CUDA and Other Softwares Installation

This page guides you through the steps to install the softwares and drivers that are needed for OpenPTrack v2.

CUDA

CUDA is required for use with NVIDIA GPUs and as such is needed for OpenPTrack V2

First install the following driver:

 sudo apt-get install -y ocl-icd-opencl-dev

Get the CUDA 8 installer:

 wget https://developer.nvidia.com/compute/cuda/8.0/Prod2/local_installers/cuda_8.0.61_375.26_linux-run -O cuda.run

Make the file executable:

 chmod +x cuda.run

Run the file:

 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>

Get 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/

Finally,

 echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64' >> ~/.bashrc
 echo 'export PATH=$PATH:/usr/local/cuda/bin' >> ~/.bashrc

Libfreenect2

This is an open source driver for Kinect V2. To install do the following:

 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

iai_kinect2

This allows ROS to work with the Kinect V2. To install do the following:

 cd /home/$USER/workspace/ros/src
 git clone https://github.com/openptrack/iai_kinect2
 cd iai_kinect2
 git checkout 1607

ceres_solver

 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

calibration_toolkit

 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

OpenCV

OpenCV is the leading open source library for computer vision. The following steps will guide you to install OpenCV from source (note that depending on your hardware, this may take some hours):

 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

rtpose_wrapper

 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

ZED Install (Optional)

If you are using a ZED Camera, follow these steps:

 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 ..

Finish the installation here