ZED MINI CAMERA开发环境配置

型号：Thinkpad T460p
显卡：GeForce 940MX
系统：Ubuntu 16.04.4 LTS
内核：4.13.0-45-generic
为SLAM系统开发配置环境，使用ZED MINI CAMERA。

Ubuntu 16.04
uname -r
4.13.0-36-generic

lsb_release -a
No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 16.04.4 LTS
Release:	16.04
Codename:	xenial

换源

sudo cp /etc/apt/sources.list /etc/apt/sources.list_backup
sudo gedit /etc/apt/sources.list

填入：

deb http://mirrors.163.com/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ xenial-proposed main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ xenial-backports main restricted universe multiverse

终端：

sudo apt-get update
sudo apt-get upgrade
sudo apt-get install build-essential vim

安装NVIDIA驱动

sudo apt-get remove --purge nvidia*
sudo add-apt-repository ppa:graphics-drivers/ppa
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys FCAE110B1118213C
sudo apt-get update
sudo apt-get install nvidia-396

重启电脑，终端执行:

ls /dev/nvidia*

/dev/nvidia0  /dev/nvidiactl  /dev/nvidia-modeset  /dev/nvidia-uvm
cat /proc/driver/nvidia/version

NVRM version: NVIDIA UNIX x86_64 Kernel Module  396.24  Thu Apr 26 00:10:09 PDT 2018
GCC version:  gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.9)

安装CUDA 9.1
官网下载CUDA cuda_9.1.85_387.26_linux.run。

chmod +x cuda_9.1.85_387.26_linux.run
sudo sh ./cuda_9.1.85_387.26_linux.run

只安装CUDA 9.1 Toolkit。

重启，配置环境：

sudo gedit ~/.bashrc

添加：

export PATH=/usr/local/cuda/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH

刷新：

source /etc/profile

重启：

nvcc -V

nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2017 NVIDIA Corporation
Built on Fri_Nov__3_21:07:56_CDT_2017
Cuda compilation tools, release 9.1, V9.1.85
Building Samples (optional)
cd /NVIDIA_CUDA-9.1_Samples/1_Utilities/deviceQuery
make
./deviceQuery 

 CUDA Device Query (Runtime API) version (CUDART static linking)

Detected 1 CUDA Capable device(s)

Device 0: "GeForce 940MX"
  CUDA Driver Version / Runtime Version          9.2 / 9.1
  CUDA Capability Major/Minor version number:    5.0
  Total amount of global memory:                 2004 MBytes (2101870592 bytes)
  ( 3) Multiprocessors, (128) CUDA Cores/MP:     384 CUDA Cores
  GPU Max Clock rate:                            1242 MHz (1.24 GHz)
  Memory Clock rate:                             1001 Mhz
  Memory Bus Width:                              64-bit
  L2 Cache Size:                                 1048576 bytes
  Maximum Texture Dimension Size (x,y,z)         1D=(65536), 2D=(65536, 65536), 3D=(4096, 4096, 4096)
  Maximum Layered 1D Texture Size, (num) layers  1D=(16384), 2048 layers
  Maximum Layered 2D Texture Size, (num) layers  2D=(16384, 16384), 2048 layers
  Total amount of constant memory:               65536 bytes
  Total amount of shared memory per block:       49152 bytes
  Total number of registers available per block: 65536
  Warp size:                                     32
  Maximum number of threads per multiprocessor:  2048
  Maximum number of threads per block:           1024
  Max dimension size of a thread block (x,y,z): (1024, 1024, 64)
  Max dimension size of a grid size    (x,y,z): (2147483647, 65535, 65535)
  Maximum memory pitch:                          2147483647 bytes
  Texture alignment:                             512 bytes
  Concurrent copy and kernel execution:          Yes with 1 copy engine(s)
  Run time limit on kernels:                     Yes
  Integrated GPU sharing Host Memory:            No
  Support host page-locked memory mapping:       Yes
  Alignment requirement for Surfaces:            Yes
  Device has ECC support:                        Disabled
  Device supports Unified Addressing (UVA):      Yes
  Supports Cooperative Kernel Launch:            No
  Supports MultiDevice Co-op Kernel Launch:      No
  Device PCI Domain ID / Bus ID / location ID:   0 / 2 / 0
  Compute Mode:
     < Default (multiple host threads can use ::cudaSetDevice() with device simultaneously) >

deviceQuery, CUDA Driver = CUDART, CUDA Driver Version = 9.2, CUDA Runtime Version = 9.1, NumDevs = 1
Result = PASS

安装OpenCV 3.4.0
官网下载sources。

sudo apt-get install build-essential git cmake git yasm libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev python-dev python-numpy python-tk libtbb2 libtbb-dev libjpeg-dev libpng12-dev libtiff5-dev libjasper-dev libdc1394-22-dev libswscale-dev libopenexr-dev libeigen2-dev libeigen3-dev libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev libqt4-dev libqt4-opengl-dev sphinx-common texlive-latex-extra libv4l-dev

mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D BUILD_EXAMPLES=OFF -D BUILD_DOCS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_TESTS=OFF -D WITH_GTK_2_X=ON -D WITH_QT=ON -D WITH_OPENGL=ON ..
make -j8
sudo make install

sudo /bin/bash -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
sudo ldconfig

安装ROS Kinetic (optional)

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full

sudo rosdep init
rosdep update

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

sudo apt-get install python-rosinstall

echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc之后，系统的opencv版本会变成Kinetic自带的3.3版本，所以必要时不要添加此句。

安装ZED SDK
官网下载ZED_SDK_Linux_Ubuntu16_v2.4.0.run。

chmod +x ZED_SDK_Linux_Ubuntu16_v2.4.0.run
./ZED_SDK_Linux_Ubuntu16_v2.4.0.run

输入 q 退出 license agreement。

To accept the license simply press Tab key until the ‘O.k.’ is highlighted when installing the ttf-mscorefonts-installer

测试：

/usr/local/zed/tools/ZED\ Explorer