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/**
\page tutorial-install-crosscompiling-naoqi Tutorial: Cross-compilation for NAOqi OS from Ubuntu host
\tableofcontents
This tutorial summarizes how to cross-compile ViSP from source using NAOqi atom cross toolchain provided by SoftBank Robotics for Nao, Romeo or Pepper robots. The aim of this cross-compilation is then to use the cross-build resulting ViSP libraries on these robots.
This tutorial was tested on an Ubuntu 14.04 LTS host computer with:
- Cross Toolchain 2.3.1 Linux 64 (\c ctc-linux32-atom-2.3.1.23) on Romeo robot
- Cross Toolchain 2.4.3 Linux 64 (\c ctc-linux64-atom-2.4.3.28) on Pepper robot
\section cross_naoqi_toolchain Install cross toolchain
Download the cross-toolchain that is compatible with your robot from <a href="https://developer.softbankrobotics.com/">https://developer.softbankrobotics.com/</a>. Depending on the robot the version of the cross toolchain might change.
In this tutorial we will illustrate how to build ViSP for Pepper with \c ctc-linux64-atom-2.4.3.28 cross toolchain.
Create a workspace that contains the cross toolchain:
\verbatim
$ mkdir $HOME/softbank
\endverbatim
and unzip the toolchain:
\verbatim
$ cd $HOME/softbank
$ unzip ctc-linux64-atom-2.4.3.28.zip
\endverbatim
\section cross_naoqi_visp_src Get ViSP source code
Cross-compilation capabilities are fully supported since ViSP 3.0.1 release.
Create first a workspace dedicated to ViSP:
\verbatim
$ mkdir $HOME/soft
\endverbatim
There are different ways to get ViSP source code in this workspace:
- You can download a ViSP sources <a href="https://visp.inria.fr/download#snapshot">daily snapshot</a>. Once downloaded, uncompress the file using
\verbatim
$ tar xvzf visp-snapshot-yyyy-mm-dd.tar.gz --directory $HOME/soft
\endverbatim
- Or you get the cutting-edge ViSP from <a href="https://github.com/lagadic/visp">GitHub repository</a> using the following command
\verbatim
$ cd $HOME/soft
$ git clone https://github.com/lagadic/visp.git
\endverbatim
- Or you can download the <a href="https://visp.inria.fr/download">latest release</a> (should be at least 3.0.1) as a zip or a tarball. Once downloaded, uncompress the file using either
\verbatim
$ tar xvzf visp-x.y.z.tar.gz --directory $HOME/soft
\endverbatim
or
\verbatim
$ unzip visp-x.y.z.zip -d $HOME/soft
\endverbatim
We suppose now that ViSP source is in a directory denoted \c \<source_dir\>, for example \c $HOME/soft/visp
\section cross_naoqi_visp_config Cross-compiling ViSP from source
- Create first a directory denoted \c \<binary_dir\> where you want to cross-compile ViSP. This directory will contain generated Makefiles, object files, and output libraries and binaries that could be later used on the Raspberry Pi.
\verbatim
$ mkdir $HOME/soft/visp-build-ctc-linux64-atom-2.4.3.28
\endverbatim
- Enter \c \<binary_dir\> and configure the build:
\verbatim
$ cd $HOME/soft/visp-build-ctc-linux64-atom-2.4.3.28
$ cmake -DCMAKE_TOOLCHAIN_FILE=$HOME/softbank/ctc-linux64-atom-2.4.3.28/toolchain.cmake ../visp
\endverbatim
\note To speed up the cross-compilation build step, you can turn off the build of the demos, examples, tests and tutorials using the following command:
\verbatim
$ cmake -DCMAKE_TOOLCHAIN_FILE=$HOME/softbank/ctc-linux64-atom-2.4.3.28/toolchain.cmake ../visp -DBUILD_DEMOS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF -DBUILD_TUTORIALS=OFF -DQI_WITH_TESTS=OFF
\endverbatim
- At this step, the following third-parties should be found: \c OpenCV, \c v4l2, \c libjpeg, \c libpng, \c pthread, \c zbar. This could be checked in \c ViSP-third-party.txt file where the you should find something similar to:
\verbatim
$ more ViSP-third-party.txt
OpenCV : yes
Video For Linux Two : yes
libjpeg : yes
libpng : yes
pthread : yes
zbar : yes
\endverbatim
\note \c zbar third-party is available with Cross Toolchain 2.3.1 Linux 64 (\c ctc-linux32-atom-2.3.1.23). This library is not present in Cross Toolchain 2.4.3 Linux 64 (\c ctc-linux64-atom-2.4.3.28).
- Cross-compile ViSP
\verbatim
$ make -j4 install
\endverbatim
The resulting installation is available in \c $HOME/soft/visp-build-ctc-linux64-atom-2.4.3.28.
\section cross_naoqi_visp_install Install ViSP on NAOqi OS
The result of the cross-compilation could then be installed on Nao, Romeo or Pepper robot running NAOqi OS.
- Copy the cross-build installation to Nao, Romeo or Pepper target:
\verbatim
$ tar cvzf install.tar.gz install
$ scp -r install.tar.gz nao@<your_robot_ip>:
\endverbatim
- Install ViSP:
First move the libraries that were cross-build to a more friend location like \c $HOME/visp.
\verbatim
$ ssh nao@<your_robot_ip>
nao~ $ tar xvzf ~/install.tar.gz
nao~ $ mv install visp
nao~ $ rm ~/install.tar.gz
\endverbatim
- Add to \c LD_LIBRARY_PATH environment var the path to ViSP libraries:
\verbatim
nao~ $ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/visp/lib
\endverbatim
\section cross_naoqi_next Next tutorial
You are now ready to see the next \ref tutorial-getting-started-naoqi that explains how to use ViSP as a 3rd party to build your own project on NAOqi OS for Nao, Romeo or Pepper robots.
*/
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