To install latest opencv2 from OpenCV project as an overlay, you will have to do the following:

• Get rosinstall

  wget --no-check-certificate http://ros.org/rosinstall -O ~/rosinstall
  chmod 755 ~/rosinstall

• Create a file shared_overlay.rosconfig

  - svn:
      uri: https://code.ros.org/svn/ros-pkg/stacks/vision_opencv/trunk
      local-name: vision_opencv
  - svn:
      uri: https://code.ros.org/svn/ros-pkg/stacks/image_transport_plugins/tags/latest
      local-name: image_transport_plugins
  - svn:
      uri: https://code.ros.org/svn/ros-pkg/stacks/image_pipeline/tags/latest
      local-name: image_pipeline
  - svn:
      uri: https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_robot/tags/latest
      local-name: pr2_robot
  - svn:
      uri: https://code.ros.org/svn/wg-ros-pkg/stacks/web_interface/tags/latest
      local-name: web_interface
  - svn:
      uri: https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_simulator/tags/latest
      local-name: pr2_simulator

• Source setup.sh for default installs (setup ROS path for anything you want to use underneath the overlay)

  source /opt/ros/latest/setup.sh
  ~/rosinstall -o ~/opencv2_overlay shared_overlay.rosconfig 

• Pull in overlay packages,

  ~/rosinstall -o ~/opencv2_overlay shared_overlay.rosconfig 

  This automatically generates a new setup.sh in the overlay directory (~/opencv2_overlay) setting up all the necessary ROS environment variables.

• Source the shared overlay and cd into overlay opencv2

  source ~/opencv2_overlay/setup.sh
  roscd opencv2

• Make changes to Makefile in the opencv2 package so that it uses the latest svn trunk by commenting out the line containing SVN_REVISION as such:

  INSTALL_DIR = opencv
  
  all: installed
  
  SVN_DIR = build/opencv-svn
  SVN_URL = https://code.ros.org/svn/opencv/trunk/opencv
  #SVN_REVISION = -r3028
  SVN_PATCH = pythontest.patch
  include $(shell rospack find mk)/svn_checkout.mk
  
  ...

• add your class path to the front of ROS_PACKAGE_PATH in ~/opencv2_overlay/setup.sh:

  export ROS_ROOT=/opt/ros/boxturtle/ros
  export PATH=$ROS_ROOT/bin:$PATH
  export PYTHONPATH=$ROS_ROOT/core/roslib/src:$PYTHONPATH
  if [ ! "$ROS_MASTER_URI" ] ; then export ROS_MASTER_URI=http://localhost:11311 ; fi
  export ROS_PACKAGE_PATH=~/cs324/users/[your_username]:~/projects/opencv2_overlay/vision_opencv:~/projects/opencv2_overlay/image_pipeline:~/projects/opencv2_overlay/image_transport_plugins:~/projects/opencv2_overlay/pr2_robot:~/projects/opencv2_overlay/web_interface:~/projects/opencv2_overlay/pr2_simulator:/opt/ros/boxturtle/stacks
  source $ROS_ROOT/tools/rosbash/rosbash

• recompile all packages

  source ~/opencv2_overlay/setup.sh
  rosmake -a

Stanford_CS324_PerceptionForManipulation