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Navguide -- Body-Relative Navigation using Uncalibrated Cameras Author: Olivier Koch, koch@csail.mit.edu Build dependencies ================== autoconf automake gtk-doc-tools subversion cvs Glade (glade-3) g++ GLib (libglib1.2-dev) libjpeg (libjpeg62-dev) Gtk 2.0 (libgtk2.0-dev) Glut (libglut3-dev) OpenGL (libgl1-mesa-dev) libraw1394 (libraw1394-dev) libdc1394 (on sourceforge) GSL (libgsl0-dev) camunits (http://camunits.googlecode.com) lcm (http://lcm.googlecode.com) Intel IPP Intel MKL (Math Kernel Library) Intel Compiler Python Dev (python-dev) Python Imaging Library (debian: python-imaging) Python Bluetooth (sudo apt-get install python-bluetooth) OpenCV (libcv1 libcv-dev libcvaux-dev opencv-doc) [optional] libgtkglext1-dev (GTK+ OpenGL extension) [optional] python-gtkglext1 (Python bindings for gtkglext) [optional] pyopengl (Python OpenGL) Java (sun-java-6-jdk) ALSA (libasound2-dev) Graphviz (graphviz-dev) openssh-server sysstat lm-sensors manpages-dev glibc-doc gfortran (for math benchmark) libatlas-dev (for math benchmark) festival beep Links ================== Project webpage: http://rvsn.csail.mit.edu/navguide Installation ================== * Install third-party libraries * [optional] Type 'sudo update-alternatives --config java' * [optional] Type 'sudo ldconfig' to update links * [optional] Add the raw1394 and dc1394 modules using 'sudo modprobe' * Type 'make' in the navguide/src/ directory * Add export NAVGUIDE_DBG=all to your ~/.bashrc file * Add export LCM_DEFAULT_URL="udpm://?ttl=1" to the ~/.bashrc file * Add export NAVGUIDE_CONFIG_PATH= <full path to navguide/config> * Edit /etc/sysctl.conf, add the following lines to it and type sysctl -p /etc/sysctl.conf: net.core.rmem_max = 2097152 net.core.wmem_max = 2097152 net.core.rmem_default = 2097152 net.core.wmem_default = 2097152 * Add user to disk group: adduser <username> disk * [optional] On slave PCs, add the slave_boot.sh script to the startup list (System > Preferences > Sessions) (which creates a new file in .config/autostart) * [optional] Setup the power button to power off the system directly instead of asking the user : System -> Preferences -> Power Management * [optional] Disable fsck in /etc/fstab * [optional] Enable booting with no keyboard in the BIOS * [optional] Enable yourself to run shutdown without root password. Type 'sudo visudo' and add the following line at the end: <username> ALL = NOPASSWD: /sbin/shutdown LAN setup (for multi-pc environment) ==================================== * Connect all PCs to the switch * Connect one of the machines to the internet (wire) * On the client machines, edit the /etc/network/interfaces: auto eth0 iface eth0 inet static address 192.168.2.xx (xx=11,12,13..) netmask 255.255.255.0 broadcast 192.168.2.255 gateway 192.168.2.11 # local IP address of the gateway * On the gateway machine, edit the /etc/network/interfaces: iface eth0 inet static address 192.168.2.11 netmask 255.255.255.0 broadcast 192.168.2.255 auto eth0 * On the gateway machine, edit /etc/sysctl.conf and set ip_forward to 1. Install dnsmasq and ipmasq. Restart dnsmasq (/etc/init.d/dnsmasq restart) and setup ipmasq to start after network has been started (dpkg-reconfigure ipmasq). Add the bin/lan_setup.sh script to boot sequence: as root, copy lan_setup.sh to /etc/init.d and type 'update-rc.d lan_setup.sh defaults 99'. ssh with no password ====================== * on machine A, type: ssh-keygen -t dsa -f $HOME/.ssh/id_dsa -P '' * copy $HOME/.ssh/id_dsa.pub to machine B * on machine B, type: cat id_dsa.pub >> $HOME/.ssh/authorized_keys Temperature Monitoring ====================== * Install lm-sensors (apt-get) * Run sensors-detect as root (answer YES to all questions) * Reboot * Run "sensors" to check Setting up Emacs ================ * sudo apt-get install emacs * Copy .emacs file to home directory * Google 'emacs swbuff' and download swbuff.el * Copy swbuff.el to /usr/local/share/emacs/22.1/site-lip * Unzip it; byte compile it by opening emacs and typing M-x byte-compile-file * Allow Bluetooth on Tablet PC: hcitool hci0 piscan PDA Installation (Nokia 810) ============================ * Follow the instructions in navguide/tabletpc/README Misc ================== * LCM requires an active network interface to work. If you do not have one, run the bin/lcm_setup.sh script before starting the system. License ================== Please see the LICENSE file. Mounting NFS volume ================== Add this line to /etc/fstab: gir.csail.mit.edu:/export/dgc /mnt/tig-storage nfs rw,hard,intr 0 0 ======= Network Setup ============================== It is often useful to assign a fixed IP address to the computer installed on the backpack and disable the default network manager. This way, you can seamlessly plug/unplug the network cable from the backpack. To do so, uninstall the network manager (sudo apt purge network-manager network-manager-gnome) and copy-paste the following in /etc/network/interfaces: and auto lo iface lo inet loopback auto eth0 iface eth0 inet static address 128.30.24.199 gateway 128.30.24.1 netmask 255.255.254.0 dns-nameservers 128.30.2.23 128.30.2.24 128.30.2.25 128.30.0.125 Upon reboot, type: sudo /etc/init.d/networking restart
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