init - icsl-Jeon/image-tracking GitHub Wiki

Welcome to the image-tracking wiki!

color detection

https://www.opencv-srf.com/2010/09/object-detection-using-color-seperation.html

KCF tracker

https://docs.opencv.org/3.1.0/d2/d0a/tutorial_introduction_to_tracker.html

Camera

prerequisite

to use camera ZED we need to install cuda and nvidia driver here, cuda=9.1 nvidia=390 opencv=3.1 sdk=2.4.1

installation

nvidia driver : http://www.linuxandubuntu.com/home/how-to-install-latest-nvidia-drivers-in-linux
cuda : just get run file (if we do not make symbolic link, CMakeList fails.)

sudo ln -s /usr/local/cuda-7.0 /usr/local/cuda
after installation of cuda in bashrc

export PATH=/usr/local/cuda-9.1/bin${PATH:+:${PATH}}
export LD_LIBRARY_PATH=/usr/local/cuda-9.1/lib64\{LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}

ZED SDK & opencv installation

https://docs.stereolabs.com/overview/getting-started/installation/ https://docs.stereolabs.com/overview/video/using-video/

ZED camera check

cd /usr/local/zed/tools/
./ZED Diagnostics

ZED with opencv

https://github.com/stereolabs/zed-opencv/blob/master/src/main.cpp

ZED ros wrapper

compressed image transport - JPEG ~~ error : zed_camera launch file - openni mode =1

However,, this cannot be integrated with KCF. I think I have to write a node myself

ZED with octomap

firstly we need to deal with point cloud library

https://github.com/stereolabs/zed-pcl/blob/master/src/main.cpp

caffe installation

hdf5 error: modify Makefile.config as below

+INCLUDE_DIRS := $(PYTHON_INCLUDE) /usr/local/include /usr/include/hdf5/serial/
+LIBRARY_DIRS := $(PYTHON_LIB) /usr/local/lib /usr/lib /usr/lib/x86_64-linux-gnu/hdf5/serial/

simulator

px4

refer: https://learn.subak.io/px4-workbook/px4-mavros.html or this is the best https://github.com/ethz-asl/rotors_simulator https://github.com/ethz-asl/rotors_simulator/wiki/Setup-virtual-keyboard-joystick

installation

https://dev.px4.io/kr/setup/dev_env_linux.html and download "ubuntu_sim_ros_gazebo.sh". this bash file includes all dependencies and packages. after installation ~/src/Firmware is created.

loading UAV and SITL (software in the loop):

cd ~/src/Firmware
make posix_sitl_default gazebo

connect them with ros communication

roscd mavros 
vim ./launch/px4.launch

fcu_url!! we can modify try:

roslaunch mavros px4.launch

if UAS error occurs:

roscd mavros/scripts
sudo ./install_geographiclib_datasets.sh