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

name -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: denial
换源
sudo cp /etc/apt/sources.list /etc/apt/sources.list_backup
sudo edit /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 multiverse164 16.04

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 pap:graphics-drivers/ppa
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys FCAE110B1118213C
sudo apt-get update
sudo apt-get install nvidia-384

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 384.130 Wed Mar 21 03:37:26 PDT 2018
GCC version: gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.10)

安装CUDA 9.0

官网下载CUDA cuda_9.0.176_384.81_linux-run。

chmod +x cuda_9.0.176_384.81_linux-run
sudo sh ./cuda_9.0.176_384.81_linux-run

只安装CUDA 9.0 Toolkit。

重启,配置环境:

sudo edit ~/.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_Sep__1_21:08:03_CDT_2017
Cuba compilation tools, release 9.0, V9.0.176
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 9.0 / 9.0
CUDA Capability Major/Minor version number: 5.0
Total amount of global memory: 2003 Mbytes (2100232192 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 = 9.0, CUDA Runtime Version = 9.0, NumDevs = 1
Result = PASS

安装OpenCV 3.4.0

官网下载sources。

sudo apt-get install build-essential git make git yams libgtk2.0-dev pig-config libavcodec-dev libavformat-dev python-dev python-bumpy 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 ors-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_CUDA9_v2.5.1.run。

chmod +x ZED_SDK_Linux_Ubuntu16_CUDA9_v2.5.1.run
./ZED_SDK_Linux_Ubuntu16_CUDA9_v2.5.1.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

zed camera test