TB3 RealSense Samples

From wikidb
Jump to: navigation, search

Status - Removed

Backed out of everything - removed

reinstalled libopencv-dev

opencv got screwed up - see libopencv-dev below. When I did an aptitude search it gave me a BB status (Broken Package).

The TB3_ROS_OpenCL_Caffe#Demo_1 was broken. ros_opencl_caffe gave a FP16 is NOT supported, use FP32 until I back this stuff out.

Reference

Not sure how this relates. I don't see a ROS reference with it.

Needed By

Installation

Install ROS Kinetic full desktop environment

See TR3_Intel_ROS_Project#Prerequisites:_.280.29

Install Intel RealSense SDK for Linux

Install Error during unpacking. 

 $ sudo apt-key adv --keyserver keys.gnupg.net --recv-key D6FB2970

 $ sudo sh -c 'echo "deb http://realsense-alm-public.s3.amazonaws.com/apt-repo xenial main" > /etc/apt/sources.list.d/realsense-latest.list'

 $ sudo apt update

 $ sudo apt install -y librealsense-object-recognition-dev librealsense-persontracking-dev librealsense-slam-dev libopencv-dev
     ...
     Unpacking librealsense-slam-dev (2.0.4-0ubuntu1~34.gbpec17f0) ...
     Selecting previously unselected package beignet-opencl-icd:amd64.
     Preparing to unpack .../beignet-opencl-icd_1.2.1-3~realsense4.10_amd64.deb ...
     Unpacking beignet-opencl-icd:amd64 (1.2.1-3~realsense4.10) ...
     Selecting previously unselected package librealsense-object-recognition0:amd64.
     Preparing to unpack .../librealsense-object-recognition0_0.5.1.rc0-1~realsense4.79_amd64.deb ...
     Unpacking librealsense-object-recognition0:amd64 (0.5.1.rc0-1~realsense4.79) ...
     Selecting previously unselected package librealsense-object-recognition-dev:amd64.
     Preparing to unpack .../librealsense-object-recognition-dev_0.5.1.rc0-1~realsense4.79_amd64.deb ...
     Unpacking librealsense-object-recognition-dev:amd64 (0.5.1.rc0-1~realsense4.79) ...
     Selecting previously unselected package librealsense-udev-rules:amd64.
     Preparing to unpack .../librealsense-udev-rules_1.12.1-3ubuntu1~65.gbpf05d65_amd64.deb ...
     Unpacking librealsense-udev-rules:amd64 (1.12.1-3ubuntu1~65.gbpf05d65) ...
     Processing triggers for libc-bin (2.23-0ubuntu10) ...
     Errors were encountered while processing:
     /var/cache/apt/archives/libopencv3.1-java_3.1.0+dfsg-1~realsense4.18_all.deb
     E: Sub-process /usr/bin/dpkg returned an error code (1)

To understand what is going on and the current state, I did a (See Ubuntu_Tips#Install) 

 $ sudo aptitude search xxx

 $ sudo apt-get -f remove xxx

 $ sudo apt-get autoremove

This is the result after removing the packages. 

 $ aptitude search librealsense-object-recognition-dev
     u   librealsense-object-recognition - Intel(R) RealSense(tm) Object Recognition 

 $ aptitude search librealsense-persontracking-dev
     u   librealsense-persontracking-dev - Development files for Intel RealSense Pers

 $ aptitude search librealsense-slam-dev
     u   librealsense-slam-dev 
          - Development files for Intel RealSense SLAM

 $ aptitude search libopencv-dev
     BB  libopencv-dev                   - development files for opencv              
     p   libopencv-dev:i386              - development files for opencv

Reinstall Attempt

Now to reinstall 

 $ sudo apt-get -f install librealsense-object-recognition-dev
     Reading package lists... Done
     Building dependency tree       
     Reading state information... Done
     librealsense-object-recognition-dev is already the newest version (0.5.1.rc0-1~realsense4.79).
     You might want to run 'apt-get -f install' to correct these:
     The following packages have unmet dependencies:
       libopencv-dev : Depends: libopencv3.1-java (= 3.1.0+dfsg-1~realsense4.18) but it is not going to be installed
     E: Unmet dependencies. Try 'apt-get -f install' with no packages (or specify a solution).

 $ aptitude search librealsense-object-recognition-dev
     u   librealsense-object-recognition - Intel(R) RealSense(tm) Object Recognition

Unmet Dependencies

Status tests:

Backup Configurations 

 $ sudo cp /etc/apt/sources.list /etc/apt/sources.list.org
 
 $ sudo cp /var/lib/dpkg/status /var/lib/dpkg/status.org

 $ sudo aptitude search librealsense-object-recognition-dev
     u   librealsense-object-recognition - Intel(R) RealSense(tm) Object Recognition 

 $ sudo aptitude install librealsense-object-recognition-dev

 $ aptitude search librealsense-object-recognition-dev
     i   librealsense-object-recognition - Intel(R) RealSense(tm) Object Recognition Library - development files

 $ aptitude search librealsense-persontracking-dev
     i   librealsense-persontracking-dev - Development files for Intel RealSense Person Library

 $ aptitude search librealsense-slam-dev
     i   librealsense-slam-dev           - Development files for Intel RealSense SLAM Library

 $ aptitude search libopencv-dev
     p   libopencv-dev                   - development files for opencv                                                                  
     p   libopencv-dev:i386              - development files for opencv

 $ sudo aptitude install libopencv-dev
     ...
     Errors were encountered while processing:
      libopencv-dev
                                        
     Current status: 1 (+1) broken.

 $ aptitude search libopencv-dev
     BB  libopencv-dev                      - development files for opencv                                                                  
     p   libopencv-dev:i386                 - development files for opencv

Reverted the last install 

 $ sudo apt-get remove libopencv-dev

 $ sudo apt-get autoremove

 $ aptitude search libopencv-dev
     p   libopencv-dev                   - development files for opencv              
     p   libopencv-dev:i386              - development files for opencv

Download and compile ROS wrappers for Intel RealSense SDK for Linux

Install Error during linking. Person library again.

I must of done a git clone on this first: RealSense Samples ROS 

 $ cd catkin_ws/src/

 $ ls

 $ cd ..

 $ catkin_make
     ...
     [ 94%] Building CXX object realsense_samples_ros/realsense_ros_person/CMakeFiles/realsense_ros_person.dir/src/apiwrapper/helpers  /Ros2RealsenseSdkConverter.cpp.o
     [ 94%] Building CXX object realsense_samples_ros/realsense_ros_person/CMakeFiles/realsense_ros_person.dir/src/apiwrapper/helpers/PersonTrackingHelper.cpp.o
     [ 94%] Linking CXX executable /home/eepp/catkin_ws/devel/lib/realsense_ros_person/realsense_ros_person_sample
     CMakeFiles/realsense_ros_person_sample.dir/src/sample/TrackingRenderer/Viewer.cpp.o: In function `Viewer::Viewer(bool)':
     Viewer.cpp:(.text+0xe8): undefined reference to `cv::namedWindow(cv::String const&, int)'
     Viewer.cpp:(.text+0x14e): undefined reference to `cv::setMouseCallback(cv::String const&, void (*)(int, int, int, int, void*), void*)'
     Viewer.cpp:(.text+0x15d): undefined reference to `cv::startWindowThread()'
     Viewer.cpp:(.text+0x1dc): undefined reference to `cv::namedWindow(cv::String const&, int)'
     Viewer.cpp:(.text+0x1eb): undefined reference to `cv::startWindowThread()'
     CMakeFiles/realsense_ros_person_sample.dir/src/sample/TrackingRenderer/Viewer.cpp.o: In function `Viewer::ShowImage(cv::Mat)':
     Viewer.cpp:(.text+0x2d4): undefined reference to `cv::imshow(cv::String const&, cv::_InputArray const&)'
     Viewer.cpp:(.text+0x2e6): undefined reference to `cv::waitKey(int)'
     CMakeFiles/realsense_ros_person_sample.dir/src/sample/TrackingRenderer/Viewer.cpp.o: In function `Viewer::ShowDepth(cv::Mat)':
     Viewer.cpp:(.text+0x3a9): undefined reference to `cv::imshow(cv::String const&, cv::_InputArray const&)'
     collect2: error: ld returned 1 exit status
     realsense_samples_ros/realsense_ros_person/CMakeFiles/realsense_ros_person_sample.dir/build.make:209: recipe for target '/home/eepp/catkin_ws   /devel/lib/realsense_ros_person/realsense_ros_person_sample' failed
     make[2]: *** [/home/eepp/catkin_ws/devel/lib/realsense_ros_person/realsense_ros_person_sample] Error 1
     CMakeFiles/Makefile2:8596: recipe for target 'realsense_samples_ros/realsense_ros_person/CMakeFiles/realsense_ros_person_sample.dir/all'  failed
     make[1]: *** [realsense_samples_ros/realsense_ros_person/CMakeFiles/realsense_ros_person_sample.dir/all] Error 2
     make[1]: *** Waiting for unfinished jobs....
     [ 94%] Building CXX object realsense_samples_ros/realsense_ros_person/CMakeFiles/realsense_ros_person.dir/src/apiwrapper/publisher /PersonTrackingDefaultPublisher.cpp.o
     [ 94%] Building CXX object realsense_samples_ros/realsense_ros_person/CMakeFiles/realsense_ros_person.dir/src/apiwrapper/publisher  /PersonTrackingPublisherHelper.cpp.o
     [ 95%] Building CXX object realsense_samples_ros/realsense_ros_person/CMakeFiles/realsense_ros_person.dir/src/apiwrapper/server/PersonTrackingServer.cpp.o
     [ 95%] Linking CXX shared library /home/eepp/catkin_ws/devel/lib/librealsense_ros_person.so
     [ 95%] Built target realsense_ros_person
     Makefile:138: recipe for target 'all' failed
     make: *** [all] Error 2
     Invoking "make -j4 -l4" failed

after aptitude install of libs 

     [ 93%] Built target tests_rgbd_topics
     [ 93%] Built target realsense_camera_generate_messages
     Scanning dependencies of target realsense_ros_tests_camera
     [ 94%] Built target tests_camera_core
     Scanning dependencies of target realsense_ros_camera
     [ 96%] Built target realsense_camera_nodelet
     [ 96%] Building CXX object realsense_samples_ros/realsense_ros_camera/CMakeFiles/realsense_ros_tests_camera.dir/test/camera_core.cpp.o
     [ 96%] Building CXX object realsense_samples_ros/realsense_ros_camera/CMakeFiles/realsense_ros_camera.dir/src/camera_node.cpp.o
     [ 96%] Built target realsense_ros_camera_generate_messages
     Scanning dependencies of target realsense_ros_object
     [ 96%] Building CXX object realsense_samples_ros/realsense_ros_object/CMakeFiles/realsense_ros_object.dir /src/realsense_localization_nodelet.cpp.o
     CMakeFiles/realsense_ros_person_sample.dir/src/sample/TrackingRenderer/Viewer.cpp.o: In function `Viewer::Viewer(bool)':
     Viewer.cpp:(.text+0xe8): undefined reference to `cv::namedWindow(cv::String const&, int)'
     Viewer.cpp:(.text+0x14e): undefined reference to `cv::setMouseCallback(cv::String const&, void (*)(int, int, int, int, void*), void*)'
     Viewer.cpp:(.text+0x15d): undefined reference to `cv::startWindowThread()'
     Viewer.cpp:(.text+0x1dc): undefined reference to `cv::namedWindow(cv::String const&, int)'
     Viewer.cpp:(.text+0x1eb): undefined reference to `cv::startWindowThread()'
     CMakeFiles/realsense_ros_person_sample.dir/src/sample/TrackingRenderer/Viewer.cpp.o: In function `Viewer::ShowImage(cv::Mat)':
     Viewer.cpp:(.text+0x2d4): undefined reference to `cv::imshow(cv::String const&, cv::_InputArray const&)'
     Viewer.cpp:(.text+0x2e6): undefined reference to `cv::waitKey(int)'
     CMakeFiles/realsense_ros_person_sample.dir/src/sample/TrackingRenderer/Viewer.cpp.o: In function `Viewer::ShowDepth(cv::Mat)':
     Viewer.cpp:(.text+0x3a9): undefined reference to `cv::imshow(cv::String const&, cv::_InputArray const&)'
     collect2: error: ld returned 1 exit status
     realsense_samples_ros/realsense_ros_person/CMakeFiles/realsense_ros_person_sample.dir/build.make:209: recipe for target '/home/eepp/catkin_ws   /devel/lib/realsense_ros_person/realsense_ros_person_sample' failed
     make[2]: *** [/home/eepp/catkin_ws/devel/lib/realsense_ros_person/realsense_ros_person_sample] Error 1
     CMakeFiles/Makefile2:8596: recipe for target 'realsense_samples_ros/realsense_ros_person/CMakeFiles/realsense_ros_person_sample.dir/all' failed
     make[1]: *** [realsense_samples_ros/realsense_ros_person/CMakeFiles/realsense_ros_person_sample.dir/all] Error 2
     make[1]: *** Waiting for unfinished jobs....
     [ 97%] Building CXX object realsense_samples_ros/realsense_ros_object/CMakeFiles/realsense_ros_object.dir/src/realsense_recognition_nodelet.cpp.o
     [ 97%] Building CXX object realsense_samples_ros/realsense_ros_object/CMakeFiles/realsense_ros_object.dir/src/realsense_tracking_nodelet.cpp.o
     [ 97%] Building CXX object realsense_samples_ros/realsense_ros_object/CMakeFiles/realsense_ros_object.dir/src/utils.cpp.o
     [ 97%] Linking CXX executable /home/eepp/catkin_ws/devel/lib/realsense_ros_camera/realsense_ros_tests_camera
     [ 97%] Built target realsense_ros_tests_camera
     [ 97%] Linking CXX shared library /home/eepp/catkin_ws/devel/lib/librealsense_ros_camera.so
     [ 97%] Built target realsense_ros_camera
     [ 97%] Linking CXX shared library /home/eepp/catkin_ws/devel/lib/librealsense_ros_object.so
     [ 97%] Built target realsense_ros_object
     Makefile:138: recipe for target 'all' failed
     make: *** [all] Error 2
     Invoking "make -j4 -l4" failed

Trying the RealSense

Remove TBD


Build and Install

 $ cd ~/workspace

 $ git clone http://github.com/IntelRealSense/realsense_samples

 $ mkdir build

 $ mkdir install

 $ cd ~/workspace/build/

 $ cmake ../realsense_samples/

 $ make -j

 $ make DESTDIR=../install/ install

What is this

Tested some programs in ~/workspace/install/usr/local/bin

Retrieved from "http://zdome.net/wiki/index.php?title=TB3_RealSense_Samples&oldid=4147"