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december.md

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December

1st week

  • Reviewing the slides to show the advances in the REACT project for the next week meeting (9th december)
  • Filling the PhD progress reports required by my University
  • Created a Gitbook account for allowing my tutor and cotutor to collaborate in this book in an easy way
  • Filling the gaps in this documentation. Joining the archives distributed across several private folders into a single public GitHub repository to simplify the book compilation and publishing in Gitbook

2nd week

  • Working in integrating semi-dense depth maps into my current approach. In this way, the search of disparity can be done in real time with a single CPU core
  • Considering the Robot Operating System (ROS) as an eventual layer over my OpenCV installation
  • Studying ROS documentation and development manual

3rd week

  • Setting up a ROS workspace over Ubuntu 15.04 using OpenCV 3.0

  • Chosen a ros_comm stack to support lsd_slam

  • Install some additional packages such as:

    1. libuvc_camera
    2. usb_cam (due to problems with libuvc_ros)
    3. image_view (to view ROS topic in real-time)

  • Many problems with OpenCV 3.0 installation (need to recompile OpenCV using WITH_QT=NO)

  • Running ROS process with rosrun <package> <executable>

  • Checking ROS topics (such as usb camera stream) with rostopic list

  • Making the first experiment with the original dataset and my Creative HD live webcam. The next command need to be executed in a terminal:

    roscore
rosrun usb_cam usb_cam_node
rosrun lsd_slam_core live_slam /image:=/usb_cam/image_raw _calib:=creative_hd_webcam.cfg
rosrun lsd_slam_viewer viewer

  • The content of the calibration file is:

640.204321 640.204321 319.5 239.5 0.080310051 -0.714108643 0 0
640 480
none
640 480
  • Results are the following ones:

live-pointcloud bag-pointcloud

live-depthmap bag-depthmap

ROS installation

  • ROS building instructions for Ubuntu
sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
sudo rosdep init
rosdep update
mkdir ~/dev/ros
cd ~/dev/ros
rosinstall_generator ros_comm --rosdistro indigo --deps --wet-only --tar > indigo-ros_comm-wet.rosinstall
wstool init -j8 src indigo-ros_comm-wet.rosinstall
catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
source ~/dev/ros/install_isolated/setup.bash
  • ROS update instructions
rosinstall_generator ros_comm --rosdistro indigo --deps --wet-only --tar > indigo-ros_comm-wet.rosinstall
wstool merge -t src indigo-ros_comm-wet.rosinstall
wstool update -t src
catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
source ~/dev/ros/install_isolated/setup.bash
  • Use rosmake --rosdep-install to compile a single package and download the related dependencies

4th week

  • Christmas Holydays!