IHMC Perception Dependencies

IHMC perception has some additional dependencies for using CUDA and running ZED cameras. Follow the below instructions to install the dependencies.

Linux (Ubuntu 22.04, x86_64)

CUDA Toolkit

For other linux distros or architectures, find installation instructions on the CUDA Toolkit Download site.

cd ~/Downloads
wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb
sudo dpkg -i cuda-keyring_1.1-1_all.deb
sudo apt-get update
sudo apt-get -y install cuda-toolkit-12-6

To install the NVIDIA driver for 20 series graphics cards and up:

sudo apt-get install -y nvidia-open

For older NVIDIA graphics cards:

sudo apt-get install -y cuda-drivers

nvCOMP

cd ~/Downloads
wget https://developer.download.nvidia.com/compute/nvcomp/redist/nvcomp/linux-x86_64/nvcomp-linux-x86_64-4.1.0.6_cuda12-archive.tar.xz
tar -xvf nvcomp-linux-x86_64-4.1.0.6_cuda12-archive.tar.xz
sudo rsync -av nvcomp-linux-x86_64-4.1.0.6_cuda12-archive/lib/* /usr/local/cuda/lib64
sudo rsync -av nvcomp-linux-x86_64-4.1.0.6_cuda12-archive/include/* /usr/local/cuda/include
rm -rf nvcomp-linux-x86_64-4.1.0.6_cuda12-archive*

ZED SDK

cd ~/Downloads
wget https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/4.2/ZED_SDK_Ubuntu22_cuda12.1_v4.2.1.zstd.run
chmod +x ZED_SDK_Ubuntu22_cuda12.1_v4.2.1.zstd.run
./ZED_SDK_Ubuntu22_cuda12.1_v4.2.1.zstd.run

# Follow the ZED SDK installer prompts

rm -f ZED_SDK_Ubuntu22_cuda12.1_v4.2.1.zstd.run

Windows (x86_64)

CUDA Toolkit

cd %USERPROFILE%\Downloads
curl -OL https://developer.download.nvidia.com/compute/cuda/12.6.0/network_installers/cuda_12.6.0_windows_network.exe
cuda_12.6.0_windows_network.exe -s

:: Follow the NVIDIA Installer prompts. 
:: When asked whether to run express or custom installation, you may select express. 

del cuda_12.6.0_windows_network.exe

nvCOMP

Some of the following commands must be ran as an administrator. To open a Command Prompt as administrator, search CMD in the windows search menu, right click on Command Prompt, and select "Run as administrator."

mkdir nvcomp
cd nvcomp
curl -o nvcomp.zip -L https://developer.download.nvidia.com/compute/nvcomp/redist/nvcomp/windows-x86_64/nvcomp-windows-x86_64-4.1.0.6_cuda12-archive.zip
tar -xvf nvcomp-windows-x86_64-4.1.0.6_cuda12-archive.zip

:: The following move commands must be ran as administrator
move nvcomp-windows-x86_64-4.1.0.6_cuda12-archive\include\* "%ProgramFiles%\NVIDIA GPU Computing Toolkit\CUDA\v12.6\include"
move nvcomp-windows-x86_64-4.1.0.6_cuda12-archive\include\nvcomp "%ProgramFiles%\NVIDIA GPU Computing Toolkit\CUDA\v12.6\include"
move nvcomp-windows-x86_64-4.1.0.6_cuda12-archive\bin\nvcomp*.dll "%ProgramFiles%\NVIDIA GPU Computing Toolkit\CUDA\v12.6\bin"
move nvcomp-windows-x86_64-4.1.0.6_cuda12-archive\lib\nvcomp*.lib "%ProgramFiles%\NVIDIA GPU Computing Toolkit\CUDA\v12.6\lib\x64"

cd ..
rmdir /s /q nvcomp

ZED SDK

cd %USERPROFILE%\Downloads
curl -o ZED_SDK_Installer.exe -L https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/4.2/ZED_SDK_Windows_cuda12.1_v4.2.1.exe
ZED_SDK_Installer .exe -s

:: Follow the ZED SDK installer prompts

del ZED_SDK_Installer.exe