=====Installation sur VGG=====


====Installation ROS Kinetic====

Setup your computer to accept software from packages.ros.org:
  sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys:
  sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Installation:
  sudo apt-get update
Recommended:
  sudo apt-get install ros-kinetic-desktop-full
Other:	
  sudo apt-get install ros-kinetic-desktop
  sudo apt-get install ros-kinetic-ros-base
To find available packages, use:	
  apt-cache search ros-kinetic
Init rosdep: 
  sudo rosdep init
  rosdep update
Environement setup:
  echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
  source ~/.bashrc
Dependencies for building packages:
  sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
Create a ROS Workspace:
  mkdir -p ~/catkin_ws
  cd ~/catkin_ws
  catkin_make
Source your new setup.*sh file:
  source devel/setup.bash
  echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc (not sure)
  
  
==== Create your workspace (Non-admin users)====

Before you begin, make sure that ROS Kinetic is properly installed on computer:
  export | grep ROS
  
<file txt result.txt> 
declare -x ROSLISP_PACKAGE_DIRECTORIES="/home/tdedieu/catkin_ws/devel/share/common-lisp"
declare -x ROS_DISTRO="kinetic"
declare -x ROS_ETC_DIR="/opt/ros/kinetic/etc/ros"
declare -x ROS_MASTER_URI="http://localhost:11311"
declare -x ROS_PACKAGE_PATH="/home/tdedieu/catkin_ws/src:/opt/ros/kinetic/share"
declare -x ROS_ROOT="/opt/ros/kinetic/share/ros"
declare -x ROS_VERSION="1"
</file> 

Environement setup:
  echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
  source ~/.bashrc

Create your Workspace:
  mkdir -p ~/catkin_ws
  cd ~/catkin_ws
  mkdir src
  catkin_make

Source your new setup.*sh file:
  source devel/setup.bash
  echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
Note: Last command allows to avoid making the previous command at each new open terminal.

Now you can do this to go directly to package folder:
  roscd <mypackage>

Copy your ros package in src/:
  cp -r <your_path>/<your_package> ~/catkim_ws/src/

Example:
  cp -r ~/Documents/mypackage/ ~/catkin_ws/src/

Compile your packages:
  catkin_make

====Paquets pour python=====
  sudo apt-get install python3-pip idle3 idle-python3.5  
  sudo pip3 install matplotlib scipy
Pour l'affichage des legendes avec matplotlib:
   sudo apt-get install dvipng 


====Driver ueye====
  mkdir -p ~/Download
  cd ~/Download
  wget https://bvdp.inetdoc.net/files/ueye/uEye-Linux-4.90.06-64.tgz
  mkdir -p uEye-Linux-4.90.06-64
  cd uEye-Linux-4.90.06-64
  tar xvf ../uEye-Linux-4.90.06-64.tgz
  sudo ./ueyesdk-setup-4.90.06-usb-amd64.gz.run
  
<file txt result.txt>  
  Reload and retrigger udev to apply uEye rules...
***************************************************************************
Successfully installed ueyeusbd. Start (as root) with:
     /etc/init.d/ueyeusbdrc start
 
If ueyeusbd hangs and does not terminate on rc 'stop' command,
run (as root)
     /etc/init.d/ueyeusbdrc force-stop
 
NOTE that the daemon refuses to terminate if there are clients connected!
To uninstall, run '/usr/local/share/ueye/bin/ueyed_install-usb uninstall'.
 
If a graphical desktop environment is available, one may use the
uEye Camera Manager to configure cameras and services. To start
it, type idscameramanager on the command line or in the graphical application
launcher. If idscameramanager shall be used for daemon configuration and service
control, it _must_ be started as root.
</file>


Démarrage du driver (utilisateur tdedieu autorisé via visudo):
  sudo /etc/init.d/ueyeusbdrc start
  
Arrêt du driver (utilisateur tdedieu autorisé via visudo):
  sudo /etc/init.d/ueyeusbdrc stop


====Problème====
Camera de la marque IDS, uEye SE USB 3.1 Gen 1 (Model: UI320xSE-M).

===Free-run mode===

Ueyedemo avec la configuration suivante:
  image size: 4104x3006
  subsampling: 1
  binning:1
  sensor_scaling: 1.0
  pixel clock: 395 Mhz
  exposure: 10 ms
  framerate: 24,35 fps
Résultats:
  fps: 24.35, failed:0

Ueye_cam avec la configuration suivante:
<file txt result.txt>  
  <param name="color_mode" type="str" value="rgb8" /> <!-- valid options: 'rgb8', 'mono8', 'bayer_rggb8' -->

  <param name="image_width" type="int" value="4104" />
  <param name="image_height" type="int" value="3006" />

  <param name="subsampling" type="int" value="1" /> <!-- supported by only some UEye cameras -->
  <param name="binning" type="int" value="1" /> <!-- supported by only some UEye cameras -->
  <param name="sensor_scaling" type="double" value="1.0" /> <!-- supported by only some UEye cameras -->

  <param name="auto_exposure" type="bool" value="False" />
  <param name="exposure" type="int" value="10" /> <!-- in ms -->

  <param name="auto_frame_rate" type="bool" value="False" />
  <param name="frame_rate" type="double" value="24.0" />
  <param name="pixel_clock" type="int" value="395" />
</file>
Commande:
  rostopic hz /scene/image_raw
<file txt result.txt> 
average rate: 7.381
	min: 0.121s max: 0.147s std dev: 0.00565s window: 183
average rate: 7.376
	min: 0.121s max: 0.147s std dev: 0.00559s window: 190
average rate: 7.373
	min: 0.121s max: 0.147s std dev: 0.00559s window: 198
average rate: 7.369
	min: 0.121s max: 0.149s std dev: 0.00564s window: 200
</file>

Pourquoi les images par seconde (ips) ne sont pas environ égales (facteur < 2), alors que les paramètres sont les mêmes ? Il semble que se soit l'appelle à la fonction startFrameGrabber() dans le fichier ueye_cam_nodelet.cpp qui est trop lente. Le problème a été identifié, il s'agit de la fonction std::copy qui est exécuté en 0.25 secondes en moyenne. Dans un premier temps l'utilisation de la fonction memcpy a fait augmenter les ips jusqu'à 14 contre 7 avec std::copy. De plus, plusieurs copies de tampon d'image ralentissait l'exécution du programme. Ensuite pour éviter une nouvelle copie lors d'une souscrition à un topic (ici des images de 2048*2048 ou 4104*3006) nous utilisons un nodelet manager. Il permet l'utilisation de ressource mémoire commun a tous les nodelets qui dépendent du manager. Ce qui permet de ne pas faire une copie lorsqu'on souscrit à un topic publié dans le nodelet manager. Cette méthode est utilisé pour les flux vidéo et image de grandes tailles.

====Remarques====

===Trigger-mode===

Lorsque la configuration maître-escalves est mise en place. Il est important de savoir que les ips peuvent être réduite. Par exemple, au temps d'exposition maximum, la fréquence d'image est environ moitié moins élevée qu'en mode freerun.

De plus, pour ne pas perdre des images, il faut régler les paramètres en fonction de la caméra la plus lente pour qu'elle arrive à suivre.

Lorsque vous voulez visualiser les images des caméras:
  roscore
  rosrun image_view image_view image:=/<nom_topic>/image_raw (maître)
  rosrun image_view image_view image:=/<nom_topic>/image_raw (esclave1)  
  rosrun image_view image_view image:=/<nom_topic>/image_raw (esclave2)
  ...
Important: Lancez la visualisation du maître avant les esclaves.

Il est possible de faire également:
  roslaunch ueye_cam view_me.launch (caméras gauche, droite et scène)
  roslaunch ueye_cam view_stereo.launch (caméras gauche et droite)
  roslaunch ueye_cam view_scene.launch (caméra scène)



====Installation editeur atom====
  mkdir -p ~/Download
  cd ~/Download
  wget https://bvdp.inetdoc.net/files/ueye/atom-amd64.deb
  sudo dpkg -i atom-amd64.deb
  
  
====Installation AprilTag====
https://april.eecs.umich.edu/software/apriltag.html

  mkdir -p ~/Download
  cd ~/Download
  wget https://april.eecs.umich.edu/media/apriltag/apriltag-2016-12-01.tgz
  tar -xvzf apriltag-2016-12-01.tgz
  cd apriltag-2016-12-01
  make -j4
Il y a des problèmes de droits d'accès, sudo n'a pas certains droits pour appliquer les règles du makefile  
  sudo make install
  
  
patch à mettre dans le dossier   ~/Download/apriltag-2016-12-01
<file txt makefile_april.patch>
--- Makefile	2018-07-02 10:32:59.653346000 +0200
+++ Makefile	2018-07-02 10:44:08.476560000 +0200
@@ -16,11 +16,13 @@
 	@$(MAKE) -C example all
 
 .PHONY: install
-install: libapriltag.so
+preinstall:
 	@chmod +x install.sh
+	@sed 's:^prefix=$$:prefix=$(PREFIX):' < apriltag.pc.in > apriltag.pc
+
+install: libapriltag.so
 	@./install.sh $(PREFIX)/lib libapriltag.so
 	@./install.sh $(PREFIX)/include/apriltag $(APRILTAG_HEADERS)
-	@sed 's:^prefix=$$:prefix=$(PREFIX):' < apriltag.pc.in > apriltag.pc
 	@./install.sh $(PREFIX)/lib/pkgconfig apriltag.pc
 	@rm apriltag.pc
 	@ldconfig
</file>

la règle d'install a été coupée en 2, preinstall à faire par l'utilisateur, et install à faire par sudo
  wget https://bvdp.inetdoc.net/files/ueye/makefile_april.patch
  patch Makefile <makefile_april.patch
  make preinstall
  sudo make install
  
  
=====Utilisation Ros de Thomas=====
compilation de tous les noeuds
  cd /home/tdedieu/catkin_ws/
  catkin_make

noeud camera:
  roscd ueye_cam/
pour banc stereo + camera scene
  roslaunch ueye_cam master_slaves_tdedieu.launch
ou pour  camera scene seule
  roslaunch ueye_cam master_slaves_rgb8.launch

  rostopic list
<file txt listtopic.txt>
/rosout
/rosout_agg
/scene/camera_info
/scene/image_raw
/scene/image_raw/compressed
/scene/image_raw/compressed/parameter_descriptions
/scene/image_raw/compressed/parameter_updates
/scene/image_raw/compressedDepth
/scene/image_raw/compressedDepth/parameter_descriptions
/scene/image_raw/compressedDepth/parameter_updates
/scene/image_raw/theora
/scene/image_raw/theora/parameter_descriptions
/scene/image_raw/theora/parameter_updates
/stereo/left/camera_info
/stereo/left/image_raw
/stereo/left/image_raw/compressed
/stereo/left/image_raw/compressed/parameter_descriptions
/stereo/left/image_raw/compressed/parameter_updates
/stereo/left/image_raw/compressedDepth
/stereo/left/image_raw/compressedDepth/parameter_descriptions
/stereo/left/image_raw/compressedDepth/parameter_updates
/stereo/left/image_raw/theora
/stereo/left/image_raw/theora/parameter_descriptions
/stereo/left/image_raw/theora/parameter_updates
/stereo/right/camera_info
/stereo/right/image_raw
/stereo/right/image_raw/compressed
/stereo/right/image_raw/compressed/parameter_descriptions
/stereo/right/image_raw/compressed/parameter_updates
/stereo/right/image_raw/compressedDepth
/stereo/right/image_raw/compressedDepth/parameter_descriptions
/stereo/right/image_raw/compressedDepth/parameter_updates
/stereo/right/image_raw/theora
/stereo/right/image_raw/theora/parameter_descriptions
/stereo/right/image_raw/theora/parameter_updates
/ueye_cam_nodelet_left/parameter_descriptions
/ueye_cam_nodelet_left/parameter_updates
/ueye_cam_nodelet_right/parameter_descriptions
/ueye_cam_nodelet_right/parameter_updates
/ueye_cam_nodelet_scene/parameter_descriptions
/ueye_cam_nodelet_scene/parameter_updates
</file>

pour visualiser /scene/image_raw
  roslaunch ueye_cam view_scene.launch 
  roslaunch ueye_cam view_stereo.launch  
  roslaunch ueye_cam view_me.launch 


roscd eye_tracker/
pwd
  /home/tdedieu/catkin_ws/src/eye_tracker

  roslaunch eye_tracker eye_tracker_dedieu_stereo.launch 
 
  cd src/
  atom eye_tracker_nodelet.cpp &



eye_tracker echoue si image trop sombre: augmenter la duree d'exposition et/ou baisser le frame rate dans le script launch:
  master_slaves_tdedieu.launch
    <param name="exposure" type="double" value="100.0" />
  <param name="frame_rate" type="double" value="30.0" /> <!-- frame rate settings are ignored in camera_ext_trigger_mode -->
  

pour visualiser les ellipses extraites
   roslaunch eye_tracker view_pupils.launch


pour detection des tags:
  roslaunch camera_scene_detection scene.launch
 roscd camera_scene_detection/

  cd src/  
  atom camera_scene_detection_nodelet.cpp &



noeud optimisation stereo: (dans le paquet eye_tracker)
eye_tracker ->MainTriangulatePupils
les messages pupilles sont connus grace a import pupil2D as p2d
definis dans  /home/tdedieu/catkin_ws/src/eye_tracker/msg/Pupil_2D.msg


actuellement le noeuds attend 1 message par camera ->probleme de synchro -> il faudra faire un nodelets qui recupere les pixels candidats pour les 2 cameras et les met dans un seul message.

  roslaunch eye_tracker eye_tracker_dedieu_stereo.launch 
et 
  roslaunch eye_tracker tri_eye_tracker_stereo.launch

pour la synchronisation des messages:
  ajouter en sudo nano /opt/ros/kinetic/lib/python2.7/dist-packages/message_filters/__init__.py

<file txt __init__.py>
"""
Message Filter Objects
======================
"""


from functools import reduce
</file>



=====catkin=====
workspace dans /mnt/share/catkin_ws/
mais envv | grep catkin
  ROS_PACKAGE_PATH=/opt/ros/kinetic/share:/home/bvandepo/catkin_ws/
  LD_LIBRARY_PATH=/home/bvandepo/catkin_ws/devel/lib:/opt/ros/hydro/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/bvandepo/openrobots/lib/gearbox
  CATKIN_TEST_RESULTS_DIR=/home/bvandepo/catkin_ws/build/test_results
  CPATH=/home/bvandepo/catkin_ws/devel/include:/opt/ros/hydro/include
  ROS_TEST_RESULTS_DIR=/home/bvandepo/catkin_ws/build/test_results
  PATH=/home/bvandepo/catkin_ws/devel/bin:/opt/ros/hydro/bin:/usr/local/matlab/bin:/home/bvandepo/bin:/usr/local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:.:/usr/local/X11_Contrib/bin/unknown:/home/bvandepo/scripts/:/home/bvandepo/openrobots/bin:/home/bvandepo/scripts
  PYTHONPATH=/home/bvandepo/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/hydro/lib/python2.7/dist-packages
  PKG_CONFIG_PATH=/home/bvandepo/catkin_ws/devel/lib/pkgconfig:/opt/ros/hydro/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig
  CMAKE_PREFIX_PATH=/home/bvandepo/catkin_ws/devel:/opt/ros/hydro


Il faut faire overlay
http://wiki.ros.org/catkin/Tutorials/workspace_overlaying