TX2

This is a introduction about TX2 setup.

The TX2 we use can be obtained in http://connecttech.com/product/orbitty-carrier-for-nvidia-jetson-tx2-tx1/ The BSP is downloaded in http://www.connecttech.com/ftp/Drivers/CTI-L4T-V112.tgz.

================================================================================ Installation

1. Before Installing the BSP you will need to install Jetpack 3.1 on the x86
   host system.  

2. Copy the CTI-L4T-V###.tgz package into <install_dir>/64_TX2/Linux_for_Tegra/:

3. Extract the BSP:

	tar -xzf CTI-L4T-V###.tgz

  (replacing ### with your file name)

3. Change into the CTI-L4T directory:
	
	cd ./CTI-L4T

4. Run the install script (as root or sudo) to automatically install
   the BSP files to the correct locations:

    sudo ./install.sh

5. The CTI-L4T BSP is now installed on the host system and it should now be
   able to flash the TX2.

6. To flash on the tx2 use:
    ./flash.sh <boardname> mmcblk0p1

   Examples:
    ./flash.sh astro-usb3 mmcblk0p1
    ./flash.sh astro-mpcie mmcblk0p1
    ./flash.sh orbitty mmcblk0p1

================================================================================ Flashing TX2

1. Connect the TX2 and Carrier (or Dev-Kit) to the computer via USB
   Following the instructions in the appropriate manual.
2. Put the system to be flashed into recovery mode, following the 
   instructions in the appropriate manual
4. Run ./flash.sh <board.conf> mmcblk0p1 from Linux_for_Tegra directory
5. Once the flashing has completed, the TX2 will reboot 
6. To switch between different boards, you will need ot repeat these steps
   There is currently no run time support for switching profiles on the TX2

Consult KDB344 at for TX2 hardware compatiblity with your carrier.
http://connecttech.com/resource-center-category/all-kdb-entries/

================================================================================ Install CUDA & cuDNN

Use Jetpack to install CUDA and cuDNN Reference: http://huchaowei.com/2017/04/19/TX1%E9%85%8D%E7%BD%AE%E6%95%99%E7%A8%8B/

================================================================================ Install OpenCV3.2

Source: https://github.com/jetsonhacks/buildOpenCVTX2

$ sudo apt-add-repository universe
$ sudo apt-get update
$ sudo apt-get install \
    libglew-dev \
    libtiff5-dev \
    zlib1g-dev \
    libjpeg-dev \
    libpng12-dev \
    libjasper-dev \
    libavcodec-dev \
    libavformat-dev \
    libavutil-dev \
    libpostproc-dev \
    libswscale-dev \
    libeigen3-dev \
    libtbb-dev \
    libgtk2.0-dev \
    pkg-config
$  sudo apt-get install -y \
cmake \
libavcodec-dev \
libavformat-dev \
libavutil-dev \
libeigen3-dev \
libglew-dev \
libgtk2.0-dev \
libgtk-3-dev \
libjasper-dev \
libjpeg-dev \
libpng12-dev \
libpostproc-dev \
libswscale-dev \
libtbb-dev \
libtiff5-dev \
libv4l-dev \
libxvidcore-dev \
libx264-dev \
qt5-default \
zlib1g-dev \
pkg-config
$ sudo apt-get install python-dev python-numpy python-py python-pytest
$ mkdir build
$ cd build
$ cmake -D CMAKE_BUILD_TYPE=RELEASE \
  -D CMAKE_INSTALL_PREFIX=/usr \
  -D WITH_CUDA=ON \
  -D CUDA_ARCH_BIN=6.2 \
  -D CUDA_ARCH_PTX="" \
  -D ENABLE_FAST_MATH=ON \
  -D CUDA_FAST_MATH=ON \
  -D WITH_CUBLAS=ON \
  -D WITH_LIBV4L=ON \
  -D WITH_GSTREAMER=ON \
  -D WITH_GSTREAMER_0_10=OFF \
  -D WITH_QT=ON \
  -D WITH_OPENGL=OFF \
  ../
 $ make
 $ sudo make install

possible issues: GraphCut deprecated in CUDA 7.5 and removed in 8.0 Solution: https://github.com/opencv/opencv/pull/6510/commits/10896129b39655e19e4e7c529153cb5c2191a1db

================================================================================ Install ROS

install tutorial http://wiki.ros.org/kinetic/Installation/Ubuntu
possible issues:  Initialize rosdep
sudo rosdep init
rosdep update
But it gives following error.
ERROR: cannot download default sources list from: https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list

Solution: sudo apt-get install ca-cacert

================================================================================ Install Caffe OpenPose

 sudo apt-get install libgflags-dev libgoogle-glog-dev liblmdb-dev libatlas-base-dev libleveldb-dev libsnappy-dev
 ~/catkin_ws/build/glog_catkin/glog_src-prefix/src/glog_src$ ln -s /usr/share/automake-1.15/config.guess .
 ~/catkin_ws/build/glog_catkin/glog_src-prefix/src/glog_src$ ln -s /usr/share/automake-1.15/config.sub .

 cd openpose
 make

 add ovx.hpp https://github.com/opencv/opencv/blob/master/modules/core/include/opencv2/core/ovx.hpp

================================================================================ Install TensorFlow

  https://github.com/lhelontra/tensorflow-on-arm/releases
  sudo pip3 install --upgrade tensorflow-1.3.1-cp35-none-linux_aarch64.whl