# CMVR-ES

## Overview

## Installation

### 1. Git submodules install 

```
git submodule update --init --recursive
```

### 2. Dependency install

```shell
# basic
sudo apt-get update
sudo apt install -y build-essential cmake git pkg-config patchelf  libboost-all-dev libssl-dev
# opencv
sudo apt install -y \
  libjpeg-dev libpng-dev libtiff-dev \
  libavcodec-dev libavformat-dev libswscale-dev \
  libv4l-dev libxvidcore-dev libx264-dev \
  libgtk-3-dev 


# PulseAudio
sudo apt-get install libpulse-dev

# OpenGL
sudo apt-get install libgl1-mesa-dev

# GLFW
sudo apt-get install libglfw3-dev

# Assimp
sudo apt-get install libassimp-dev

# visp
sudo apt-get install -y libx11-dev liblapack-dev  libv4l-dev libzbar-dev libpthread-stubs0-dev libdc1394-dev nlohmann-json3-dev

[//]: # ()
[//]: # (# json)

[//]: # (sudo apt install libjsoncpp-dev -y)

[//]: # ()
[//]: # ()
[//]: # ()
[//]: # ()
[//]: # ()
[//]: # ()
[//]: # ()
[//]: # ()
[//]: # (# flann)

[//]: # (sudo apt-get install libflann-dev -y)

[//]: # ()
[//]: # ()
[//]: # ()
[//]: # (#alas)

[//]: # (sudo apt-get install libasound2-dev -y)

[//]: # ()
[//]: # (# gstreamer)

[//]: # (sudo apt install gstreamer1.0-plugins-good gstreamer1.0-plugins-bad -y)

[//]: # (sudo apt install gstreamer1.0-plugins-ugly gstreamer1.0-libav -y)

[//]: # ()
[//]: # (# tinyxml2)

[//]: # (sudo apt install libtinyxml2-dev -y)

[//]: # ()
[//]: # ()
[//]: # (```)

[//]: # ()
[//]: # (### 3. gRPC install (build from source))

[//]: # (version: https://grpc.io/docs/languages/cpp/quickstart/（grpc官网地址 v1.73.0）)

[//]: # (#### 安装完成之后要配置环境变量)

[//]: # (vim ~/.bashrc)

[//]: # (在末尾添加)

[//]: # ()
[//]: # (### 4. ffmpeg install (build from source))

[//]: # (#### 4.1 install dependencies)

[//]: # (```shell)

[//]: # (sudo apt-get update)

[//]: # (sudo apt install build-essential yasm nasm git -y)

[//]: # (sudo apt install libx264-dev libx265-dev libvpx-dev libfdk-aac-dev libmp3lame-dev libopus-dev -y)

[//]: # (```)

[//]: # ()
[//]: # (#### 4.2 build from source)

[//]: # (```shell)

[//]: # (cd assets)

[//]: # (tar xjvf ffmpeg-4.4.tar.bz2)

[//]: # (cd ffmpeg-4.4)

[//]: # ()
[//]: # (# set configurations)

[//]: # (./configure \)

[//]: # (    --extra-libs="-lpthread -lm" \)

[//]: # (    --enable-gpl \)

[//]: # (    --enable-libass \)

[//]: # (    --enable-libfdk-aac \)

[//]: # (    --enable-libfreetype \)

[//]: # (    --enable-libmp3lame \)

[//]: # (    --enable-libopus \)

[//]: # (    --enable-libvorbis \)

[//]: # (    --enable-libvpx \)

[//]: # (    --enable-libx264 \)

[//]: # (    --enable-libx265 \)

[//]: # (    --enable-pic \)

[//]: # (    --enable-shared \)

[//]: # (    --enable-nonfree \)

[//]: # ()
[//]: # (# build and install)

[//]: # (make -j4)

[//]: # (sudo make install)

[//]: # (```)

[//]: # ()
[//]: # ()
[//]: # (### 5. librealsense2 2.55.1 install)

[//]: # (```shell)

[//]: # (sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE)

[//]: # (sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u)

[//]: # (sudo apt-get install librealsense2-dkms=1.3.24-0ubuntu1 -y)

[//]: # (sudo apt-get install \)

[//]: # (librealsense2=2.55.1-0~realsense.12473 \)

[//]: # (librealsense2-utils=2.55.1-0~realsense.12473 \)

[//]: # (librealsense2-dev=2.55.1-0~realsense.12473 \)

[//]: # (librealsense2-dbg=2.55.1-0~realsense.12473 -y)

[//]: # (```)

[//]: # ()
[//]: # (### 5. OSQPEigen install(build from source))

[//]: # (#### 5.1 install osqp (v0.6.3))

[//]: # (```shell)

[//]: # (git clone --branch v0.6.3 https://github.com/osqp/osqp.git)

[//]: # (cd osqp)

[//]: # (git submodule init)

[//]: # (git submodule update)

[//]: # (mkdir build)

[//]: # (cd build)

[//]: # (cmake -DCMAKE_INSTALL_PREFIX=/usr/local ..)

[//]: # (make -j)

[//]: # (sudo make install)

[//]: # (```)

[//]: # (#### 5.2 install OsqpEigen (v0.10.1))

[//]: # (```shell)

[//]: # (git clone --branch v0.10.1 https://github.com/robotology/osqp-eigen.git)

[//]: # (cd osqp-eigen)

[//]: # (git submodule init)

[//]: # (git submodule update)

[//]: # (mkdir build)

[//]: # (cd build)

[//]: # (cmake -DCMAKE_INSTALL_PREFIX=/usr/local ..)

[//]: # (make -j)

[//]: # (sudo make install)

[//]: # (```)

[//]: # ()
[//]: # (#### 6 mech-eye-sdk)

[//]: # (```shell)

[//]: # (cd assets)

[//]: # (sudo dkpg -i Mech-Eye_API_2.5.1_amd64.deb)

[//]: # (```)

[//]: # ()
[//]: # (### 串口冲突问题)

[//]: # (```shell)

[//]: # (sudo systemctl stop brltty)

[//]: # (sudo systemctl disable brltty)

[//]: # (sudo apt remove brltty)

[//]: # (```)

[//]: # ()
[//]: # (### ~./bashrc)

[//]: # (```shell)

[//]: # (export ARCH="x86")

[//]: # (export CMVR_ES_PROJECT_PATH="/home/cmvr/Projects/cmvr-es")

[//]: # (# >>> cmake )

[//]: # (export PATH="$CMVR_ES_PROJECT_PATH/dependency/$ARCH/third_party/cmake/v3.30.3/cmake-3.30.3-linux-x86_64/bin:$PATH")

[//]: # (# <<< cmake)

[//]: # ()
[//]: # (# >>> ffmpeg)

[//]: # (export LD_LIBRARY_PATH="$CMVR_ES_PROJECT_PATH/dependency/$ARCH/third_party/x264/v165/lib:$LD_LIBRARY_PATH")

[//]: # (export LD_LIBRARY_PATH="$CMVR_ES_PROJECT_PATH/dependency/$ARCH/third_party/x265/v215/lib:$LD_LIBRARY_PATH")

[//]: # (export LD_LIBRARY_PATH="$CMVR_ES_PROJECT_PATH/dependency/$ARCH/third_party/ffmpeg/v4.2/lib:$LD_LIBRARY_PATH")

[//]: # (# <<< ffmpeg)

[//]: # (```)

[//]: # ()