Ubuntu 12.11 Robotics Edition v1 (ROS+OpenCV) U2

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Ubuntu 12.11 Robotics Edition v1 (ROS+OpenCV) U2

Post by murrman »

I have prepared a Linaro 12.11 image geared towards robotics and automation developers. This image is based on robroyhall's Linaro 12.11 Fully Loaded, though I have stripped out pretty much everything except for a minimal install of Lubuntu. I have included some valuable, but often difficult to configure features such as OpenCV, Robotic Operating System, Mali acceleration, etc.

Features:
Linaro 12.11, Kernel 3.0.75
Mali enabled (checked with glmark2-es2)
Lubuntu Desktop (stripped down)
OpenCV 2.4.6.1 with TBB
ROS Groovy (Bare Bones)

Download the image here:
http://oph.mdrjr.net/murrman/linaro_ubu ... _u2.img.xz

MD5 checksum:
http://oph.mdrjr.net/murrman/linaro_ubu ... .xz.md5sum

Login:
Username: linaro
Password: linaro

I am planning on including OpenNI and PCL in the next release. Suggestions and feedback are appreciated!

Thanks to robroyhall for contributing the base image, and to mdrjr for hosting the file. You guys rock!

I hope you enjoy my first ODROID community contribution. Please consider voting for me for the monthly giveaway if you find this useful! :D
screenshot.jpg
Last edited by murrman on Wed Sep 04, 2013 3:28 am, edited 3 times in total.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by odroid »

Good too see this great item on U2 as well as X2.
Please keep developing the ROS port for the robotics ;)

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by Woosung »

Wow, it's wonderful. Great thx.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by carvare »

great !!

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by SpacemanFry »

This is great! Thanks for posting this image. Just a quick question: was OpenCV also compiled with NEON support on? I assume so, but just want to double check.

Thanks

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by murrman »

SpacemanFry wrote:This is great! Thanks for posting this image. Just a quick question: was OpenCV also compiled with NEON support on? I assume so, but just want to double check.

Thanks
No, I didn't know about NEON at the time. I'm rebuilding right now to make sure it works, then I will post fix instructions. I'll make sure the next version (with OpenNI + PCL) has this enabled.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by astartes91 »

TBB it is Intel Threading Building Blocks? Is there are any performance improvements on ARM processors?

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by murrman »

astartes91 wrote:TBB it is Intel Threading Building Blocks? Is there are any performance improvements on ARM processors?
Yes, it is Intel Threading Building Blocks. I'm not sure if there are any ARM specific optimizations in TBB, but it does allow you to do general parallel programming on a multicore CPU. TBB builds and install easily when you install OpenCV from source on an x86 platform, but the ARM install requires a few extra steps.

TBB is included in this image for convenience, especially if you have previously written OpenCV apps that depend on it.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by astartes91 »

murrman wrote:
astartes91 wrote:TBB it is Intel Threading Building Blocks? Is there are any performance improvements on ARM processors?
Yes, it is Intel Threading Building Blocks. I'm not sure if there are any ARM specific optimizations in TBB, but it does allow you to do general parallel programming on a multicore CPU. TBB builds and install easily when you install OpenCV from source on an x86 platform, but the ARM install requires a few extra steps.

TBB is included in this image for convenience, especially if you have previously written OpenCV apps that depend on it.
Can you describe process of compiling OpenCV with TBB for ARM? I would be very grateful.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by murrman »

No problem, here is how I did it...

Code: Select all

# INSTALL 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 ffmpeg

# At this point, you will get a message about a conflict with the mesa drivers. Fix it by removing libqt4-opengl-dev, which was automatically installed above (you don't need it)
sudo apt-get remove libqt4-opengl-dev

# OBTAIN OPENCV SOURCE
cd ~
wget http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.4.6.1/opencv-2.4.6.1.tar.gz
tar -xvf opencv-2.4.6.1.tar.gz
cd opencv-2.4.6.1

# BUILD AND INSTALL OPENCV. SET ANY ADDITIONAL BUILD OPTIONS WITH THE CCMAKE COMMAND
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -DBUILD_TBB:BOOL="1" -DWITH_TBB:BOOL="1" -D WITH_QT=ON -D WITH_OPENGL=ON -D WITH_V4L=ON ..
ccmake .
make
sudo make install
At this point, OpenCV and TBB should be compiled. OpenCV will be installed, but TBB for some reason does not automatically install. Any code using TBB will compile, but won't run. This is how you fix it...

1. add source tbbvars.sh to ~/bash.rc (example below, check the file names on your system)
source ~/opencv-2.4.6.1/build/3rdparty/tbb/tbb41_20130116oss/build/tbbvars.sh
2. copy TBB includes to /usr/include/tbb (example location of the include folder below...)
~/opencv-2.4.6.1/build/3rdparty/tbb/tbb41_20130116oss/include
3. copy libtbb.so to /usr/lib (example location of the libtbb file below. It might have a .1, .2, etc appended)
/home/linaro/opencv-2.4.6.1/build/lib/libtbb.so.2

Hope this helps.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by astartes91 »

Thanks a lot for your answer!

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by khaclub »

If I want to rebuild OpenCV including TBB with some extra supports like Qt, Python, how could I do?

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by murrman »

You can either add extra flags to the cmake command, your you can go through the entire list of options and make whatever changes you want when you run the "ccmake ." line. I usually set a few things with ccmake whenever I do a build.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by murrman »

By the way, QT is enabled in this image. I may have left out python, though.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by astartes91 »

khaclub wrote:If I want to rebuild OpenCV including TBB with some extra supports like Qt, Python, how could I do?
You can do it with CMAKE-GUI... very pretty thing!

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by vamsi »

This image is pure gold. Thank you very much.

Just minor comment: had opencv been built WITH_DC1394, that'd have added a big feature of IIDC cameras over USB.
Thanks again.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by murrman »

I'm glad you find it useful. I'm trying to push out a new version in the next few days, with PCL and OpenNI2 integrated, so stay tuned.
vamsi wrote:Just minor comment: had opencv been built WITH_DC1394, that'd have added a big feature of IIDC cameras over USB.
Thanks again.
I thought 1394 devices used firewire? I left WITH_DC1394 off since the Odroid doesn't have a firewire port. If it would be useful to you, I will add that option in my new release.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by newroad »

Hi,

I tried booting using your robotics U2 image but it didnt start.

Can you upload a working version again.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by murrman »

newroad wrote:Hi,

I tried booting using your robotics U2 image but it didnt start.

Can you upload a working version again.
Are you sure you are using the correct version (U2 / X2)?

Did you check the checksum before you wrote to the SD card? For the U2, it can be found here...

http://oph.mdrjr.net/murrman/linaro_ubu ... .xz.md5sum

Let me know if the checksums match.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by newroad »

MD5 matches but image stil didn't work.

I am using U2 image.

Please see the image I have.

I hope you can help.
Attachments
sss.png

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by sert00 »

you have to say more man about yours problem.
How are the leds of the board at boot?the red and blue i mean
tried doing a boot log with uart,if you have it?
2x Odroid-U2
2x Odroid-XU-E
Odroid-U3
Odroid-C1+
Odroid-XU4
Lcd touch panel 10.1"
....and many of the goodies available....

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by murrman »

I'll check the image again this evening and let you know if I can boot it successfully. I updated it a couple of weeks ago, but haven't heard of any issues yet.

Let us know what the LEDs do when you boot. Also, are you using an HDMI monitor? I have had trouble before when using an HDMI to DVI cable...

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by murrman »

newroad,

I just re-downloaded the image from the link. The md5sum matches and the image boots fine on my U2 board. Maybe you have a bad SD card?

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OpenNI2 + PCL version now working!

Post by murrman »

Hi all,

I have completed my Robotics Edition V2 image, which adds OpenNI2 and Point Cloud Library. I will upload sometime tomorrow.

Below is a screen shot running my demo code. It acquires depth and RGB images with OpenNI2, stores them in OpenCV matrices, and displays a PCL point cloud.

Stay tuned...
2013-09-02-042702_1280x720_scrot.png

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by odroid »

Wow!! Great news!
Do you use the original MS Kinect sensor? or Asus Xtion Pro?

BTW, please consider to use the kernel 3.8 because the slower OpenGL ES issue was fixed last week.

You are the one to have the ODROID-XU board by September's award as I promised.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by vamsi »

murrman wrote:I'm glad you find it useful. I'm trying to push out a new version in the next few days, with PCL and OpenNI2 integrated, so stay tuned.
vamsi wrote:Just minor comment: had opencv been built WITH_DC1394, that'd have added a big feature of IIDC cameras over USB.
Thanks again.
I thought 1394 devices used firewire? I left WITH_DC1394 off since the Odroid doesn't have a firewire port. If it would be useful to you, I will add that option in my new release.
libdc1394 works for IIDC over Firewire as well IIDC over USB too. So for ODROID, USB part will be useful. Ex: Pointgrey FireFly camera, firmware is 1394, but connectivity is over USB.

WITH_DC1394 will be greatly useful. Thanks in advance.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by newroad »

Blue led on screen doesnot show up at all.

However when I write the first img provided by hardkernal does load on the same Microsd card.

If you can give me the burner name with which you burn the image on sd card, it might work.

I look forward to your new image.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by newroad »

YOur image finally worked, I had to format the card seperately using sdformatter utility

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by murrman »

odroid wrote:Wow!! Great news!
Do you use the original MS Kinect sensor? or Asus Xtion Pro?

BTW, please consider to use the kernel 3.8 because the slower OpenGL ES issue was fixed last week.

You are the one to have the ODROID-XU board by September's award as I promised.
I'm using the Asus Xtion Pro. Currently the MS Kinect does not work (the driver is not included with OpenNI 2.2), but I should be able to fix that soon.

Yes, migrating to kernel 3.8 will be my next task. Hopefully it doesn't break anything for me :)

Awesome! Thanks! I can't wait to release an XU image!

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by murrman »

newroad wrote:YOur image finally worked, I had to format the card seperately using sdformatter utility
Glad to hear it. By the way, I use the ImageWriter utility in Ubuntu. I think it does the formatting, sets boot flags, etc automatically.

Now that you have your card all working, you can download the new image with OpenNI and PCL (will upload by the end of the day) :D

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by murrman »

vamsi wrote:
murrman wrote:I'm glad you find it useful. I'm trying to push out a new version in the next few days, with PCL and OpenNI2 integrated, so stay tuned.
vamsi wrote:Just minor comment: had opencv been built WITH_DC1394, that'd have added a big feature of IIDC cameras over USB.
Thanks again.
I thought 1394 devices used firewire? I left WITH_DC1394 off since the Odroid doesn't have a firewire port. If it would be useful to you, I will add that option in my new release.
libdc1394 works for IIDC over Firewire as well IIDC over USB too. So for ODROID, USB part will be useful. Ex: Pointgrey FireFly camera, firmware is 1394, but connectivity is over USB.

WITH_DC1394 will be greatly useful. Thanks in advance.

OK, I will add that now.

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Re: Ubuntu 12.11 Robotics Edition for ODROID-U2 (ROS + OpenC

Post by newroad »

I look forward to your new image.
Thanks for all quick replies you have made to my questions.

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Re: Ubuntu 12.11 Robotics Edition v1 (ROS+OpenCV) U2

Post by TinGoose »

Nice job! Seems like it is time to move away from our debian+ROS+OpenNI2 to yours.
There were some problems fitting this image to my 8GB flash, ~100Mb were out of space. I've used 16Gb flash and removed/uninstall some extra stuff, like desktop environment, or intermediate opencv/pcl files. It was enough to fit additional libraries, like festival speech synthesizer.

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Re: Ubuntu 12.11 Robotics Edition v1 (ROS+OpenCV) U2

Post by murrman »

TinGoose wrote:Nice job! Seems like it is time to move away from our debian+ROS+OpenNI2 to yours.
There were some problems fitting this image to my 8GB flash, ~100Mb were out of space. I've used 16Gb flash and removed/uninstall some extra stuff, like desktop environment, or intermediate opencv/pcl files. It was enough to fit additional libraries, like festival speech synthesizer.
Be sure to check out the V2 image, it comes with working PCL and code examples.

I'm using both Sony and Monster Safari brand 8GB SD cards for my images. In hindsight, I probably should have resized the partition to a little less than 8GB to accommodate variances in different "8GB" cards. Sorry for the inconvenience.

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Re: Ubuntu 12.11 Robotics Edition v1 (ROS+OpenCV) U2

Post by robroy »

In hindsight, I probably should have resized the partition to a little less than 8GB to accommodate variances in different "8GB" cards. Sorry for the inconvenience.
Whenever I update the Fully Loaded image, I use a 6.5GB partition, then use "dd bs=1M count=7200" to give plenty of room for variance between cards.
Last edited by robroy on Sat Sep 21, 2013 11:33 pm, edited 2 times in total.
Rob Roy, Editor-in-Chief of ODROID Magazine (submit an article | make a donation)

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Re: Ubuntu 12.11 Robotics Edition v1 (ROS+OpenCV) U2

Post by murrman »

Thanks for the tip. I'm pickup up all of these little nuances as I work on this project :)

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Re: Ubuntu 12.11 Robotics Edition v1 (ROS+OpenCV) U2

Post by enddl22 »

Did you install ROS groovy through precompiled binary or source code?

Cheers.

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Re: Ubuntu 12.11 Robotics Edition v1 (ROS+OpenCV) U2

Post by murrman »

enddl22 wrote:Did you install ROS groovy through precompiled binary or source code?

Cheers.
I installed the precompiled binary for Ubuntu ARM

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Re: Ubuntu 12.11 Robotics Edition v1 (ROS+OpenCV) U2

Post by ohm343 »

Your work has been invaluable to me.

I hope you continue to update this in the future.

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Re: Ubuntu 12.11 Robotics Edition v1 (ROS+OpenCV) U2

Post by murrman »

ohm343 wrote:Your work has been invaluable to me.

I hope you continue to update this in the future.
Glad to hear it. Yes, I am working on an update and also an XU version for December.

If you don't mind providing details, what are you using the image for?

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Re: Ubuntu 12.11 Robotics Edition v1 (ROS+OpenCV) U2

Post by vasu12360 »

what do you mean by mali enabled .....do we have to enable mali explicitly if yes then how?

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