Installation of the Robot Head Stack Instructions

1. Install the following packages (apt-get in Ubuntu):

For Fuerte:

  • libglew1.6 libglew1.6-dev libdevil1C2 libdevil-dev gphoto2 libgphoto2-2 libgphoto2-2-dev

For Hydro (13.04):

  • libglew1.8 libglew-dev libdevil1c2 libdevil-dev gphoto2 libgphoto2-2 libgphoto2-2-dev

2. Install CUDA from: https://developer.nvidia.com/cuda-downloads

3. Configure the PTU controller units as described in Section 6 in the PTU-D46 user's manual (pg. 14-16). This will setup which ptu moves which camera.

4. Install cvsba (located at ../clopema_robothead/rh_calibration/cvsba-lib). This library is used in rh_calibration. Go to the library location and do the following:

sudo apt-get install liblapack-dev libf2c2-dev 
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make
sudo make install

5. Install pymatlab which is located at ../clopema_robothead/rh_feature_extraction/pymatlab. Go to that location and do the following:

sudo apt-get install python-pip python-dev build-essential
sudo apt-get install python-numpy csh
python setup.py install

6. Install Matlab 2013a or newer and:

sudo apt-get install matlab-support

Encountered problems (Libor Wagner)

When compiling the cvsba library I got the following error message:

Linking CXX executable generate_synthetic_data
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/libf2c.so: error: undefined reference to 'MAIN__'
collect2: ld returned 1 exit status
make[2]: *** [utils/generate_synthetic_data] Error 1
make[1]: *** [utils/CMakeFiles/generate_synthetic_data.dir/all] Error 2
make: *** [all] Error 2

The solution here suggests to remote the shared library and link the static library to its place:

$ sudo mv /usr/lib/libf2c.so /usr/lib/libf2c.so.bak
$ sudo ln -s /usr/lib/libf2c.a /usr/lib/libf2c.so

After that it compiled fine.