Code Release based on the B-Human 2018 Code Release.

SPQR Team website

Installation

Supported distros:

• Ubuntu 17.04/17.10/18.04/18.10/19.04/19.10/20.04/20.10
• Linux Mint 18.x / 20.x

Install needed libraries

Open a terminal Ctrl+Alt+t (usually) and type the followings commands:

• $ sudo apt install build-essential cmake clang make qtbase5-dev libqt5opengl5-dev libqt5svg5-dev libglew-dev net-tools graphviz xterm qt5-default libvtk6-dev zlib1g-dev libjpeg-dev libwebp-dev libpng-dev libtiff5-dev libopenexr-dev libgdal-dev libtbb-dev libpng16-16:i386 libtbb2:i386 libjpeg62:i386 libtiff5:i386 libv4l-0:i386

Install the naoqi basic libraries

• move to the Install/ folder - $ cd RoboCup/spqr2022/Install
• install the libraries - ./installAlcommon naoqi-sdk-2.8.5.10-linux64.tar.gz

Install OpenCV3.1

• dowload source of OpenCV- $ wget https://github.com/opencv/opencv/archive/3.1.0.zip
• unzip the files- $ unzip 3.1.0.zip
• move into OpenCV directory- $ cd opencv-3.1.0
• create the build directory- $ mkdir build && cd build
• generate the make file- $ cmake -DWITH_QT=ON -DWITH_OPENGL=ON -DFORCE_VTK=ON -DWITH_TBB=ON -DWITH_GDAL=ON -DWITH_XINE=ON -DWITH_CUDA=OFF .. if you have trouble with stdlib add this flag -DENABLE_PRECOMPILED_HEADERS=OFF
• compile- $ make -j#num of core of your cpu
• install OpenCV- $ sudo make install and then- $ sudo ldconfig

Possible problems at this step

The following errors may happen for some users

• IMPORTANT FOR ANACONDA/MINICONDA USERS: Either of them can mess with the installation process by generating seemingly unrelated errors (e.g. an undefined reference to libtiff). The easiest way is to temporarily disable them by following this procedure: (source)
  • Open your .bashrc: $ nano ~/.bashrc
  • Locate the line that adds <ana/mini>conda to your PATH. It may look like export PATH="/home/<user>/anaconda3/bin:$PATH for anaconda, and similarly for miniconda. If you can't find it in .bashrc, try your .profile as well.
  • Comment out that line (add a # as the first character of that line).
  • Open a new terminal window and carry out the OpenCV installation procedure as above.
  • Un-comment that line in your .bashrc
• If you get an error message related to ffmpeg: Install ffmpeg with the command sudo apt install ffmpeg
• If the compiler says some flag (one of which may be CODEC_FLAG_GLOBAL_HEADER) was not declared: You may have to add the missing defines to the OpenCV code. Open the file <opencv folder>/modules/videoio/src/cap_ffmpeg_impl.hpp and add the folowing lines: (source)

    #define AV_CODEC_FLAG_GLOBAL_HEADER (1 << 22)
    #define CODEC_FLAG_GLOBAL_HEADER AV_CODEC_FLAG_GLOBAL_HEADER
    #define AVFMT_RAWPICTURE 0x0020

• If you get errors related to libasound: Install the corresponding headers with the command sudo apt install libasound2-dev

Compile the code

If you are using Ubuntu_16 or Mint_18, you need to set Clang-6.0 before you compile:

• $ sudo apt-get install -y clang-6.0
• $ sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-3.8 100
• $ sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-6.0 1000
• $ sudo update-alternatives --install /usr/bin/clang++ clang /usr/bin/clang-3.8 100
• $ sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-3.8 100
• $ sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-6.0 1000
• $ sudo update-alternatives --config clang
• $ sudo update-alternatives --config clang++

To compile (for all OS versions):

• move to Linux/ folder - $ cd RoboCup/HomeworkMAS-RoboCup/Make/Linux
• compile the code - $ make CONFIG=<Develop/Debug/Release>