GPU

System configuration

• Ubuntu 18.04
• ROS Melodic
• Graphics Processor: GeForce 940M
• NVIDIA Driver Version: 418.87.01

Install CUDA 10.1

cd ~/Downloads/
wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin
sudo mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600
sudo apt-key adv --fetch-keys \
  https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub
sudo add-apt-repository "deb http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/ /"
sudo apt-get update
sudo apt-get -y install cuda

Install OpenCV 3.4

cd ~/Downloads/
wget -O opencv.zip https://github.com/Itseez/opencv/archive/3.4.0.zip
wget -O opencv_contrib.zip https://github.com/Itseez/opencv_contrib/archive/3.4.0.zip
unzip opencv.zip 
unzip opencv_contrib.zip 
mv opencv-3.4.0/ ..
mv opencv_contrib-3.4.0/ ..
cd opencv-3.4.0/
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE \
      -D CMAKE_INSTALL_PREFIX=/usr/local \
      -D WITH_CUDA=ON \
      -D ENABLE_FAST_MATH=1 \
      -D CUDA_FAST_MATH=1 \
      -D WITH_CUBLAS=1 \
      -D INSTALL_PYTHON_EXAMPLES=ON \
      -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-3.4.0/modules \
      -D BUILD_EXAMPLES=ON \
      -D BUILD_opencv_cudacodec=OFF ..
make -j4
sudo make install

Compile ROS packages

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/ros-perception/image_common.git
git clone https://github.com/ros-perception/vision_opencv.git
git clone https://github.com/ros-perception/image_pipeline.git
git clone https://github.com/RobInLabUJI/ricoh_camera.git
cd ..
catkin_make -DOpenCV_DIR=/usr/local/share/OpenCV