Configuration for running ICE-BA on VIM3 Pro
VIM3 Pro
1. Download Ubuntu image [1]* Version 4.9 is a relatively stable version through testing.
2. Create a Booting Card for VIM3 [3]
3. Insert the card into the SD-Card slot on your VIM3.
4. Connect the USB-C & HDMI cables, and VIM will power-on automatically.
5. Place your VIM3 into Upgrade Mode to complete your Firmware upgrade. [4]
* Recommend: Upgrade via a USB-C Cable. [5]
* Always remember to connect HDMI cable and USB3.0 cable after VIM3 has correctly booted up.
* Create the SD card partition using NTFS format, and then use it as a external storage. (Mini tool will be helpful.)
* libtool should be installed before installing Glog.
$ sudo apt-get update -y
$ sudo apt-get install -y libtool
* Modify the content of CMakeLists.txt before compiling Yaml as following.
set(yaml_c_flags ${CMAKE_C_FLAGS}) => set(yaml_c_flags "${CMAKE_C_FLAGS} -fPIC")
set(yaml_cxx_flags ${CMAKE_C_FLAGS}) => set(yaml_cxx_flags "${CMAKE_C_FLAGS} -fPIC")
* Install libgtest-dev
$ sudo apt-get install libgtest-dev (do: sudo rm -rf /var/cache/apt/archives/lock, if get:E: Could not get lock /var/cache/apt/archives/lock)
* Replace CV_BGR2GRAY to cv::COLOR_BGR2GRAY when building brisk with OpenCV version newer than 3.0.
*OpenCV is already installed from the image, but if your OpenCV version is higher than 3.0.0, you have to revise some source code as following:
(1) Add #include <opencv2/imgproc/types_c.h> in ICE_BA/Fronted/feature_utils_feature_track.cc
(2) Add #include <opencv2/imgproc/types_c.h> in ICE_BA/Fronted/feature_utils_direct_matcher.cc
(3) Change all CV_AA to cv::LINE_AA in ICE_BA/Fronted/plotting_utils.cpp
(4) Change all CV_AA to cv::LINE_AA in ICE_BA/Fronted/pose_viewer.cc
(5) Change all CV_LOAD_IMAGE_GRAYSCALE to cv::ImreadModes::IMREAD_GRAYSCALE in ICE_BA/App/EuRoC_test.cpp
* If you want to install ROS on VIM3 Pro, and face a conflict problem with opencv, please refer to [7-8]
Build ICE-BA
1. Follow [6] to install boost, Eigen, Gflags, Glog, Yaml, brisk.* libtool should be installed before installing Glog.
$ sudo apt-get update -y
$ sudo apt-get install -y libtool
* Modify the content of CMakeLists.txt before compiling Yaml as following.
set(yaml_c_flags ${CMAKE_C_FLAGS}) => set(yaml_c_flags "${CMAKE_C_FLAGS} -fPIC")
set(yaml_cxx_flags ${CMAKE_C_FLAGS}) => set(yaml_cxx_flags "${CMAKE_C_FLAGS} -fPIC")
* Install libgtest-dev
$ sudo apt-get install libgtest-dev (do: sudo rm -rf /var/cache/apt/archives/lock, if get:E: Could not get lock /var/cache/apt/archives/lock)
* Replace CV_BGR2GRAY to cv::COLOR_BGR2GRAY when building brisk with OpenCV version newer than 3.0.
*OpenCV is already installed from the image, but if your OpenCV version is higher than 3.0.0, you have to revise some source code as following:
(1) Add #include <opencv2/imgproc/types_c.h> in ICE_BA/Fronted/feature_utils_feature_track.cc
(2) Add #include <opencv2/imgproc/types_c.h> in ICE_BA/Fronted/feature_utils_direct_matcher.cc
(3) Change all CV_AA to cv::LINE_AA in ICE_BA/Fronted/plotting_utils.cpp
(4) Change all CV_AA to cv::LINE_AA in ICE_BA/Fronted/pose_viewer.cc
(5) Change all CV_LOAD_IMAGE_GRAYSCALE to cv::ImreadModes::IMREAD_GRAYSCALE in ICE_BA/App/EuRoC_test.cpp
* If you want to install ROS on VIM3 Pro, and face a conflict problem with opencv, please refer to [7-8]
Useful commands:
$ sudo dpkg --configure -a
$ sudo apt-get install -f
$ sudo dpkg --configure -a
$ sudo apt-get install -f
$ sudo dpkg -i --force-overwrite xxx.deb
*Comment out #include<emmintrin.h>, #include<tmmintrin.h> in the path: /usr/local/include/brisk/internal/score-calculator.h
Reference:
[1] https://dl.khadas.com/Firmware/VIM3/Ubuntu/SD_USB/
[2] https://forum.khadas.com/t/vim3-ubuntu-18-04-initial-version-v190703/4541
[3] https://docs.khadas.com/vim3/UpgradeViaTFBurningCard.html
[4] https://docs.khadas.com/vim3/HowtoBootIntoUpgradeMode.html
[5] https://docs.khadas.com/vim3/UpgradeViaUSBCable.html
[6] https://chuangrobot.blogspot.com/2020/05/running-ice-ba.html
[7] https://askubuntu.com/questions/1062171/dpkg-deb-error-paste-subprocess-was-killed-by-signal-broken-pipe
[8] https://itsfoss.com/dpkg-returned-an-error-code-1/
GOOD LUCK!
Reference:
[1] https://dl.khadas.com/Firmware/VIM3/Ubuntu/SD_USB/
[2] https://forum.khadas.com/t/vim3-ubuntu-18-04-initial-version-v190703/4541
[3] https://docs.khadas.com/vim3/UpgradeViaTFBurningCard.html
[4] https://docs.khadas.com/vim3/HowtoBootIntoUpgradeMode.html
[5] https://docs.khadas.com/vim3/UpgradeViaUSBCable.html
[6] https://chuangrobot.blogspot.com/2020/05/running-ice-ba.html
[7] https://askubuntu.com/questions/1062171/dpkg-deb-error-paste-subprocess-was-killed-by-signal-broken-pipe
[8] https://itsfoss.com/dpkg-returned-an-error-code-1/
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