Install new linux environment

When you want to install a brand new Ubuntu 16.04 system. You could try to follow this guidance.

  1. Open Software & Updates and choose the fastest source.

  2. Update the system:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo add-apt-repository ppa:graphics-drivers/ppa
sudo apt-get update
sudo apt-get dist-upgrade
sudo apt-get install build-essential git
  1. Install Nvidia driver
sudo apt-get install nvidia-396 nvidia-settings

Under cases you have Intel GPU also, please type:

sudo prime-select nvidia
  1. Clone the dotfile repository:
mkdir softwares && cd softwares
https://github.com/zhanghanduo/dotfiles.git
cd dotfiles

Then follow the readme.md to install necessary packages and change some settings. Then reboot to make some settings valid.

  1. Install CUDA:

Type:

sudo chmod a+x cuda_xxx_linux_64.run
sudo ./cuda_xxx_linux_64.run

add the following settings to your .zshrc or .bashrc file and source it:

export PATH=$PATH:/usr/local/cuda/bin
export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH
export CUDA_HOME=/usr/local/cuda
  1. Install CUDNN

unzip the CUDNN file:

 tar -xzvf cudnn-9.0-linux-x64-v7.tgz

Then copy and change permissions:

 sudo cp cuda/include/cudnn.h /usr/local/cuda/include
 sudo cp cuda/lib64/libcudnn* /usr/local/cuda/lib64
 sudo chmod a+r /usr/local/cuda/include/cudnn.h /usr/local/cuda/lib64/libcudnn*
  1. Install ROS Kinetic
sudo apt-get install ros-kinetic-desktop-full
sudo rosdep init
rosdep update
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool

add the following settings to your .zshrc file and ** source ** it:

source /opt/ros/kinetic/setup.zsh
source ~/.zshrc

If you use bash instead of zsh you need to run the following commands to set up your shell:

source /opt/ros/kinetic/setup.bash
source ~/.bashrc
  1. Instal OpenCV 3.x

8.1 Download OpenCV source codes can be downloaded in opencv github. OpenCV corresponding contrib can be downloaded in opencv_contrib github.

8.2 Prerequisites

Before you install OpenCV

mkdir release && cd release
sudo apt-get build-dep -y opencv
(Optional) sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev

8.3 Cmake

For normal configure, just type:

cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D WITH_V4L=ON -D ENABLE_CXX11=ON -D ENABLE_PRECOMPILED_HEADERS=OFF -D CMAKE_CXX_FLAGS='-std=c++11' ..

With contrib, just add: -D OPENCV_EXTRA_MODULES_PATH=/home/hd/softwares/opencv_contrib-3.4.1/modules.

With CUDA, just add: -D WITH_CUDA=ON -D ENABLE_FAST_MATH=1 -D CUDA_FAST_MATH=1 -D WITH_CUBLAS=1 -D CUDA_GENERATION=Auto.

If you encounter some C++ 11 errors during compiling when you install 3.4 or later, just add: -D CMAKE_CXX_FLAGS='-std=c++11' -D CUDA_NVCC_FLAGS='-std=c++11 --expt-relaxed-constexpr'

8.4 Compiling and installing

make -j8
sudo make install

8.5 Environment

echo '/usr/local/lib' | sudo tee -a /etc/ld.so.conf.d/opencv.conf  
sudo ldconfig  
printf '# OpenCV\nPKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig\nexport PKG_CONFIG_PATH\n' >> ~/.bashrc  
source ~/.zshrc 
pkg-config --modversion opencv	//check if opencv is installed and its version

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