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CUDA
CUDA被用于驱动NVIDIA GPU,而GPU在OpenPTrack v2中也是被需要的,首先安装驱动器:
sudo apt-get install -y ocl-icd-opencl-dev
下载获取CUDA8的安装客户端:
wget https://developer.nvidia.com/compute/cuda/8.0/Prod2/local_installers/cuda_8.0.61_375.26_linux-run -O cuda.run
制作可执行文件
chmod +x cuda.run
执行,然后根据情况输入参数
sudo ./cuda.run
<press q>
<type accept and enter>
<press n> <DO NOT install the driver when it asks!>
<press y>
<press Enter>
<press y>
<press n>
<press Enter>
获取 cudnn 5.1 for CUDA 8:
wget https://www.dropbox.com/s/cx95583vbf1ifzm/cudnn-8.0-linux-x64-v5.1.tgz?dl%3D0&sa=D&ust=1507541105896000&usg=AFQjCNEU511fT00n547PxPt_P6cfSLPVWw
tar -zxvf cudnn*
sudo cp cuda/include/* /usr/local/cuda/include
sudo cp cuda/lib64/* /usr/local/cuda/lib64/
注意:在这步时由于网络问题无法直接获取,需要自己手动下载cudnn5.1安装,下载地址为:(这步需要注册登陆nvidia官网),安装包会附在文章之后。
然后,将驱动加入环境变量:
echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64' >> ~/.bashrc
echo 'export PATH=$PATH:/usr/local/cuda/bin' >> ~/.bashrc
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Libfreenect2
这是一个开源的Kinect V2驱动程序,安装需要以下操作:
cd
cd workspace
git clone https://github.com/openptrack/libfreenect2
cd libfreenect2
git checkout 1606
cd depends/
sudo apt-get install -y git cmake cmake-curses-gui libxmu-dev libxi-dev libgl1-mesa-dev dos2unix xorg-dev libglu1-mesa-dev libtool automake libudev-dev libgtk2.0-dev pkg-config libjpeg-turbo8-dev libturbojpeg libglewmx-dev
./install_ubuntu.sh
sudo ln -f -s /usr/lib/x86_64-linux-gnu/libturbojpeg.so.0.1.0 /usr/lib/x86_64-linux-gnu/libturbojpeg.so
cd ..
mkdir build && cd build
cmake ..
make
sudo make install
echo '# ATTR{product}=="Kinect2"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02c4", MODE="0666"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d8", MODE="0666"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d9", MODE="0666"' > ~/90-kinect2.rules
sudo mv ~/90-kinect2.rules /etc/udev/rules.d/90-kinect2.rules
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iai_kinect2
这个软件使得ROS可以使用Kinect V2,安装做以下操作:
cd /home/$USER/workspace/ros/src
git clone https://github.com/openptrack/iai_kinect2
cd iai_kinect2
git checkout 1607
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ceres_solver
这是一个线性优化函数包,安装步骤如下:
sudo apt-get install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev -y --force-yes
mkdir /tmp/ceres_install
cd /tmp/ceres_install
git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
git fetch --tags
git checkout tags/1.9.0
cd ..
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver
make -j8
make test
sudo make install
sudo rm -R /tmp/ceres_install
注意:由于项目在googlesource上,所以不能直接git拉取,需要手动下载,下载及安装教程地址为: http://ceres-solver.org/ 和 http://ceres-solver.org/installation.html
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calibration_toolkit
这是校准工具包,安装操作如下:
cd ~/workspace/ros/src
git clone https://github.com/iaslab-unipd/calibration_toolkit
cd calibration_toolkit
git fetch origin --tags
git checkout tags/v0.2
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OpenCV
OpenCV是领先的计算机视觉开源库,以下步骤将指导从源代码安装OpenCV:
cd
cd workspace
sudo apt-get update
git clone https://github.com/marketto89/opencv
cd opencv
git checkout 3.1.0-with-cuda8
mkdir release
cd release
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local/opencv3 -D WITH_TBB=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -D INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D BUILD_EXAMPLES=ON -D WITH_QT=ON -D WITH_OPENGL=ON -D ENABLE_FAST_MATH=1 -D CUDA_FAST_MATH=1 -D WITH_CUBLAS=1 -D WITH_IPP=ON -D CMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs ..
make -j8 -l8
sudo make install
printf '#OpenCV\nPKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/opencv3/lib/pkgconfig\nexport PKG_CONFIG_PATH\n' >> ~/.bashrc
printf 'PATH=$PATH:/usr/local/opencv3/bin\nexport PATH\n' >> ~/.bashrc
printf 'LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/opencv3/lib\nexport LD_LIBRARY_PATH\n' >> ~/.bashrc
source ~/.bashrc
sudo ln -s /usr/local/opencv3/share/OpenCV/3rdparty/lib/libippicv.a /usr/local/lib/libippicv.a
注意:在opencv项目大小约75M,在地下室下载由于网速问题一般会出错,需要手动下载,或者将clone地址换成托管在国内码云上的代码,地址为:https://gitee.com/jiangroubao/opencv.git
安装包也已经附在文章之后。
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rtpose_wrapper
这是openpose包,用于人体骨骼姿态的检测
cd ~/workspace/ros/src
git clone https://bitbucket.org/mcarraro/rtpose_wrapper
cd rtpose_wrapper
git checkout integration-1604
sudo apt-get --assume-yes install libprotobuf-dev libleveldb-dev libsnappy-dev libhdf5-serial-dev protobuf-compiler libboost-all-dev libgflags-dev libgoogle-glog-dev liblmdb-dev
make all -j8
注意:由于是托管在bitbucket上,下载速度很慢,所以需要手动下载,或者将clone地址换成托管在国内码云上的代码,地址为:https://gitee.com/jiangroubao/rtpose_wrapper.git
安装包也已经附在文章之后。
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ZED 安装
如果使用的是ZED相机,还需要安装以下:
cd ~
wget https://www.stereolabs.com/developers/downloads/archives/ZED_SDK_Linux_Ubuntu16_v2.0.1.run
<Make sure ZED is plugged into Computer>
chmod +x ZED_SDK_Linux_Ubuntu16_v2.0.1.run
./ZED_SDK_Linux_Ubuntu16_v2.0.1.run
<Go through install steps>
cd
cd workspace/ros/src
git clone https://bitbucket.org/mcarraro/zed_wrapper_opt
cd ..
至此各项依赖安装完成。