INDEMINO ROS版本安装

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-2_downloadfirst_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