
#详细的用法可以:swapoff --help
#查看当前内存使用情况:free -m
3. 环境配置
sudo /bin/bash -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
sudo ldconfig
sudo vim /etc/bash.bashrc
protobuf安装
sudo apt-get install autoconf automake libtool #protobuf依赖安装
# git clone https://github.com/google/protobuf.git #推荐手动下载,git比较慢
gt clone https://gitee.com/mirrors/protobuf-c.git
cd protobuf
./autogen.sh
./configure
make
make check
sudo make install
sudo ldconfig #refresh shared library cache.
protoc --version #若安装成功,将显示protoc版本
git clone https://github.com/alibaba/MNN.git
git clone https://gitee.com/mirrors/mnn.git
cd MNN
./schema/generate.sh
mkdir build
cd build
cmake ..
make -j6
sudo make install
ROS版本安装
官方文档地址:https://imsee-sdk-docs.readthedocs.io/zh/latest/src/sdk/install_ros_wrapper.html#ros-kinetic
说明:Ubuntu18.04的ROS版本是Melodic,官方文档说仅安装ROS版本不需要安装Opencv,是针对于Ubuntu16.04的系统;Ubuntu16.04上ROS版本Kinetic会自动安装Opencv3.3.1,但是Melodic不会,所以在Xavier上仅安装ROS版本的代码还是需要安装Opencv
1.编译代码
cd IMSEE-SDK
make ros
2.运行代码
sudo su ############### 这一步是必须的,不加权限会报错
source ros/devel/setup.bash ############### 环境变量
roslaunch imsee_ros_wrapper start.launch
or
roslaunch imsee_ros_wrapper display.launch