December

1st week

• Reviewing the slides to show the advances in the REACT project for the next week meeting (9th december)
• Filling the PhD progress reports required by my University
• Created a Gitbook account for allowing my tutor and cotutor to collaborate in this book in an easy way
• Filling the gaps in this documentation. Joining the archives distributed across several private folders into a single public GitHub repository to simplify the book compilation and publishing in Gitbook

2nd week

• Working in integrating semi-dense depth maps into my current approach. In this way, the search of disparity can be done in real time with a single CPU core
• Considering the Robot Operating System (ROS) as an eventual layer over my OpenCV installation
• Studying ROS documentation and development manual

3rd week

• Setting up a ROS workspace over Ubuntu 15.04 using OpenCV 3.0
• Chosen a ros_comm stack to support lsd_slam
• Install some additional packages such as:
  1. libuvc_camera
  2. usb_cam (due to problems with libuvc_ros)
  3. image_view (to view ROS topic in real-time)
• Many problems with OpenCV 3.0 installation (need to recompile OpenCV using WITH_QT=NO)
• Running ROS process with rosrun <package> <executable>

• Checking ROS topics (such as usb camera stream) with rostopic list

• Making the first experiment with the original dataset and my Creative HD live webcam. The next command need to be executed in a terminal:

  roscore
  rosrun usb_cam usb_cam_node
  rosrun lsd_slam_core live_slam /image:=/usb_cam/image_raw _calib:=creative_hd_webcam.cfg
  rosrun lsd_slam_viewer viewer
  

• The content of the calibration file is:

640.204321 640.204321 319.5 239.5 0.080310051 -0.714108643 0 0
640 480
none
640 480

• Results are the following ones:

ROS installation

• ROS building instructions for Ubuntu

sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
sudo rosdep init
rosdep update
mkdir ~/dev/ros
cd ~/dev/ros
rosinstall_generator ros_comm --rosdistro indigo --deps --wet-only --tar > indigo-ros_comm-wet.rosinstall
wstool init -j8 src indigo-ros_comm-wet.rosinstall
catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
source ~/dev/ros/install_isolated/setup.bash

• ROS update instructions

rosinstall_generator ros_comm --rosdistro indigo --deps --wet-only --tar > indigo-ros_comm-wet.rosinstall
wstool merge -t src indigo-ros_comm-wet.rosinstall
wstool update -t src
catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
source ~/dev/ros/install_isolated/setup.bash

• Use rosmake --rosdep-install to compile a single package and download the related dependencies

4th week

• Christmas Holydays!