meta package for project mocap

git clone https://github.com/mocapNCTU/mocap-bt.git mocap

with the folder name "mocap" under ~/

ubuntu16.04 ROS kinetic

##Installation

cd ~/mocap source install_software.sh

it will install ROS Kinetic, Apriltags-cpp, Pangolin, dso, LCM, drake motion planning library etc if you prefer manual install it. Just install 3 main library Pangolin, dso for GUI

    cd $HOME/mocap/software/apriltags-cpp
    mkdir build
    cd build
    cmake .. -DCMAKE_BUILD_TYPE=Release
    make
    sudo make install

    sudo apt-get install libglew-dev
    sudo apt-get install libsuitesparse-dev
    cd $HOME/mocap/software/Pangolin
    mkdir build                                                                                                                      
    cd build
    cmake ..
    make -j

    cd $HOME/mocap/software/dso
    sudo apt-get install zlib1g-dev
    cd dso/thirdparty
    tar -zxvf libzip-1.1.1.tar.gz
    cd libzip-1.1.1/
    ./configure
    make
    sudo make install

    cd $HOME/mocap/software/dso
    cd dso 
    mkdir build
    cd build
    cmake ..
    make -j

Try launch apriltags detection without RVIZ msgs overhead

T1:roslaunch img_capture img_capture.launch

Try GUI base on Pangolin and dso

#Demo videos

Open 2 terminal shows like this, you can utilize byobu tool. don't forget your /dev/video0 or /dev/video1 avalaible in usb_cam-test.launch

T1: roslaunch usb_cam usb_cam-test.launch

T2: rosrun dso_ros dso_live image:=/usb_cam/image_raw calib=/PATH_TO/dso_ros/camera.txt gamma=/PATH_TO/src/dso_ros/pcalib.txt vignette=/PATH_TO/src/dso_ros/vignette.png

for example

rosrun dso_ros dso_live image:=/usb_cam/image_raw calib=/home/rapyuta/dso_ws/src/dso_ros/camera.txt gamma=/home/rapyuta/dso_ws/src/dso_ros/pcalib.txt vignette=/home/rapyuta/dso_ws/src/dso_ros/vignette.png

Habonbon!