IlinValery / realsense_localization_depth_to_map

realsense_localization_depth_to_map

Perception in Robotics course final project (Term3 2020, Skoltech, Moscow-Russia)

Project team

• Evgeny Tsykunov ([e-mail])
• Valery Ilin ([e-mail])
• Stepan Perminov ([e-mail])
• Aleksey Fedoseev ([e-mail])
• Elvira Zainulina ([e-mail])

Requirements

• python3.7 (cause used methods from python3.7 - __future__)
• ubuntu 18.04
• opencv-python
• pyrealsense2
• matplotlib
• open3d
• pptk
• octomap
• pyglet

List off all requirements in requirements.txt

Python3.7 Ubuntu installation

For Linux Users

For installation Python3.7 was used this link

sudo apt install python3-pip
sudo apt install python3.7
python3.7 -m pip install pip

sudo apt install python3.7-venv

python3.7 -m venv venv 
source venv/bin/activate

pip install -r requirements.txt

For Windows Users

Install python3.7 with next link

python3.7 -m venv venv 
# then you have to activate venv with your console: https://docs.python.org/3/library/venv.html

pip install -r requirements.txt

Bags with installing

Octomap:

pip uninstall octomap-python
sudo apt-get install liboctomap*
pip install glooey
pip install imgviz
pip install pyglet
pip install trimesh
pip install octomap-python --no-binary octomap-python

PPTK launching problem:

cd venv/lib/python3.7/site-packages/pptk/libs/
mv libz.so.1 libz.so.1.old
sudo ln -s /lib/x86_64-linux-gnu/libz.so.1

If you got any other problems, please write to @valeryilin in Telegram

Launching

Preparing

To launch this project you have to download bag files by link and paste them to the data folder.

If you want to use real sensor, you have to change Variable is_device=True in main.py

Common launching

python main.py

Visualisation launching

This launching is just for demo because we got a log delay between frames

python pyglet_demo.py

PPTK and full map demo

cd plot/perminov_plotting
python oct_viz.py

Notebooks

All notebooks are in the folder notebooks. Use jupyter lab to launch them.