WIKI de Bertrand VANDEPORTAELE

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

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

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

__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