Build

Check software/tobuild.txt and software/externals/tobuild.txt

Build system

cd ~/articulation_learning/software
make -j 8

Note:

• Look at externals/pcl-pod/pcl_common_include.patch - you might have to copy over some files from software/externals/pcl-pod/pcl-1.7.0/common/include/pcl/ to software/build/include/pcl/ (conversions.h, register_point_struct.h, point_types_conversion.h)

General setup

Terminal 1

bot-param-server config/articulation_learning.cfg

Terminal 2

cd ~/articulation_learning/software/python/apps
python articulation_learning_demo.py

Directory layout

---

• config:
  • config scripts such as articulation_learning.cfg for bot-param-server

---

• software:
  • compilation of pods, and modules for articulation learning
  • Within the software folder, code is organized as follows
  • Comment/Uncomment pods in the tobuild.txt file to add/remove unnecessary dependencies
  • apps:
  • mostly test apps that are used to check/run various implementations

---

• drivers:
  • kinect driver for reading/publishing kinect data over lcm

---

• externals:
  • external dependencies include opencv, pcl, apriltags, eigen, isam, lcm, libbot, and a few other visualization tools

---

• modules:
  • articulation: main articulation learning module
  • birchfield's klt
  • dbow2: bag of words implementation
  • more modules

---

• python:
  • notebooks:
  • ipython notebooks for articulation learning
  • run articulation_learning.ipynb
• utils:
  • all the different components in the articulation learning implmented in python with certain modules wrapped in C++ (see pywrappers)
  • look at al_lfd.py and articulation_learning_demo.py initially for articulation learning

---

• pywrappers:
  • apriltags, articulation, pcl, and fs_utils wrapped utilities for python access
  • utils/: provides containers, and registered conversions from/to opencv<=>numpy

---

• utilities:
  • general purpose utilities for opencv, pcl, lcm, and opencv-based rgbd containers. Also a few visualization utilities

---

• viewer:
  • al-viewer for visualizing results/data

BASHRC setup

  export ALEARN=$HOME/articulation_learning
  export PATH=$ALEARN/bin:$PATH
  export LD_LIBRARY_PATH=$ALEARN/software/build/lib/:$ALEARN/software/build/lib64:$LD_LIBRARY_PATH
  export PYTHONPATH=$ALEARN/software/python:$ALEARN/software/build/lib:$PYTHONPATH
  export PYTHONPATH=$ALEARN/software/build/lib/python2.7/dist-packages:$ALEARN/software/build/lib/python2.7/site-packages:$PYTHONPATH
  export DYLD_LIBRARY_PATH=$ALEARN/software/build/lib:$DYLD_LIBRARY_PATH
  export PKG_CONFIG_PATH=/usr/lib/pkgconfig:/usr/share/pkgconfig/:/usr/share/cmake/Modules:$PKG_CONFIG_PATH
  export PKG_CONFIG_PATH=$ALEARN/software/build/lib64/pkgconfig/:$ALEARN/software/build/lib64/pkgconfig:$PKG_CONFIG_PATH

DATA

ssh spillai@virgo2