Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+PCL)

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murrman
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Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+PCL)

Unread post by murrman » Sun Apr 05, 2015 11:50 pm

I present Ubuntu 14.04 Robotics Edition for ODROID-C1. This image is based on the official ODROID Lubuntu 14.04 LTS provided by mdrjr (http://forum.odroid.com/viewtopic.php?f=77&t=5234).

Features:
Ubuntu Server 14.04.2 LTS with LXDE
OpenCV 2.4.9
ROS Indigo (Bare Bones)
OpenNI 2.2 (Including Primesense drivers for Asus Xtion)
PCL 1.7.2

Download the image here:
http://oph.mdrjr.net/murrman/ubuntu-14. ... 406.img.xz

MD5 checksum:
http://oph.mdrjr.net/murrman/ubuntu-14. ... .xz.md5sum

Sample code repository:
https://github.com/cmcmurrough/odroid-development

Login:
Username: odroid
Password: odroid

Username: root
Password: odroid

For normal use, use the odroid account. The root account is enabled by default.

Update History:
04/05/2015 - Initial release
04/06/2015 - PCL compiled and installed!

Acknowledgements:
Base OS image and file hosting provided by mdrjr
PCL compile suggestion provided by odroid

Installation notes for building this image from the base image are provided below. This may answer some questions about how various modules are built and installed.

Code: Select all

### LOGIN ###
username: odroid
password: odroid

### SETUP UBUNTU ###
sudo apt-get update
sudo apt-get remove abiword abiword-common abiword-plugin-grammar abiword-plugin-mathview audacious audacious-plugins audacious-plugins-data blueman consolekit desktop-base docbook-xml ffmpegthumbnailer fonts-lyx galculator gdebi gdebi-core gecko-mediaplayer giblib1 gksu gnome-desktop-data gnome-icon-theme-full gnome-mplayer gnome-system-tools gnome-themes-standard gnome-themes-standard-data gnumeric gnumeric-common gnumeric-doc gpicview gtk2-engines gtk2-engines-pixbuf guvcview hardinfo indicator-application-gtk2 leafpad liba52-0.7.4 libaacs0 libabiword-3.0 libass4 libaudclient2 libaudcore1 libavcodec54 libavformat54 libavresample1 libavutil52 libbinio1ldbl libbluray1 libbs2b0 libcairo-perl libcddb2 libchamplain-0.12-0 libchamplain-gtk-0.12-0 libck-connector0 libcompfaceg1 libcue1 libdca0 libdirectfb-1.2-9 libdiscid0 libdvdnav4 libdvdread4 libenca0 libencode-locale-perl libept1.4.12 libexo-1-0 libexo-common libexo-helpers libfaad2 libffmpegthumbnailer4 libfile-listing-perl libfluidsynth1 libfm-data libfm-extra4 libfm-gtk-data libfm-gtk4 libfm-modules libfm4 libfont-afm-perl libgda-5.0-4 libgda-5.0-common libgdome2-0 libgdome2-cpp-smart0c2a libgif4 libgksu2-0 libglib-perl libgmlib1 libgmtk1 libgmtk1-data libgoffice-0.10-10 libgoffice-0.10-10-common libgsf-1-114 libgsf-1-common libgsm1 libgtk2-perl libgtkmathview0c2a libgtkspell0 libguess1 libhtml-form-perl libhtml-format-perl libhtml-parser-perl libhtml-tagset-perl libhtml-tree-perl libhttp-cookies-perl libhttp-daemon-perl libhttp-date-perl libhttp-message-perl libhttp-negotiate-perl libid3tag0 libimlib2 libindicator7 libio-html-perl libjs-jquery liblink-grammar4 libloudmouth1-0 liblwp-mediatypes-perl liblwp-protocol-https-perl libmad0 libmenu-cache-bin libmenu-cache3 libmms0 libmodplug1 libmowgli2 libmp3lame0 libmpg123-0 libmusicbrainz3-6 libnet-dbus-perl libnet-http-perl libobrender29 libobt2 libonig2 liboobs-1-5 libopenjpeg2 libopts25 libopus0 libots0 libpam-ck-connector libpango-perl libpisock9 libpostproc52 libquvi-scripts libquvi7 librarian0 libschroedinger-1.0-0 libsdl1.2debian libsidplayfp libswscale2 libtidy-0.99-0 libtie-ixhash-perl libts-0.0-0 libuniconf4.6 libva1 libvdpau1 libvte-common libvte9 libwebcam0 libwv-1.2-4 libwvstreams4.6-base libwvstreams4.6-extras libwww-perl libwww-robotrules-perl libx264-142 libxfce4ui-1-0 libxfce4ui-common libxfce4util-bin libxfce4util-common libxfce4util6 libxfconf-0-2 libxml-parser-perl libxml-twig-perl libxml-xpathengine-perl libxvidcore4 light-locker light-locker-settings lightdm-gtk-greeter link-grammar-dictionaries-en lm-sensors lubuntu-artwork lubuntu-artwork-14-04 lubuntu-core lubuntu-default-session lubuntu-default-settings lubuntu-desktop lubuntu-icon-theme lubuntu-lxpanel-icons lubuntu-software-center lxappearance lxappearance-obconf lxinput lxlauncher lxmenu-data lxpanel lxpanel-indicator-applet-plugin lxrandr lxsession lxsession-data lxsession-default-apps lxsession-logout lxshortcut lxtask lxterminal mplayer2 mtpaint ntp obconf openbox pcmanfm pidgin pidgin-data pidgin-libnotify plymouth-theme-lubuntu-logo plymouth-theme-lubuntu-text python-gudev python-psutil python-pysqlite2 rarian-compat scrot sgml-data sylpheed sylpheed-doc sylpheed-i18n sylpheed-plugins synaptic system-tools-backends transmission tsconf uvcdynctrl uvcdynctrl-data wvdial xfburn xfce4-notifyd xfce4-power-manager xfce4-power-manager-data xfconf xfonts-100dpi xpad evince camorama simple-scan medit firefox && sudo apt-get install lxde gedit build-essential checkinstall cmake cmake-curses-gui pkg-config chromium-browser gparted wicd guvcview openssh-server xdm git

### UPDATE LINUX ###
sudo apt-get update && sudo apt-get dist-upgrade && sudo apt-get upgrade
sudo apt-get autoremove

### CONFIGURE LXDE ###
1. Resize partition to 7168 MB with gparted, add temporary 1024 MB linux-swap partition and set "swapon"
2. Open wicd, properties menu, general settings. Enter 'wlan0' under Wireless interface
3. Check wifi using wicd
4. Set background to solid color
5. Remove logout application launch bar (lower right corner)
6. Set taskbar icons (pcmanfm, lxterminal, chromium, wicd)
7. Disable screensaver

### FIX LOGOUT GUI PERMISSION BUG (https://tracker.zentyal.org/issues/360) ###
1. sudo apt-get install systemd-shim
2. Edit lxdm session file (/etc/pam.d/lxdm), add the following line
session required pam_systemd.so

### FIX WAITING FOR NETWORK CONFIGURATION BUG ###
1. Edit network interfaces file (sudo gedit /etc/network/interfaces), replace with the following
auto lo
iface lo inet loopback
session required pam_systemd.so

### ENABLE CHROMIUM GPU ACCELERATION (C1 ONLY) ###
1. Run chromium
2. Enter about:flags as URL
3. Disable Override software rendering list (1st one)
4. Close the browser
5. Run the chromium with "chromium-browser --use-gl=egl"
6. Enter about:gpu as URL

### INSTALL OPENCV DEPENDENCIES ###
sudo apt-get install build-essential checkinstall cmake pkg-config yasm libtiff4-dev libjpeg-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev python-dev python-numpy libqt4-dev libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev libtbb2 libtbb-dev

### GET OPENCV SOURCE ###
cd ~
wget http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.4.9/opencv-2.4.9.zip
unzip opencv-2.4.9.zip
rm opencv-2.4.9.zip
cd opencv-2.4.9

### BUILD AND INSTALL FFMPEG (http://forum.odroid.com/viewtopic.php?t=669)
cd ~
apt-get purge ffmpeg && apt-get build-dep ffmpeg
wget http://ffmpeg.org/releases/ffmpeg-1.1.3.tar.gz
tar zxvf ffmpeg-1.1.3.tar.gz
cd ffmpeg-1.1.3
./configure --enable-nonfree --enable-thumb --enable-neon
make -j5
sudo apt-get install checkinstall
sudo checkinstall
ffplay -h | head -n 5

### BUILD AND INSTALL OPENCV ###
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local -DWITH_OPENGL=ON -DWITH_V4L=ON -DWITH_TBB=ON -DBUILD_TBB=ON -DENABLE_VFPV3=ON -DENABLE_NEON=ON ..
make
sudo make install

### INSTALL OPENNI (https://github.com/cmcmurrough/OpenNI2) ###
cd ~
sudo apt-get install -y g++ python libusb-1.0-0-dev libudev-dev openjdk-6-jdk freeglut3-dev doxygen graphviz
git clone https://github.com/cmcmurrough/OpenNI2
cd OpenNI2
PLATFORM=Arm make
cd Packaging
python ReleaseVersion.py Arm
mv Final/OpenNI-Linux-Arm-2.2.tar.bz2 ~
cd ~
tar -xvf OpenNI-Linux-Arm-2.2.tar.bz2
rm -rf OpenNI2
rm OpenNI-Linux-Arm-2.2.tar.bz2
cd OpenNI-Linux-Arm-2.2
sudo sh install.sh

### INSTALL PCL DEPENDENCIES ###
sudo apt-get install freeglut3-dev libboost-all-dev libeigen3-dev libflann-dev libvtk5-dev libusb-1.0-0-dev libqhull-dev

### GET PCL SOURCE (RELEASE 1.7.2) ###
cd ~
git clone https://github.com/PointCloudLibrary/pcl pcl-1.7.2
cd pcl-1.7.2

### BUILD AND INSTALL PCL (requires 1GB temporary swap file) ###
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local .. 
make
sudo make install

### INSTALL ROS (http://wiki.ros.org/indigo/Installation/UbuntuARM) ###
cd ~
sudo update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGES=POSIX

sudo sh -c 'echo "deb http://packages.namniart.com/repos/ros trusty main" > /etc/apt/sources.list.d/ros-latest.list'

wget http://packages.namniart.com/repos/namniart.key -O - | sudo apt-key add -

sudo apt-get update
sudo apt-get install ros-indigo-ros-base

sudo apt-get install python-rosdep
sudo rosdep init
rosdep update

echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc

sudo apt-get install python-rosinstall

### GET ODROID-DEVELOPMENT EXAMPLES ###
cd ~
git clone https://github.com/cmcmurrough/odroid-development.git

I hope you find this image useful, and as always, suggestions and feedback are appreciated!

Image
Last edited by murrman on Tue Apr 07, 2015 10:09 am, edited 5 times in total.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV)

Unread post by odroid » Mon Apr 06, 2015 12:11 am

Thank you for the great image.

BTW, I think you needed to enable a swap temporarily to build the PCL.
The C1 has not enough RAM to build it.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV)

Unread post by murrman » Mon Apr 06, 2015 10:24 am

I followed your suggestion, and it seems to be compiling correctly now. I'll update tomorrow.

Thanks!

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV)

Unread post by fab » Tue Apr 07, 2015 1:13 am

Hi Murman,

I got this error when trying to compile ffmpeg, following your installation notes:
doc/ffmpeg.pod around line 1596: Non-ASCII character seen before =encoding in '720�576'. Assuming UTF-8
MAN doc/ffmpeg-codecs.1
MAN doc/ffmpeg-bitstream-filters.1
POD document had syntax errors at /usr/bin/pod2man line 71.
MAN doc/ffmpeg-formats.1
make: *** [doc/ffmpeg.1] Erreur 255
Fab

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV)

Unread post by murrman » Tue Apr 07, 2015 3:09 am

fab wrote:Hi Murman,

I got this error when trying to compile ffmpeg, following your installation notes:
doc/ffmpeg.pod around line 1596: Non-ASCII character seen before =encoding in '720�576'. Assuming UTF-8
MAN doc/ffmpeg-codecs.1
MAN doc/ffmpeg-bitstream-filters.1
POD document had syntax errors at /usr/bin/pod2man line 71.
MAN doc/ffmpeg-formats.1
make: *** [doc/ffmpeg.1] Erreur 255
Fab
ffmpeg has already been compiled and installed on this image, no need to recompile. Are you using those instructions on another image?

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by murrman » Tue Apr 07, 2015 10:16 am

Image has been updated with PCL (thanks odroid for the suggestion for a successful compile).

If you plan on compiling your own project with PCL (or recompiling for whatever reason), you will need to set up swap space on the OS. You can either set up a swap partition or a swap file (I used a 1 GB swap file). The link below has a good explanation.

https://www.digitalocean.com/community/ ... untu-14-04

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by fab » Tue Apr 07, 2015 3:46 pm

I am using the official V1.4.1 img from HK. ffmpeg was not installed on it, hence the need to compile from sources.
Fab

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by murrman » Wed Apr 08, 2015 12:03 am

fab wrote:I am using the official V1.4.1 img from HK. ffmpeg was not installed on it, hence the need to compile from sources.
Fab
I don't know, it worked for me on this image. Please try asking on another thread.

Also check this...

http://www.linuxquestions.org/questions ... 175478818/

waskaman

Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by waskaman » Wed Apr 15, 2015 4:10 am

all files in ~/odroid-development/openni2_example are empty, I think that are all files. :-(. I downloaded by Github.

OpenNI its CrossCompiling or OpenNI for ARM

I think that its a good a idea that you push in github the binary files.

thanks!

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by murrman » Thu Apr 16, 2015 11:40 am

I see the files in github, can you not download them?

OpenNI was compiled on this device, not cross compiled elsewhere.

The binaries for OpenCV/OpenNI/PCL, etc can be large, it might not be realistic to put them on github.

waskaman

Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by waskaman » Thu Apr 16, 2015 4:32 pm

In Github are ok, but in the image of Ubuntu 14.04 Robotics Edition are empty.

Thanks 4 your work!

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by murrman » Fri Apr 17, 2015 2:33 am

waskaman wrote:In Github are ok, but in the image of Ubuntu 14.04 Robotics Edition are empty.

Thanks 4 your work!
Oops, I'll fix it the next time I make an update.

waskaman

Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by waskaman » Fri Apr 17, 2015 4:52 am

I think that its a very good idea integrate in ODROID Utility.desktop your work. Only one image is necessary, you could be selected Robotics edition and a script execute to prepare the enviroment.

For compile examples of OpenNI, add to bashrc
export OPENNI2_INCLUDE=/home/odroid/OpenNI-Linux-Arm-2.2/Include
export OPENNI2_REDIST=/home/odroid/OpenNI-Linux-Arm-2.2/Redist

echo "export OPENNI2_INCLUDE=/home/odroid/OpenNI-Linux-Arm-2.2/Include" >> ~/.bashrc
echo "export OPENNI2_REDIST=/home/odroid/OpenNI-Linux-Arm-2.2/Redist" >> ~/.bashrc
source ~/.bashrc

thanks murrman and odroid staff

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by ueroom » Sat Apr 25, 2015 6:51 pm

Yeah, I use your steps successly!
Do you want to your home full of art? Welcome to our handmade oil painting Art Gallery.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by KurtE » Tue Apr 28, 2015 12:17 pm

I am sorry if this has been covered else where, as I have found bits and pieces.

This looks like a great starting point for me as I want to experiment with installing some ROS based robot code on an ODroid. So I downloaded it(ubuntu-14.04.2lts-robotics-odroid-c1-20150406), installed it on an emmc card and it and it does not want to connect to my wifi. I thought it was maybe my wifi adapter as I have a few of them, none of them worked, so I ordered a new Odrioid wifi 4 adapter http://ameridroid.com/products/wifi-module-4 , which arrived. I tried it and it did not work. Thought maybe I screwed something up so reflashed emmc and it still does not connect. It shows my connection point but tries for a bit and then says invalid password.... I have done the normal updates (apt-get update... upgrade... distupgrade...) still does not work

So today I downloaded the current official 14.04.02 (ubuntu-14.04.2lts-lubuntu-odroid-c1-20150401), flashed it and booted up. It found my network and connected without problem. Does look like it is a different gui network configuration program.

My network is WPA2 encrypted. Secondary question, my router is both 2.4 and 5ghz, but only the 2.4ghz access point is showing up.

Currently trying to follow the instructions on building the image, but would obviously be easier if I knew what if there was an easier fix. (Note, I probably should have kept some more information like dmesg logs (which I think was complaining about ipv6...)

Thanks
Kurt

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by waskaman » Wed Apr 29, 2015 7:30 am

I have same problem. I think thats its the network manager. In the robotic edition is "wicd". In the main post, yo can download the script to transform ubuntu in ubuntu robotic edition. Copy & paste! Before execute the script, remove wicd. Or install the default network manager. I think that the name is "network-manager" --> sudo apt-get install network-manager


Regards.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by murrman » Wed Apr 29, 2015 1:09 pm

I don't think I tested this image with WiFi (I was using a cable), so the problem could very well be wicd.

You could try removing wicd (sudo apt-get remove wicd) and installing the default network manager as waskaman suggested above.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by KurtE » Thu Apr 30, 2015 6:25 am

Thanks, I tried removing wicd, which was fine, I then tried to add network-manager and it said I already had the latest version. I think the GUI is probably part of the other desktop code that was removed.

My guess is the issue with wicd is maybe that it is trying to use IPv6 which is erroring out. Not sure if my routers are setup for this. May try to look at them to see. But also looking over google stuff, it looks like many others may have had issues with wicd and IPv6 in the past. Question is how to disable IPV6 on this setup.

Again thanks for all you have done here!

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by KurtE » Sun May 03, 2015 8:39 am

FYI I tried several different things and was about to give up, but thought I would give it one more try, before I rebuilt the image.

And I got the wifi to work :D

I first tried to disable IPV6 in ubuntu, by following:
http://askubuntu.com/questions/440649/h ... untu-14-04

Still appeared to try to use IPV6 and failed. So I did some searching around and found:
https://www.raspberrypi.org/forums/view ... 2&start=25

So I simply hard coded my network stuff into /etc/network/interfaces
When I rebooted my wifi was up and running

Kurt

Edited: looks like links did not paste in properly...
Last edited by KurtE on Thu May 21, 2015 11:54 pm, edited 1 time in total.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by murrman » Sun May 10, 2015 12:23 am

Thanks for the workaround Kurt! I have no idea how to fix this in wicd, so it is good that you found a solution.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by synportack24 » Wed Jun 17, 2015 7:42 am

has anyone got the libfreenect drivers working with the kinect on this OS?
I'v
http://magazine.odroid.com/
submit an article get cool stuff!

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by murrman » Tue Jun 23, 2015 2:32 am

Personally, I haven't done anything with linfreenect yet. Not sure if anyone else has tried.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by CGannon » Tue Jun 30, 2015 1:16 am

Apologies for the noob question (my linux skills are very rusty) but, can I just extract your image to an SD card per http://com.odroid.com/sigong/blog/blog_list.php?bid=130 to get started? Or am I missing something? Any help would be appreciated. :oops:

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by tobetter » Tue Jun 30, 2015 1:20 am

CGannon wrote:Apologies for the noob question (my linux skills are very rusty) but, can I just extract your image to an SD card per http://com.odroid.com/sigong/blog/blog_list.php?bid=130 to get started? Or am I missing something? Any help would be appreciated. :oops:
If you are asking how you can put the image of this edition to SD card, I recommend to read this WiKi.
http://odroid.com/dokuwiki/doku.php?id= ... hing_tools

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by CGannon » Tue Jun 30, 2015 1:39 am

Exactly what I was looking for! Thank you Tobetter! I did use this post for loading ubuntu onto my current sd card. I wasn't sure if the image murrman posted was ready to go or if I had to install it another way.
I'm building a robot with a kinect sensor for SLAMming and was originally using a windows based platform. When I saw the Odroid, I knew I had to change my direction but haven't been able to get it to work. High hopes for this!

Thanks again!

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by tobetter » Tue Jun 30, 2015 1:49 am

CGannon wrote:Exactly what I was looking for! Thank you Tobetter! I did use this post for loading ubuntu onto my current sd card. I wasn't sure if the image murrman posted was ready to go or if I had to install it another way.
I'm building a robot with a kinect sensor for SLAMming and was originally using a windows based platform. When I saw the Odroid, I knew I had to change my direction but haven't been able to get it to work. High hopes for this!

Thanks again!
Good for you, please do not forget to share the photos or something else if your robot works.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by CGannon » Tue Jun 30, 2015 2:07 am

Will do! The mechanics are working. Now I need to hook it up to a brain and get SLAMing to work! Hence, my interest in this thread.
Brain: ODroid C1, Kinect sensor, (other sensors later).
Drive System: 1 Arduino Uno, 2 Parallax HB-25's.
Picture attached. (Inline. not sure if this is the way to do it.)
If you've got any blogs/guidance, please forward along.
gannbot.jpg
Cheers!
CG

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by newroad » Thu Jul 02, 2015 7:55 am

@murrman

Whenever I have a image detected using opencv, image video lagging a little with UVC camera. Any way I could improve that.

Currently using harr cascade feature to detect eyes.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by murrman » Sat Jul 04, 2015 12:34 am

Is the video lagging when you aren't doing any processing steps (in other words, when you are simply reading and displaying)?

Many USB cameras have automatic focus and contrast adjustment. In my experience, disabling these features will usually speed up video acquisition. You can do this programatically in OpenCV.

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No such file or directory?

Unread post by CGannon » Sun Jul 05, 2015 5:40 pm

I'm using your image, as in, logged in as odroid, cd'd into openni2_example, I can see CMakeLists.txt OpenNI2Grabber.h openni2_cv.cpp openni2_pcl.cpp. But when I try to run ./openni2_pcl I get "bash: ./openni2_pcl: no such file or directory. "

What am I doing wrong?

TIA!

~cdg
btw- thank you for this great work! Also, I was checking out your video tutorials on diy pcb with eagle but videos on smd soldering were missing. I really wanted to see your approach!

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by murrman » Fri Jul 10, 2015 1:56 am

I think you need to build it first... try

cmake .
make openni2_pcl

That should generate the executable and then you can run with ./openni2_pcl.

Wow those Eagle tutorials are OLD! I made those like 7 or 8 years ago and never got around to finishing the soldering videos. I am about to launch a youtube channel and plan on doing some SMD soldering tutorials, but it will be a while.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by CGannon » Sat Jul 11, 2015 5:39 am

I'm in directory "~/odroid-development/openni2_example". Running "cmake ." appears to execute properly.

odroid@odroid:~/odroid-development/openni2_example$ cmake .
-- Configuring done
-- Generating done
-- Build files have been written to: /home/odroid/odroid-development/openni2_example

After running, directory contents are:
CMakeCache.txt CMakeLists.txt OpenNI2Grabber.h openni2_cv.cpp
CMakeFiles Makefile cmake_install.cmake openni2_pcl.cpp

odroid@odroid:~/odroid-development/openni2_example$ make openni2_pcl
make: *** No rule to make target `openni2_pcl'. Stop.

Getting error "make: *** No rule to make target `openni2_pcl'. Stop." on "make openni2_pcl" and CMakeLists.txt is empty.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by CGannon » Sun Jul 12, 2015 2:17 am

Think I figured it out. Copied down the files from your github as mine were all empty. enabled swap, then make compiled properly! Now I just have to figure out these errors-
odroid@odroid:~/odroid-development/openni2_example$ ./openni2_pcl
libGL error: MESA-LOADER: malformed or no PCI ID
libGL error: dlopen /usr/lib/arm-linux-gnueabihf/dri/mali_drm_dri.so failed (/usr/lib/arm-linux-gnueabihf/dri/mali_drm_dri.so: cannot open shared object file: No such file or directory)
libGL error: dlopen ${ORIGIN}/dri/mali_drm_dri.so failed (${ORIGIN}/dri/mali_drm_dri.so: cannot open shared object file: No such file or directory)
libGL error: dlopen /usr/lib/dri/mali_drm_dri.so failed (/usr/lib/dri/mali_drm_dri.so: cannot open shared object file: No such file or directory)
libGL error: unable to load driver: mali_drm_dri.so
libGL error: driver pointer missing
libGL error: failed to load driver: mali_drm
Unable to initialize OpenNI device!
Unable to initialize OpenNI2Grabber, program terminating!

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by murrman » Sun Jul 12, 2015 12:14 pm

OK, I maybe have some good news for you...

I downloaded a fresh image, fresh github code, made a 1GB swap, and compiled. When I ran openni_pcl with my Asus Xtion plugged into the top USB port farthest away from the ethernet jack, I got the exact same error that you posted.

Then I tried to run openni_cv, and I got the same "unable to initialize OpenNI device" error. I then moved the Xtion cable to the lower USB slot (same side away from the ethernet), and was able to run both openni_cv and openni_pcl.

The MESA/GL error is happening because the PCL visualization window is trying to render a null point cloud when the camera isn't functioning properly. It is just a symptom of a bad camera connection.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV)

Unread post by KurtE » Tue Aug 04, 2015 11:55 am

fab wrote:Hi Murman,

I got this error when trying to compile ffmpeg, following your installation notes:
doc/ffmpeg.pod around line 1596: Non-ASCII character seen before =encoding in '720�576'. Assuming UTF-8
MAN doc/ffmpeg-codecs.1
MAN doc/ffmpeg-bitstream-filters.1
POD document had syntax errors at /usr/bin/pod2man line 71.
MAN doc/ffmpeg-formats.1
make: *** [doc/ffmpeg.1] Erreur 255
Fab
FYI - I ran into this again today. I decided to rebuild sort of this image again from stock image. I did this keep some of the other stuff that was stripped from this image as well as not to update the network stuff...

I solved it by editing the files and removing the characters.

However I have built this image before without running into this issue. I believe it has to do with the order in which things are built. I believe that I ran into this today as I already installed ROS on the image. My gut tells me it may have to do with the line:

Code: Select all

sudo update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGES=POSIX
Not sure how to reverse this line to see if that would solve it...

Again I got around this by editing the files and remove the characters it complained about. Now currently in the process of building PCL...

Thanks again murrman for all the work you have done here!
Kurt

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by micko1965 » Sat Nov 21, 2015 1:25 pm

i dont know what i did wrong i flashed the image to empty EMMC module formatted FAT32 loaded it and nothing, im lost and struggling with this cumbersome system can someone please tell me where i went wrong
Last edited by micko1965 on Sun Oct 09, 2016 4:49 am, edited 1 time in total.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by murrman » Sun Nov 22, 2015 7:39 am

Did you use the Win32 flash utility (assuming you are using windows)?

Have you tried any other images on your board, or is it just a problem with the robotics image?

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by micko1965 » Sun Nov 22, 2015 11:34 am

i have no troubles with the android image, maybe i should leave it longer but the blue light doesnt come on which doesnt instill confidence in what i loaded in, and when it does work will it recognize all my peripherals or do i have to manually set them up. does a window or a c prompt come up initially?? thanks in advance

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by micko1965 » Mon Nov 23, 2015 6:48 am

ive tried everything,opened a putty session and it transmits, but nothing from ODROID, no blue light absolutely zip. checked the partition and it looks like its ok with a boot partition and a extfat32, when i look at the EMMCmodule contents there are only screensavers and 2 files that contain gobbledy gook that means nothing not even to a machine, i added the MD5 checksum, im outta options.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by murrman » Mon Nov 23, 2015 2:06 pm

It sounds like something is wrong with the image you are putting on the EMMC. Try downloading again.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by micko1965 » Tue Nov 24, 2015 11:44 am

really!! its 2 GB, i pay 10 dollars for a Gb so thats another 20 invested (im an aussie, we get ripped off bigtime for internet access) i think i will search for another solution

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by odroid » Tue Nov 24, 2015 12:26 pm

@micko1965
You should expand the root file system to access the full capacity of the eMMC module.
Try the latest official Ubuntu image to test your hardware configuration.

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by micko1965 » Wed Nov 25, 2015 4:56 am

I wasnt referring to the size of the EMMC MOdule, i was quoting how much i pay for down/upload to access the internet and yes i have a lot of problems with using this hardware, i cant repartition until i learn how to do it whilst its running from a terminal. As a default on C1's bootup continually repartitions to 2.9Gb, im absolutely floored that no one else is having the same problems, i want to take a break on the robotics, take my bioloid back to default and use the odroid as a emulator and make an arcade style sitdown old school machine hopefully the odroid will work better with a mame emulator

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by odroid » Wed Nov 25, 2015 10:20 am

@micko1965
Oops! Sorry for my misunderstading. Because the internet access is almost free in Korea, I couldn't interprete your comment correctly. :(

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by micko1965 » Fri Nov 27, 2015 11:34 am

thats ok, i tried the pocket rocket image of rob roys and that works, i will have to go someplace where i can download more freely, then i will try the robotics edition again

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Re: Ubuntu 14.04 Robotics Edition for ODROID-C1 (ROS+OpenCV+

Unread post by Amey18 » Tue Jul 31, 2018 4:21 pm

Hello,
I am using this OS image as one of my project development.I want to disable the login screen which appears initially.Can you suggest me changes i need to do with respect to this image.thank you

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