Supplementary Materials for the "Design and Analysis of a Single-Camera Omnistereo Sensor for Quadrotor Micro Aerial Vehicles (MAVs)"
The following iPython Notebooks reproce the analysis plots performed over the Theoretical Model for the catadioptric omnidirectional stereo sensor proposed in the corresponding Sensors Article published in February 6, 2016.
- Author: Carlos Jaramillo
- Contact: [email protected]
Copyright (C) 2016 under the Gnu Public License version 2 (GPL2)
WARNING: This code is at an experimental stage
omnistereo_sensor_design is a proof-of-concept written in Python for depth perception using a custom-designed catadioptric omnidirectional stereo sensor.
For instance Using Python 3.5, with pip3, install the following modules:
$ pip3 install numpy
$ pip3 install scipy
$ pip3 install sympy
For visualization:
$ pip3 install matplotlib
$ pip3 install mpldatacursor
NOTE: In Linux, you may get Permission Denied errors that can be solved by:
$ sudo rm -rf ~/.cache/pip/
$ pip3 install vispy
or
$ pip3 install visvis
The following guide uses Homebrew for Mac OS X:
Make sure you have installed the XCode CLI tools are all installed:
$ ls -lah /usr/include/sys/types.h
If not, try:
$ xcode-select --install
The last release of OpenCV's Deep Neural Network module requires Google's Protocol Buffers
$ brew install protobuf
However, it may fail to find a "suitable threading library available." If so, disable DNN within the CMake configuration (in the next steps)
Install Qt4 from Homebrew.
$ brew install qt4
Then, install PyQT
$ brew install pyqt --with-python3
It can be tested from a Python Shell:
>>> from PyQt4.QtGui import *
$ brew install opencv3 --with-contrib --with-ffmpeg --with-gphoto2 --with-gstreamer --with-jasper --with-libdc1394 --with-openni2 --with-python3 --with-qt --with-tbb
$ brew link --overwrite --force opencv3
Clone OpenCV 3 from the repo
$ cd ~/src
$ git clone [email protected]:Itseez/opencv.git
And also the contributed modules:
$ git clone [email protected]:Itseez/opencv_contrib.git
Then, configure the installation:
$ cd opencv
$ mkdir build
$ cd build
$ ccmake ../
To build OpenCV with Qt4 and Python 3.5, try without the GUI configuration:
$ cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -DWITH_QT=4 -D BUILD_opencv_python3=ON -D PYTHON3_EXECUTABLE=/usr/local/bin/python3 -D PYTHON3_PACKAGES_PATH=lib/python3.5/site-packages -D PYTHON3_LIBRARY=/usr/local/Cellar/python3/3.5.1/Frameworks/Python.framework/Versions/3.5/lib/libpython3.5m.dylib -D PYTHON3_INCLUDE_DIR=/usr/local/Cellar/python3/3.5.1/Frameworks/Python.framework/Versions/3.5/include/python3.5m -D INSTALL_C_EXAMPLES=OFF -D INSTALL_PYTHON_EXAMPLES=OFF -D BUILD_EXAMPLES=OFF -D OPENCV_EXTRA_MODULES_PATH=/YOUR/PATH/TO/opencv_contrib/modules -D BUILD_opencv_viz=OFF ..
Then, compile, and install as usual:
$ make
$ make install
In Ubuntu 14.04, use: (won't install Python 3 support)
$ cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -D INSTALL_C_EXAMPLES=OFF -D INSTALL_PYTHON_EXAMPLES=ON -D BUILD_EXAMPLES=ON -D WITH_QT=ON -D WITH_OPENGL=ON -D OPENCV_EXTRA_MODULES_PATH=~/src/opencv_contrib/modules ..
Compile, and install:
$ make -j2
$ sudo checkinstall
$ sudo sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
$ sudo ldconfig
NOTE: The new package has been installed and saved to ~/src/opencv/build/build_20160308-1_amd64.deb. You can remove it from your system anytime using:
$ dpkg -r build
To install the PCL 1.7.2 version using the formula, execute the following command (it worked on 2016/02/23) without support for VTK 7.
$ brew install vtk
or more explicit:
$ brew install vtk --with-qt --with-matplotlib --with-examples
$ brew install pcl --without-vtk
$ brew link --overwrite pcl
$ brew linkapps pcl
First, get cython
$ pip3 install cython
Using python-pcl
$ cd ~/src
$ git clone https://github.com/strawlab/python-pcl.git
$ cd python-pcl
$ python setup.py install
In Python 3,
$ python3 setup.py install
When attempting a reinstall do this:
$ pip uninstall python-pcl
$ make clean
$ make all
$ python setup.py install
Finally, just make sure the Python's PCL package exists as /usr/local/lib/python2.7/site-packages/pcl
$ pip show python-pcl
or
$ pip3 show python-pcl
If problems,
-
Open a new terminal sesion and check with
pipagain. -
Check what this command says:
$ otool -L /usr/local/lib/python2.7/dist-packages/pcl/_pcl.so | grep libpcl
Python-PCL doesn't support color, only types PointXYZ. Using C++, the PointCloud and the Colors can be registered (merged) to be become of type PointXYZRGB
To your .bashrc file, you may add:
# Omnistereo project stuff for Python
OMNISTEREO=~/src/gums
if [ -z $PYTHONPATH ]
then
export PYTHONPATH="$OMNISTEREO"
else
export PYTHONPATH="$PYTHONPATH:$OMNISTEREO"
fi
Save, close, and reopen your Terminal
$ python demo_cata_hyper_model.py