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Setup arpose

Isaac Vandor edited this page Feb 2, 2017 · 2 revisions

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Setup ARPOSE

Installing AR_POSE

  1. If you plan on visualizing the output of ar_pose with rviz, you must fix libpcre (note that this only applies to ODROID C1):

    export lib_src="http://ports.ubuntu.com/pool/main/p/pcre3"
    mkdir -p ~/libpcre && cd ~/libpcre
    wget ${lib_src}/libpcre3-dev_8.35-7.1ubuntu1_armhf.deb
    wget ${lib_src}/libpcre3_8.35-7.1ubuntu1_armhf.deb
    wget ${lib_src}/libpcre16-3_8.35-7.1ubuntu1_armhf.deb
    wget ${lib_src}/libpcre32-3_8.35-7.1ubuntu1_armhf.deb
    wget ${lib_src}/libpcrecpp0v5_8.35-7.1ubuntu1_armhf.deb
    unset lib_src
    sudo dpkg -i *.deb
    sudo apt-get -f install

    I didn't quite test if the installation would work without error. If you encounter an error, run:

    dpkg -l | grep pcre | awk '{print $3}'

    and check that all of them start with 2. otherwise, remove all the packages with

    dpkg -l | grep pcre | awk '{print $2}' | xargs -i sudo dpkg -r {}

    and try to install again.

    If dependency problems prevent the removal of the above libraries, try running the following instead:

    sudo apt-get remove --purge libpcre*

    Take note of the libraries that are removed and reinstall them after you fix the package.

  2. Before anything else, run:

    sudo apt-get update
    sudo apt-get install freeglut3-dev

    I currently don't remember where glut library was needed, so just get it at the beginning.

  3. You should have installed ros and initialized your catkin workspace. Make sure you have the following:

    source ~/catkin_ws/devel/setup.bash

    in your ~/.bashrc, so that ROS knows where your workspace is.

    If your catkin workspace is not in your home directory, replace the path above, and any related paths hereafter, with wherever you have created your catkin workspace.

  4. Download ar_tools package from the repository.

    rosmake rviz rosbag
    cd ~/catkin_ws/src
    git clone https://github.com/ar-tools/ar_tools.git
  5. Run the script to fetch the ar marker data.

    roscd ar_pose/demo
    ./setup_demos
  6. Install Camera Drivers.

    sudo apt-get install ros-indigo-libuvc*
    sudo apt-get install ros-indigo-uvc-camera
  7. Build artoolkit first, to prevent errors.

    cd ~/catkin_ws
    catkin_make --only-pkg-with-deps artoolkit
  8. Make the package with flags to remove the whitelist for artoolkit.

    cd ~/catkin_ws
    catkin_make -DCATKIN_WHITELIST_PACKAGES=""

Calibrating the camera

  1. Plug in your oCam to a usb port and verify the connection.

    dmesg | tail
    lsusb
    ls /dev/video*

    Example output:

    [12697.053929] wlan0: Limiting TX power to 15 (15 - 0) dBm as advertised by f8:c0:01:a1:37:45
    [14905.712196] usb 3-2: new SuperSpeed USB device number 2 using xhci_hcd
    [14905.728884] usb 3-2: LPM exit latency is zeroed, disabling LPM.
    [14905.729589] usb 3-2: New USB device found, idVendor=04b4, idProduct=00f9
    [14905.729591] usb 3-2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
    [14905.729593] usb 3-2: Product: oCam-5CRO-U
    [14905.729594] usb 3-2: Manufacturer: WITHROBOT Inc.
    [14905.729595] usb 3-2: SerialNumber: SN_2736C011
    [14905.729966] uvcvideo: Found UVC 1.00 device oCam-5CRO-U (04b4:00f9)
    [14905.731167] input: oCam-5CRO-U as /devices/pci0000:00/0000:00:14.0/usb3/3-2/3-2:1.0/input/input19
    Bus 001 Device 005: ID 0a5c:5800 Broadcom Corp. BCM5880 Secure Applications Processor
    Bus 001 Device 004: ID 0c45:6709 Microdia 
    Bus 001 Device 003: ID 8087:0a2a Intel Corp. 
    Bus 001 Device 002: ID 8087:8001 Intel Corp. 
    Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
    Bus 003 Device 002: ID 04b4:00f9 Cypress Semiconductor Corp. 
    Bus 003 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
    Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
    /dev/video0
  2. Install the packages for handling images over ros and camera calibration.

    sudo apt-get install ros-indigo-image-proc
    rosdep install image_proc
    sudo apt-get install ros-indigo-camera-calibration
  3. Start roscore, and leave it running throughout this instruction.

    roscore
  4. Begin publishing the data from the camera to ROS in a terminal.

    rosrun uvc_camera uvc_camera_node _device:="/dev/video0" 
  5. Open another tab in your terminal (CTRL-SHIFT-T) and begin Calibrating.

    rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.496 image:=/image_raw camera:=/

    A small window would appear showing the camera. The window will reopen to a bigger display if you close it, but DO NOT CLOSE THIS WINDOW. The buttons are identified by coordinates, and the coordinates stay the same even if your window becomes larger than the original one, which makes it very difficult to find the CALIBRATE button after you gathered all your samples.

    When calibrating, it takes about 40 samples. It may take more, depending on the quality of each sample.

    To obtain a variety of samples with X,Y,Z(size) and Skew values, move the Chessboard around in different orientations.

    Calibrating on the ODROID is slow, so you might want to calibrate on your computer and only copy the camera.yaml over to the odroid (not tested).

    When enough samples are gathered, the CALIBRATE button will turn green. Press on it to view the results.

    When you're satisfied, click SAVE and COMMIT. In the first terminal, take note of the path where camera.yaml is saved.

  6. Move the camera.yaml file to the default directory where ar_pose looks for:

    mv ~/.ros/camera_info/camera.yaml /opt/ros/indigo/share/uvc_camera/camera_calibration.yaml

    Alternatively, edit your ar_pose_single.launch file and edit the camera_info_url parameter to point to the absolute URL of your .yaml file. For instance, it may look like file:///home/odroid/.ros/camera_info/camera.yaml.

Running ar_pose

  1. Open the launch configuration as follows:

    roscd ar_pose/launch
    vim ar_pose_single.launch
  2. In ar_pose_single.launch, change camera_node to uvc_camera_node.

    Then, change the device parameter to your camera device input (e.g. /dev/video0).

    Finally, check the width and height parameters under uvc_camera_node and verify that they match the ones in the camera.yaml file.

    (camera.yaml file is the one produced by camera_calibration)

    For me, the resolution was 640x480.

  3. To run ar_pose:

    roslaunch ar_pose ar_pose_single.launch

If ar_pose still fails

  1. To view images over ros topic, install:

    sudo apt-get install ros-indigo-image-view
  2. Open a terminal and launch a camera instance.

    export ROS_NAMESPACE=my_camera
    rosrun uvc_camera uvc_camera_node _device:="/dev/video0"_width:=${WIDTH} _height:=${HEIGHT} _camera_info_url:="file:///home/odroid/path/to/yaml/file/camera_calibration.yaml"

    Note that you have to provide the camera_info_url to match the path in YOUR odroid. The script will not run properly as written.

  3. Check that the camera calibration info was properly loaded.

    rostopic echo /my_camera/camera_info
    verify that most of the parameters are nonzero.
  4. Open up another tab in your terminal and run image_proc node.

    export ROS_NAMESPACE=my_camera
    rosrun image_proc image_proc image:=/image_raw
  5. Open up another tab in your terminal to view the rectified image.

    rosrun image_view image_view image:=/my_camera/image_rect
    verify that you're getting an image.
  6. To view the connections between the nodes and the topics, run:

    rqt_graph
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