深海游弋的鱼 – 第 109 页 – 智障儿童欢乐多

WD MyCloud编译PHP-7.1安装包

1.按照How to successfully build packages for WD My Cloud from source中的介绍，搭建完成WDMyCloud的编译环境

2.使用如下方式编译:

$ su 

$ cd ~/wdmc-build/64k-jessie
$ chroot build

$ mount -t proc none /proc
$ mount -t devtmpfs none /dev
$ mount -t devpts none /dev/pts

$ export DEBIAN_FRONTEND=noninteractive
$ export DEBCONF_NONINTERACTIVE_SEEN=true
$ export LC_ALL=C
$ export LANGUAGE=C
$ export LANG=C
$ export DEB_CFLAGS_APPEND='-D_FILE_OFFSET_BITS=64 -D_LARGEFILE_SOURCE'
$ export DEB_BUILD_OPTIONS=nocheck

$ cd root

$ apt-get update
$ apt-get upgrade

$ apt-get install ca-certificates
$ apt-get install dh-autoreconf
$ apt-get install git
$ apt-get install apache2-dev
$ apt-get install apache2
$ apt-get install systemtap-sdt-dev
$ apt-get install libxml2
$ apt-get install libxml2-dev
$ apt-get install libssl-dev
$ apt-get install libpcre3 libpcre3-dev
$ apt-get install libsqlite3-dev
$ apt-get install libbz2-dev

$ apt-get install libcurl4-openssl-dev

$ apt-get install libqdbm-dev

$ apt-get install libdb-dev

#configure: error: Cannot find enchant
$ apt-get install enchant libenchant-dev

#configure: error: webp/decode.h not found
$ apt-get install libwebp-dev

#configure: error: png.h not found.
$ apt-get install libpng-dev

#configure: error: xpm.h not found.
$ apt-get install libxpm-dev

#configure: error: freetype-config not found.
$ apt-get install libfreetype6-dev

#configure: error: Unable to find gd.h anywhere under /usr
$ apt-get install libgd-dev

#configure: error: Unable to locate gmp.h
$ apt-get install libgmp-dev

#configure: error: utf8_mime2text() has new signature, but U8T_CANONICAL is missing. This should not happen. Check config.log for additional information.
$ apt-get install libc-client-dev

#configure: error: Kerberos libraries not found.
$ apt-get install libkrb5-dev

#configure: error: libfbclient, libgds or libib_util not found! Check config.log for more information.
$ apt-get install firebird-dev

#configure: error: Unable to detect ICU prefix or no failed. Please verify ICU install prefix and make sure icu-config works.
$ apt-get install libicu-dev

#configure: error: sasl.h not found!
$ apt-get install libsasl2-dev

#configure: error: mcrypt.h not found. Please reinstall libmcrypt.
$ apt-get install libmcrypt-dev

#checking for unixODBC support... configure: error: ODBC header file '/usr/include/sqlext.h' not found!
$ apt-get install unixODBC-dev

#configure: error: Directory /usr is not a FreeTDS installation directory
$ apt-get install FreeTDS-dev

#configure: error: Cannot find libpq-fe.h. Please specify correct PostgreSQL installation path
$ apt-get install libpq-dev

#configure: error: Cannot find pspell
$ apt-get install libpspell-dev

#configure: error: Please reinstall libedit - I cannot find readline.h
$ apt-get install libedit-dev

#configure: error: Can not find recode.h anywhere under /usr /usr/local /usr /opt.
$ apt-get install librecode-dev

#configure: error: Could not find net-snmp-config binary. Please check your net-snmp installation.
$ apt-get install libsnmp-dev

#configure: error: Cannot find libtidy
$ apt-get install libtidy-dev

#checking for XMLRPC-EPI in default path... not found
$ apt-get install libxmlrpc-epi-dev

#configure: error: xslt-config not found. Please reinstall the libxslt >= 1.1.0 distribution
$ apt-get install libxslt-dev

#configure: error: Please reinstall the libzip distribution
$ apt-get install libzip-dev

$ git clone -b master-7.1 https://gitlab.com/deb.sury.org/php.git php7 --depth=1 

$ cd php7

#禁用systemd
$ sed -i "s/CONFIGURE_SYSTEMD *:= *--with-fpm-systemd/CONFIGURE_SYSTEMD := --without-fpm-systemd/g" debian/rules

$ sed -i "s/DH_SYSTEMD *:= *--with systemd/DH_SYSTEMD :=/g" debian/rules

$ dpkg-buildpackage -d -b -uc

#编译依赖包php-common
$ cd ..

$ git clone -b debian/50 git://anonscm.debian.org/pkg-php/php-defaults.git

$ cd php-defaults

#禁用systemd
$ sed -i "s/DH_SYSTEMD *:= *--with *systemd/DH_SYSTEMD :=/g" debian/rules

$ dpkg-buildpackage -d -b -uc

$ exit

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$ su

$ cd ~/wdmc-build/64k-jessie

$ chroot build

$ mount -t proc none /proc

$ mount -t devtmpfs none /dev

$ mount -t devpts none /dev/pts

$ export DEBIAN_FRONTEND=noninteractive

$ export DEBCONF_NONINTERACTIVE_SEEN=true

$ export LC_ALL=C

$ export LANGUAGE=C

$ export LANG=C

$ export DEB_CFLAGS_APPEND='-D_FILE_OFFSET_BITS=64 -D_LARGEFILE_SOURCE'

$ export DEB_BUILD_OPTIONS=nocheck

$ cd root

$ apt-get update

$ apt-get upgrade

$ apt-get install ca-certificates

$ apt-get install dh-autoreconf

$ apt-get install git

$ apt-get install apache2-dev

$ apt-get install apache2

$ apt-get install systemtap-sdt-dev

$ apt-get install libxml2

$ apt-get install libxml2-dev

$ apt-get install libssl-dev

$ apt-get install libpcre3 libpcre3-dev

$ apt-get install libsqlite3-dev

$ apt-get install libbz2-dev

$ apt-get install libcurl4-openssl-dev

$ apt-get install libqdbm-dev

$ apt-get install libdb-dev

#configure: error: Cannot find enchant

$ apt-get install enchant libenchant-dev

#configure: error: webp/decode.h not found

$ apt-get install libwebp-dev

#configure: error: png.h not found.

$ apt-get install libpng-dev

#configure: error: xpm.h not found.

$ apt-get install libxpm-dev

#configure: error: freetype-config not found.

$ apt-get install libfreetype6-dev

#configure: error: Unable to find gd.h anywhere under /usr

$ apt-get install libgd-dev

#configure: error: Unable to locate gmp.h

$ apt-get install libgmp-dev

#configure: error: utf8_mime2text() has new signature, but U8T_CANONICAL is missing. This should not happen. Check config.log for additional information.

$ apt-get install libc-client-dev

#configure: error: Kerberos libraries not found.

$ apt-get install libkrb5-dev

#configure: error: libfbclient, libgds or libib_util not found! Check config.log for more information.

$ apt-get install firebird-dev

#configure: error: Unable to detect ICU prefix or no failed. Please verify ICU install prefix and make sure icu-config works.

$ apt-get install libicu-dev

#configure: error: sasl.h not found!

$ apt-get install libsasl2-dev

#configure: error: mcrypt.h not found. Please reinstall libmcrypt.

$ apt-get install libmcrypt-dev

#checking for unixODBC support... configure: error: ODBC header file '/usr/include/sqlext.h' not found!

$ apt-get install unixODBC-dev

#configure: error: Directory /usr is not a FreeTDS installation directory

$ apt-get install FreeTDS-dev

#configure: error: Cannot find libpq-fe.h. Please specify correct PostgreSQL installation path

$ apt-get install libpq-dev

#configure: error: Cannot find pspell

$ apt-get install libpspell-dev

#configure: error: Please reinstall libedit - I cannot find readline.h

$ apt-get install libedit-dev

#configure: error: Can not find recode.h anywhere under /usr /usr/local /usr /opt.

$ apt-get install librecode-dev

#configure: error: Could not find net-snmp-config binary. Please check your net-snmp installation.

$ apt-get install libsnmp-dev

#configure: error: Cannot find libtidy

$ apt-get install libtidy-dev

#checking for XMLRPC-EPI in default path... not found

$ apt-get install libxmlrpc-epi-dev

#configure: error: xslt-config not found. Please reinstall the libxslt >= 1.1.0 distribution

$ apt-get install libxslt-dev

#configure: error: Please reinstall the libzip distribution

$ apt-get install libzip-dev

$ git clone -b master-7.1 https://gitlab.com/deb.sury.org/php.git php7 --depth=1

$ cd php7

#禁用systemd

$ sed -i "s/CONFIGURE_SYSTEMD *:= *--with-fpm-systemd/CONFIGURE_SYSTEMD := --without-fpm-systemd/g" debian/rules

$ sed -i "s/DH_SYSTEMD *:= *--with systemd/DH_SYSTEMD :=/g" debian/rules

$ dpkg-buildpackage -d -b -uc

#编译依赖包php-common

$ cd ..

$ git clone -b debian/50 git://anonscm.debian.org/pkg-php/php-defaults.git

$ cd php-defaults

#禁用systemd

$ sed -i "s/DH_SYSTEMD *:= *--with *systemd/DH_SYSTEMD :=/g" debian/rules

$ dpkg-buildpackage -d -b -uc

$ exit

3.编译php-apcu,这个模块WD MyCloud需要

$ su 

$ cd ~/wdmc-build/64k-jessie
$ chroot build

$ mount -t proc none /proc
$ mount -t devtmpfs none /dev
$ mount -t devpts none /dev/pts

$ export DEBIAN_FRONTEND=noninteractive
$ export DEBCONF_NONINTERACTIVE_SEEN=true
$ export LC_ALL=C
$ export LANGUAGE=C
$ export LANG=C
$ export DEB_CFLAGS_APPEND='-D_FILE_OFFSET_BITS=64 -D_LARGEFILE_SOURCE'
$ export DEB_BUILD_OPTIONS=nocheck

$ cd root

#安装依赖
$ apt-get install shtool
$ apt-get install liblist-moreutils-perl
$ apt-get install xml2

# "dch" command 
$ apt-get install devscripts

#安装我们刚刚编译好的PHP7包
$ dpkg -i php-common_50_all.deb
$ dpkg -i php7.1-common_7.1.10-1_armhf.deb
$ dpkg -i php7.1-readline_7.1.10-1_armhf.deb
$ dpkg -i php7.1-opcache_7.1.10-1_armhf.deb
$ dpkg -i php7.1-json_7.1.10-1_armhf.deb
$ dpkg -i php7.1-cli_7.1.10-1_armhf.deb 
$ dpkg -i php7.1-dev_7.1.10-1_armhf.deb

#编译依赖
$ git clone git://anonscm.debian.org/pkg-php/dh-php.git

$ cd dh-php

$ git checkout debian/0.26 -b debian/0.26

$ dpkg-buildpackage -d -b -uc

$ cd ..

$ dpkg -i dh-php_0.26_all.deb

#参考 https://packages.debian.org/source/sid/php-apcu
# git://anonscm.debian.org/pkg-php/php-apcu.git
#https://pecl.php.net/package/APCu
$ git clone git://anonscm.debian.org/pkg-php/php-apcu.git

$ cd php-apcu

$ git checkout debian/5.1.8+4.0.11-1 -b debian/5.1.8+4.0.11-1

#Build the package
$ debuild -b -d -uc -us

$ cd ..

$ dpkg -i php-apcu_5.1.8+4.0.11-1_armhf.deb

$ git clone git://anonscm.debian.org/pkg-php/php-apcu-bc.git

$ cd php-apcu-bc

$ debuild -b -d -uc -us

$ exit

$ su

$ cd ~/wdmc-build/64k-jessie

$ chroot build

$ mount -t proc none /proc

$ mount -t devtmpfs none /dev

$ mount -t devpts none /dev/pts

$ export DEBIAN_FRONTEND=noninteractive

$ export DEBCONF_NONINTERACTIVE_SEEN=true

$ export LC_ALL=C

$ export LANGUAGE=C

$ export LANG=C

$ export DEB_CFLAGS_APPEND='-D_FILE_OFFSET_BITS=64 -D_LARGEFILE_SOURCE'

$ export DEB_BUILD_OPTIONS=nocheck

$ cd root

#安装依赖

$ apt-get install shtool

$ apt-get install liblist-moreutils-perl

$ apt-get install xml2

# "dch" command

$ apt-get install devscripts

#安装我们刚刚编译好的PHP7包

$ dpkg -i php-common_50_all.deb

$ dpkg -i php7.1-common_7.1.10-1_armhf.deb

$ dpkg -i php7.1-readline_7.1.10-1_armhf.deb

$ dpkg -i php7.1-opcache_7.1.10-1_armhf.deb

$ dpkg -i php7.1-json_7.1.10-1_armhf.deb

$ dpkg -i php7.1-cli_7.1.10-1_armhf.deb

$ dpkg -i php7.1-dev_7.1.10-1_armhf.deb

#编译依赖

$ git clone git://anonscm.debian.org/pkg-php/dh-php.git

$ cd dh-php

$ git checkout debian/0.26 -b debian/0.26

$ dpkg-buildpackage -d -b -uc

$ cd ..

$ dpkg -i dh-php_0.26_all.deb

#参考 https://packages.debian.org/source/sid/php-apcu

# git://anonscm.debian.org/pkg-php/php-apcu.git

#https://pecl.php.net/package/APCu

$ git clone git://anonscm.debian.org/pkg-php/php-apcu.git

$ cd php-apcu

$ git checkout debian/5.1.8+4.0.11-1 -b debian/5.1.8+4.0.11-1

#Build the package

$ debuild -b -d -uc -us

$ cd ..

$ dpkg -i php-apcu_5.1.8+4.0.11-1_armhf.deb

$ git clone git://anonscm.debian.org/pkg-php/php-apcu-bc.git

$ cd php-apcu-bc

$ debuild -b -d -uc -us

$ exit

上面下载的代码由于是国外的服务器，因此可能会出现一直无法下载成功的情况，可以从这里下载代码的拷贝。PHP源代码点击这里，PHP7 Debian编译配置文件点击这里，dh-php源代码点击这里，php-apcu源代码点击这里, php-apcu-bc源代码点击这里。

在WDMyCloud中安装的时候执行如下命令:

$ sudo apt-get update

$ sudo apt-get install -y --force-yes php7.1

$ sudo apt-get install -y --force-yes libapache2-mod-php7.1

$ sudo apt-get install -y --force-yes php7.1-curl

$ sudo apt-get install -y --force-yes php-apcu

$ sudo apt-get install -y --force-yes php-apcu-bc

$ sudo apt-get install -y --force-yes php7.1-xml

#这个是个坑，如果没有增加这个模块，也是可以正常启动的，但是却没办法正常登录进入，应用会出现异常
$ sudo apt-get install -y --force-yes php7.1-mbstring

#由于PHP7中的parse_ini_file不再兼容“#”作为注释字符，只能使用“;”进行注释，但是这个注释无法
#被其他应用读取，而WDMyCloud里面的其他脚本也需要读取/etc/system.conf里面的内容
#目前唯一的解决方法就是删除全部的注释行
# /var/www/htdocs/UI/index.php	 	 	 	 
$ sudo cp /etc/system.conf /etc/system.conf.bak	 	 
$ sudo sed -i '/^#/d' /etc/system.conf

#语法调整
$ sudo cp /var/www/htdocs/UI/views/common/dates.php /var/www/htdocs/UI/views/common/dates.php.bak

$ sudo sed -i 's/^<?.*$/<?php/g' /var/www/htdocs/UI/views/common/dates.php

#/var/www/htdocs/UI/views/layouts/main/main.php	 
$ sudo cp /etc/php5/apache2/conf.d/include_path.ini /etc/php/7.1/apache2/conf.d/

$ sudo chmod 777 /etc/php/7.1/apache2/conf.d/include_path.ini

$ sudo a2dismod php5	 	 

$ sudo a2enmod php7.1

$ sudo phpenmod curl	 	 

$ sudo service apache2 restart

$ sudo apt-get update

$ sudo apt-get install -y --force-yes php7.1

$ sudo apt-get install -y --force-yes libapache2-mod-php7.1

$ sudo apt-get install -y --force-yes php7.1-curl

$ sudo apt-get install -y --force-yes php-apcu

$ sudo apt-get install -y --force-yes php-apcu-bc

$ sudo apt-get install -y --force-yes php7.1-xml

#这个是个坑，如果没有增加这个模块，也是可以正常启动的，但是却没办法正常登录进入，应用会出现异常

$ sudo apt-get install -y --force-yes php7.1-mbstring

#由于PHP7中的parse_ini_file不再兼容“#”作为注释字符，只能使用“;”进行注释，但是这个注释无法

#被其他应用读取，而WDMyCloud里面的其他脚本也需要读取/etc/system.conf里面的内容

#目前唯一的解决方法就是删除全部的注释行

# /var/www/htdocs/UI/index.php

$ sudo cp /etc/system.conf /etc/system.conf.bak

$ sudo sed -i '/^#/d' /etc/system.conf

#语法调整

$ sudo cp /var/www/htdocs/UI/views/common/dates.php /var/www/htdocs/UI/views/common/dates.php.bak

$ sudo sed -i 's/^<?.*$/<?php/g' /var/www/htdocs/UI/views/common/dates.php

#/var/www/htdocs/UI/views/layouts/main/main.php

$ sudo cp /etc/php5/apache2/conf.d/include_path.ini /etc/php/7.1/apache2/conf.d/

$ sudo chmod 777 /etc/php/7.1/apache2/conf.d/include_path.ini

$ sudo a2dismod php5

$ sudo a2enmod php7.1

$ sudo phpenmod curl

$ sudo service apache2 restart

注意，这部分的功能目前仅仅是可用，还没有达到完全正常的情况，如果出现问题，可以切换回PHP5,目前已知的完美切换回到原来的PHP5的办法就是卸载上面安装的所有PHP7的相关应用才能切换成功，否则总有部分小功能不是太正常.

参考链接

神经网络瘦身：SqueezeNet

2016年2月份，UC Berkeley和Stanford一帮人在arXiv贴了一篇文章：

SqueezeNet: AlexNet-level accuracy with 50x fewer parameters and<0.5MB model size

这篇文章做成了许多人梦寐以求的事——压缩神经网络参数。但和以往不同，原作不是在前人网络基础上修修补补（例如Deep Compression），而是自己设计了一个全新的网络，它用了比AlexNet少50倍的参数，达到了AlexNet相同的精度！

关于SqueezeNet的创新点、网络结构，国内已经有若干爱好者发布了相关的简介，如这篇、这篇，国外的文献没有查，相信肯定也有很多。

本文关注的重点在SqueezeNet为什么能实现网络瘦身？难道网络参数的冗余性就那么强吗？或者说很多参数都是浪费的、无意义的？

继续阅读神经网络瘦身：SqueezeNet

OpenMediaVault-3.0.89在系统更新升级后无法挂载磁盘

OpenMediaVault-3.0.89在执行应用升级

$ sudo apt-get update
$ sudo apt-get upgrade

1 2	$ sudo apt-get update $ sudo apt-get upgrade

重启无法自动挂载磁盘,查看系统日志，看到如下内容：

Oct 13 22:53:54 openmediavault systemd[1]: systemd-fsck@dev-disk-by\x2duuid-7909fba8\x2dcc50\x2d430f\x2d986f\x2d9db4ba7caa3c.service: Job systemd-fsck@dev-disk-by\x2duuid-7909fba8\x2dcc50\x2d430f\x2d986f\x2d9db4ba7caa3c.service/start failed with result 'dependency'.
Oct 13 22:53:54 openmediavault systemd[1]: dev-disk-by\x2duuid-7909fba8\x2dcc50\x2d430f\x2d986f\x2d9db4ba7caa3c.device: Job dev-disk-by\x2duuid-7909fba8\x2dcc50\x2d430f\x2d986f\x2d9db4ba7caa3c.device/start failed with result 'timeout'.
Oct 13 22:54:25 openmediavault monit[1551]: 'collectd' process is not running
Oct 13 22:54:25 openmediavault monit[1551]: 'collectd' trying to restart
Oct 13 22:54:25 openmediavault monit[1551]: 'collectd' start: '/bin/systemctl start collectd'
Oct 13 22:54:55 openmediavault monit[1551]: 'collectd' failed to start (exit status 0) -- no output

Oct 13 22:53:54 openmediavault systemd[1]: systemd-fsck@dev-disk-by\x2duuid-7909fba8\x2dcc50\x2d430f\x2d986f\x2d9db4ba7caa3c.service: Job systemd-fsck@dev-disk-by\x2duuid-7909fba8\x2dcc50\x2d430f\x2d986f\x2d9db4ba7caa3c.service/start failed with result 'dependency'.

Oct 13 22:53:54 openmediavault systemd[1]: dev-disk-by\x2duuid-7909fba8\x2dcc50\x2d430f\x2d986f\x2d9db4ba7caa3c.device: Job dev-disk-by\x2duuid-7909fba8\x2dcc50\x2d430f\x2d986f\x2d9db4ba7caa3c.device/start failed with result 'timeout'.

Oct 13 22:54:25 openmediavault monit[1551]: 'collectd' process is not running

Oct 13 22:54:25 openmediavault monit[1551]: 'collectd' trying to restart

Oct 13 22:54:25 openmediavault monit[1551]: 'collectd' start: '/bin/systemctl start collectd'

Oct 13 22:54:55 openmediavault monit[1551]: 'collectd' failed to start (exit status 0) -- no output

这个原因是由于collectd的升级导致了无法使用systemd来启动。而Openmediavaule加载硬盘的时候依赖collectd模块，这个模块的启动问题导致全部磁盘都无法加载。

目前的做法是升级到最新的OpenMediaVault-4.0，参考OpenMediaVault系统升级。

但是升级后会遇到如下错误：

Oct 14 18:01:10 openmediavault collectd[1081]: rrdcached plugin: Failed to connect to RRDCacheD at unix:/var/run/rrdcached.sock: Unable to connect to rrdcached: No such file or directory (status=2)

1	Oct 14 18:01:10 openmediavault collectd[1081]: rrdcached plugin: Failed to connect to RRDCacheD at unix:/var/run/rrdcached.sock: Unable to connect to rrdcached: No such file or directory (status=2)

以及

Oct 14 18:19:28 openmediavault monit[1053]: 'omv-engined' process is not running
Oct 14 18:19:28 openmediavault monit[1053]: 'omv-engined' trying to restart
Oct 14 18:19:28 openmediavault monit[1053]: 'omv-engined' start: '/bin/systemctl start openmediavault-engined'
Oct 14 18:19:59 openmediavault monit[1053]: 'omv-engined' failed to start (exit status 1) -- '/bin/systemctl start openmediavault-engined': Failed to start openmediavault-engined.service: Unit openmediavault-engined.service is masked.

Oct 14 18:19:28 openmediavault monit[1053]: 'omv-engined' process is not running

Oct 14 18:19:28 openmediavault monit[1053]: 'omv-engined' trying to restart

Oct 14 18:19:28 openmediavault monit[1053]: 'omv-engined' start: '/bin/systemctl start openmediavault-engined'

Oct 14 18:19:59 openmediavault monit[1053]: 'omv-engined' failed to start (exit status 1) -- '/bin/systemctl start openmediavault-engined': Failed to start openmediavault-engined.service: Unit openmediavault-engined.service is masked.

修复方法为：

$ omv-mkconf collectd

$ omv-mkconf rrdcached

$ omv-mkconf monit

$ sudo systemctl unmask openmediavault-engined.service

$ sudo reboot

$ omv-mkconf collectd

$ omv-mkconf rrdcached

$ omv-mkconf monit

$ sudo systemctl unmask openmediavault-engined.service

$ sudo reboot

参考链接

ROS Kinetic切换OpenCV到2.X版本

注意，本文章只针对简单的应用，不涉及到复杂的严重依赖OpenCV模块的项目。如果依赖复杂，可能会导致OpenCV 2.X与OpenCV 3.X的运行时库同时被加载，导致运行时候崩溃。

最近在使用ROS开发项目，代码从Indigo(Ubuntu 14.04)升级到Kinetic（Ubuntu 16.04）。

发现OpenCV升级到了opencv-3.2.0-dev版本,但是实际使用中发现代码在opencv-2.4.9版本上能正确运行，但是升级到opencv-3.2.0-dev版本之后，就不能正常工作了。

为了查找问题，需要降级一下OpenCV版本。

网上查找了一下，找到如下解决方法：

$ sudo apt-get install libcv-dev

$ sudo apt-get install libopencv-dev

$ sudo apt-get install libopencv-contrib-dev

$ sudo apt-get install libopencv-gpu-dev

$ sudo gedit /opt/ros/kinetic/share/cv_bridge/cmake/cv_bridgeConfig.cmake

$ sudo apt-get install libcv-dev

$ sudo apt-get install libopencv-dev

$ sudo apt-get install libopencv-contrib-dev

$ sudo apt-get install libopencv-gpu-dev

$ sudo gedit /opt/ros/kinetic/share/cv_bridge/cmake/cv_bridgeConfig.cmake

然后修改如下的内容(修改之前请注意先备份）

第94-96行：
    if(NOT "include;/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev " STREQUAL " ")
      set(cv_bridge_INCLUDE_DIRS "")
      set(_include_dirs "include;/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev")

#112行：
set(libraries "cv_bridge;/opt/ros/kinetic/lib/libopencv_calib3d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_core3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_features2d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_flann3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_highgui3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_imgcodecs3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_imgproc3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ml3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_objdetect3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_photo3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_shape3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_stitching3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_superres3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_video3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_videoio3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_videostab3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_viz3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_aruco3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_bgsegm3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_bioinspired3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ccalib3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_cvv3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_datasets3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_dpm3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_face3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_fuzzy3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_hdf3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_line_descriptor3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_optflow3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_phase_unwrapping3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_plot3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_reg3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_rgbd3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_saliency3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_stereo3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_structured_light3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_surface_matching3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_text3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xfeatures2d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ximgproc3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xobjdetect3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xphoto3.so.3.2.0")

第94-96行：

if(NOT "include;/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev " STREQUAL " ")

set(cv_bridge_INCLUDE_DIRS "")

set(_include_dirs "include;/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev")

#112行：

set(libraries "cv_bridge;/opt/ros/kinetic/lib/libopencv_calib3d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_core3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_features2d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_flann3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_highgui3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_imgcodecs3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_imgproc3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ml3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_objdetect3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_photo3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_shape3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_stitching3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_superres3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_video3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_videoio3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_videostab3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_viz3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_aruco3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_bgsegm3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_bioinspired3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ccalib3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_cvv3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_datasets3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_dpm3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_face3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_fuzzy3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_hdf3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_line_descriptor3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_optflow3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_phase_unwrapping3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_plot3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_reg3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_rgbd3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_saliency3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_stereo3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_structured_light3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_surface_matching3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_text3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xfeatures2d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ximgproc3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xobjdetect3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xphoto3.so.3.2.0")

指向系统自带的opencv-2.4.9版本

#94-96行：
if(NOT "include;/usr/include/opencv;/usr/include " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "include;/usr/include/opencv;/usr/include")

#112行：
set(libraries "cv_bridge;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so;/usr/lib/x86_64-linux-gnu/libopencv_contrib.so;/usr/lib/x86_64-linux-gnu/libopencv_core.so;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so;/usr/lib/x86_64-linux-gnu/libopencv_flann.so;/usr/lib/x86_64-linux-gnu/libopencv_gpu.so;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so;/usr/lib/x86_64-linux-gnu/libopencv_legacy.so;/usr/lib/x86_64-linux-gnu/libopencv_ml.so;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so;/usr/lib/x86_64-linux-gnu/libopencv_ocl.so;/usr/lib/x86_64-linux-gnu/libopencv_photo.so;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so;/usr/lib/x86_64-linux-gnu/libopencv_superres.so;/usr/lib/x86_64-linux-gnu/libopencv_ts.so;/usr/lib/x86_64-linux-gnu/libopencv_video.so;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so")

#94-96行：

if(NOT "include;/usr/include/opencv;/usr/include " STREQUAL " ")

set(cv_bridge_INCLUDE_DIRS "")

set(_include_dirs "include;/usr/include/opencv;/usr/include")

#112行：

set(libraries "cv_bridge;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so;/usr/lib/x86_64-linux-gnu/libopencv_contrib.so;/usr/lib/x86_64-linux-gnu/libopencv_core.so;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so;/usr/lib/x86_64-linux-gnu/libopencv_flann.so;/usr/lib/x86_64-linux-gnu/libopencv_gpu.so;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so;/usr/lib/x86_64-linux-gnu/libopencv_legacy.so;/usr/lib/x86_64-linux-gnu/libopencv_ml.so;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so;/usr/lib/x86_64-linux-gnu/libopencv_ocl.so;/usr/lib/x86_64-linux-gnu/libopencv_photo.so;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so;/usr/lib/x86_64-linux-gnu/libopencv_superres.so;/usr/lib/x86_64-linux-gnu/libopencv_ts.so;/usr/lib/x86_64-linux-gnu/libopencv_video.so;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so")

修改完成后，必要的情况下,请在删除~/workspace/ros/catkin/目录下的build，devel目录之后，重新编译。

参考链接

CVR100W升级到最新固件1.0.1.24

家里用的CVR100W路由是几年前买的，当时升级过一次固件，版本到1.0.1.19,但是最近几个月发现出现了无线不稳定的情况，有线访问打开路由器主页也变得比较慢，重启无效。因此怀疑是路由器系统在长时间运行后，这个版本的固件是存在问题的。

去思科官网搜索一下最新固件，竟然看到了1.0.1.24版本的固件，于是下载下来CVR100W_FW_1.0.1.24，各位也可以去思科官网去搜索下载。

目前测试来看，这个版本的固件应该是更稳定，速度也有所提升。
继续阅读CVR100W升级到最新固件1.0.1.24

NVIDIA TX2 (Ubuntu 16.04)上安装CUDA 8.0

使用如下方式安装：

$ cd ~ 

$ wget http://developer.download.nvidia.com/devzone/devcenter/mobile/jetpack_l4t/013/linux-x64/cuda-repo-l4t-8-0-local_8.0.84-1_arm64.deb

$ sudo dpkg -i cuda-repo-l4t-8-0-local_8.0.84-1_arm64.deb

$ sudo apt-get update

$ sudo apt-get install cuda-toolkit-8-0

$ cd ~

$ wget http://developer.download.nvidia.com/devzone/devcenter/mobile/jetpack_l4t/013/linux-x64/cuda-repo-l4t-8-0-local_8.0.84-1_arm64.deb

$ sudo dpkg -i cuda-repo-l4t-8-0-local_8.0.84-1_arm64.deb

$ sudo apt-get update

$ sudo apt-get install cuda-toolkit-8-0

至于如何获取最新的NVIDIA TX2上使用的CUDA 8.0版本的下载地址，请访问Jetson Download Center，下载目前最新的JetPack 3.1。执行之后在存储目录下的repository.json中找到最新的下载链接即可。当然也可以让JetPack 3.1自动下载完成最新的CUDA 8.0版本到指定目录。

NVIDIA TX2 (Ubuntu 16.04)上安装ROS

首先编辑安装源

$ sudo vim /etc/apt/sources.list

1	$ sudo vim /etc/apt/sources.list

找到如下内容

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted

## Major bug fix updates produced after the final release of the
## distribution.
deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted

## Uncomment the following two lines to add software from the 'universe'
## repository.
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial universe
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe

## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted

deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to

# newer versions of the distribution.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted

## Major bug fix updates produced after the final release of the

## distribution.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted

## Uncomment the following two lines to add software from the 'universe'

## repository.

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu

## team. Also, please note that software in universe WILL NOT receive any

## review or updates from the Ubuntu security team.

# deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe

# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial universe

# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe

# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe

## N.B. software from this repository may not have been tested as

## extensively as that contained in the main release, although it includes

## newer versions of some applications which may provide useful features.

## Also, please note that software in backports WILL NOT receive any review

## or updates from the Ubuntu security team.

# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted

# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted

deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted

# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe

# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe

# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse

# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse

开启universe源，修改为：

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted

## Major bug fix updates produced after the final release of the
## distribution.
deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted

## Uncomment the following two lines to add software from the 'universe'
## repository.
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial universe
deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe

## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted

deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to

# newer versions of the distribution.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted

## Major bug fix updates produced after the final release of the

## distribution.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted

## Uncomment the following two lines to add software from the 'universe'

## repository.

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu

## team. Also, please note that software in universe WILL NOT receive any

## review or updates from the Ubuntu security team.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial universe

deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe