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)
Before you begin, make sure that ROS Kinetic is properly installed on computer:
export | grep ROS
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"
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
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
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
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.
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
Camera de la marque IDS, uEye SE USB 3.1 Gen 1 (Model: UI320xSE-M).
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:
<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" />
Commande:
rostopic hz /scene/image_raw
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
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.
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)
mkdir -p ~/Download cd ~/Download wget https://bvdp.inetdoc.net/files/ueye/atom-amd64.deb sudo dpkg -i atom-amd64.deb
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
--- 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
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
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
/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
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
""" Message Filter Objects ====================== """ from functools import reduce
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