ubuntu16.04+cuda8+opencv3.1+zed sdk2.1+ros 安装配置
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一、cuda8的配置
cuda8的配置在上篇文章记录过了
链接:http://blog.csdn.net/wjdexz/article/details/78113381
二、opencv3.1的配置
参考文章:ZED官方教程:https://www.stereolabs.com/documentation/overview/getting-started/getting-started.html
zed_ros_wrapper教程:官方https://www.stereolabs.com/documentation/integrations/ros/getting-started.html
http://www.cnblogs.com/zhencv/p/6739061.html
zed sdk环境搭建:http://blog.csdn.net/fangjin_kl/article/details/56012788
zed+orbslam+ros教程:http://www.dongcoder.com/detail-437895.html
opencv源码可从官网下载,ZED教程从github上下载有时速度会很慢。
1、opencv官网下载安装:
安装依赖项
[compiler] sudo apt-get install build-essential
[required] sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
[optional] sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
cmake
cd ~/opencv
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
(编译过程可能出现问题,按照参考2,3文章进行相应处理)
make
make -j7 # runs 7 jobs in parallel
sudo make install
2、ZED提供github下载安装
sudo apt-get install build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
git clone https://github.com/Itseez/opencv.git
cd opencv
git checkout tags/3.1.0
mkdir build
cd build
cmake -D WITH_CUDA=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_EXAMPLES=OFF -D CMAKE_BUILD_TYPE=RELEASE ..
(如遇错误,替换后重新编译)
#if an error about ippicv_linux is thrown:
rm -f ../3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e/ippicv_linux_20151201.tgz && wget https://github.com/opencv/opencv_3rdparty/raw/ippicv/master_20151201/ippicv/ippicv_linux_20151201.tgz && mv ippicv_linux_20151201.tgz ../3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e/ippicv_linux_20151201.tgz
cmake -D WITH_CUDA=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_EXAMPLES=OFF -D CMAKE_BUILD_TYPE=RELEASE ..
make -j3
sudo make install
安装完成
测试
进入 /yourpath/opencv3.1/sample
编译
sudo cmake .
sudo make -j8
选择一个示例,运行成功则opencv安装成功。
三、ZEDsdk安装
命令如下:
chmod +x your_installation_file_name .run
./your_installation_file_name.run
四、ZED ROS Wrapper安装
官网下载zed_ros_wrapper,进入ZED ROS Wrapper的下载目录地址输入完成安装;
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