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Installation

Requirements

python

  • numpy
  • scipy
  • vtk (apt-get install python-vtk or port install vtk5 +python27 +qt4_mac)
  • cv/cv2 (apt-get install python-opencv)
  • matplotlib (apt-get install python-matplotlib)
  • h5py (apt-get install libhdf5-serial-dev + pip install h5py)
  • ruffus (pip install ruffus)

C++

Grab ROS Groovy.

Installing ROS-base should be sufficient.

Make sure running import rosbag from within the Python shell works once you're done installing ROS.

Octomap

Download release 1.6.3 here.

OpenCV on gorgon

See the wiki page.

OpenCV on Ubuntu

If calls to VideoCapture.set(CV_CAP_PROP_POS_FRAMES, k) causes glitches, installing OpenCV 2.4+ fixed the issue for me.

OpenCV on OS X

If playing the video using ProjectMapOnVideo.py is very slow on OS X, you may need to install OpenCV with Qt4:

port install opencv +qt4 +tbb +eigen +opencl +python27

PCL on Ubuntu

Make sure libpcap-dev is installed. Then build PCL from source: PCL 1.7.1

PCL on OS X

Via MacPorts: port install cmake flann libusb boost qhull eigen3. Then build from source.

Or follow the instructions on wiki.

ROS on OS X

TODO