1) Make sure that the following programs are installed:
sudo apt-get install cmake libace-dev subversion cmake-curses-gui libgtk2.0-dev libgsl0-dev libreadline-dev g++ libncurses5-dev libgtkmm-2.4-dev libglademm-2.4-dev
Recommended: Install OpenCV from sources: OpenCV_Installation
Alternative (NOT recommended): Install precompiled OpenCV packages:
sudo apt-get install libcv-dev libcvaux-dev libopencv-dev
2) Then we obtain YARP from the repositories:
cd ~/local/src svn co https://yarp0.svn.sourceforge.net/svnroot/yarp0/trunk/yarp2 yarp2
3) Configuring YARP:
cd yarp2 mkdir build && cd build ccmake -DCMAKE_BUILD_TYPE=Release -DCREATE_SHARED_LIBRARY=ON -DCREATE_DEVICE_LIBRARY_MODULES=ON -DCREATE_GUIS=ON -DCREATE_LIB_MATH=ON -DCREATE_OPTIONAL_CARRIERS=ON -DENABLE_yarpmod_opencv_grabber=ON ..
Hit 'c' to configure. Make sure the following options are set correctly and that there are no dependency problems:
CMAKE_BUILD_TYPE to "Release" CREATE_SHARED_LIBRARY, set to ON CREATE_DEVICE_LIBRARY_MODULES, set to ON CREATE_GUIS, set to ON CREATE_GYARPMANAGER, set to ON CREATE_LIB_MATH, set to ON CREATE_OPTIONAL_CARRIERS, set to ON ENABLE_yarpmod_opencv_grabber, set to ON <-- just if we want to use OpenCV features
Hit 'c' again to update and then hit 'g' to generate.
4) Install YARP
make sudo make install
5) (Additional) Install YARP for Matlab
Make sure yarp2 was compiled with option CREATE_SHARED_LIBRARY set to ON (especially make sure that no old static libraries (*.a) remain in /usr/local/lib)
Java SDK needs to be installed (i.e. Oracle Java)
sudo add-apt-repository ppa:webupd8team/java sudo apt-get update sudo apt-get install oracle-java7-installer
Add the following lines to ~/.bashrc (of course you need to change them to your actual paths, if you use matlab 32bit replace “x86_64-linux-gnu” with “i386-linux-gnu”)
export JAVA_HOME=/usr/lib/jvm/java-7-oracle/ export LD_PRELOAD=/lib/x86_64-linux-gnu/libgcc_s.so.1:/usr/lib/x86_64-linux-gnu/libstdc++.so.6
Next install SWIG
sudo apt-get install swig
Go to YARP for Matlab folder and compile the sources
cd ${YARP_ROOT}/bindings
mkdir build && cd build
ccmake -DCREATE_JAVA=ON ..
make
Now we need to compile the Java classes and copy them to a new structure
cd generated_src/ javac -source 1.3 -target 1.3 *.java mkdir ~/local/src/jyarp mv LoadYarp.class YarpImageHelper.class ~/local/src/jyarp/ mkdir ~/local/src/jyarp/yarp mv *.class ~/local/src/jyarp/yarp/ javac -source 1.3 -target 1.3 *.java
Add the following lines to ~/MATLAB/R2012b/toolbox/local/classpath.txt (get your path with 'which classpath.txt' in matlab, specifies location of *.class files)
~/local/src/jyarp ~/local/src/yarp2/bindings/build/generated_src
Find out the location of librarypath.txt ('which librarypath.txt' in Matlab) and set write flags:
chmod +w ~/MATLAB/R2012b/toolbox/local/librarypath.txt
Add the following line to ~/MATLAB/R2012b/toolbox/local/librarypath.txt (location of shared library libjyarp.so)
~/local/src/yarp2/bindings/build
* If YARP binaries cannot find OpenCV libraries run the following command to update the library configuration:
sudo ldconfig
*If when configuring yarp with the flag:CREATE_OPTIONAL_CARRIERS set to ON, you get the following error:
CMake Error: File ~/local/src/yarp2/src/carriers/mjpeg_carrier/mjpeg.ini does not exist. CMake Error at conf/YarpPlugin.cmake:477 (CONFIGURE_FILE): configure_file Problem configuring file Call Stack (most recent call first): src/carriers/mjpeg_carrier/CMakeLists.txt:7 (add_carrier_fingerprint)
therefore, comment the line 7 from ~/yarp2/src/carriers/mjpeg_carrier/CMakeLists.txt #add_carrier_fingerprint(mjpeg.ini mjpeg_carrier) and configure again with the same flag on.
If you start Matlab from a launcher icon the LD_PRELOAD won't be set correctly, change launcher icon (/usr/share/applications/Matlab.desktop) to
Exec=env "LD_PRELOAD=/lib/x86_64-linux-gnu/libgcc_s.so.1:/usr/lib/x86_64-linux-gnu/libstdc++.so.6" ~/MATLAB/R2012b/bin/matlab -desktop