Kubernetes - Notes

https://matt-rickard.com/docker-desktop-alternatives

https://cri-o.io/

Releases: https://github.com/cri-o/cri-o/releases

Install cri-o

  dnf module list cri-o
  VERSION=1.18
  dnf module enable cri-o:$VERSION
  dnf install cri-o

export OS=CentOS_8
export VERSION=1.25




curl -L -o /etc/yum.repos.d/devel:kubic:libcontainers:stable.repo https://download.opensuse.org/repositories/devel:/kubic:/libcontainers:/stable/$OS/devel:kubic:libcontainers:stable.repo
curl -L -o /etc/yum.repos.d/devel:kubic:libcontainers:stable:cri-o:$VERSION.repo https://download.opensuse.org/repositories/devel:kubic:libcontainers:stable:cri-o:$VERSION/$OS/devel:kubic:libcontainers:stable:cri-o:$VERSION.repo
yum install cri-o

https://minikube.sigs.k8s.io/docs/start/

Install kubectl

https://kubernetes.io/docs/tasks/tools/install-kubectl-linux/

Nuitrack Development on Windows

 

Install cmake, VS Code

https://cmake.org/download/

https://github.com/3DiVi/nuitrack-sdk/blob/master/Platforms/nuitrack-windows-x64.exe

Intel RealSense SDK

https://github.com/IntelRealSense/librealsense/releases/tag/v2.50.0

Install Mingw

https://www.msys2.org/

https://code.visualstudio.com/docs/cpp/config-mingw

https://dev.intelrealsense.com/docs/compiling-librealsense-for-windows-guide

https://www.mingw-w64.org/downloads/

How to compile c++ in Visual Studio Code

https://code.visualstudio.com/docs/languages/cpp

OpenCV SDK

Found OpenCV Windows Pack but it has no binaries compatible with your configuration.

https://medium.com/csmadeeasy/opencv-c-installation-on-windows-with-mingw-c0fc1499f39

Notes:

https://stackoverflow.com/questions/43456982/cmake-what-is-the-difference-between-include-directories-versus-target-link

https://forum.qt.io/topic/40855/undefined-reference-to-_imp__-but-the-right-header-is-included/7

NuiTrack Resources

 

 

Install git-lfs

https://www.howtoinstall.me/ubuntu/18-04/git-lfs/

NuiTrack Samples

https://github.com/UnaNancyOwen/NuiTrackSDKSample.git

 

NuiTrack Installation

https://github.com/3DiVi/nuitrack-sdk

NuiTrack SDK

https://github.com/3DiVi/nuitrack-sdk/blob/master/doc/readme.md

 

NuiTrack Readme

 https://github.com/3DiVi/nuitrack-sdk/blob/master/doc/readme.md

 

Install Monodevelop

https://blog.eldernode.com/install-monodevelop-on-ubuntu/

Environment Variables 

https://github.com/UnaNancyOwen/NuiTrackSDKSample/blob/master/sample/Align/FindNuiTrack.cmake

Nuitrack Integration

https://github.com/3DiVi/nuitrack-sdk/blob/master/doc/Tutorial_integration.md

Boost C++ lib

https://www.boost.org/

Intel Realsense Hand Tracking

Official Document

 https://www.intel.com/content/dam/develop/external/us/en/documents/hand-tracking-843462.pdf

https://www.intelrealsense.com/hand-tracking-overview/

RealSense Resources

Ethernet Client Server

https://github.com/IntelRealSense/librealsense/tree/master/wrappers/python/examples/ethernet_client_server 

https://up-shop.org/up-board-series.html

Realsense Development on Mac

Installation

https://github.com/GitwellAnyohub/Real_Sensible_Moseq/blob/master/bash_and_install/install_realsense_sdk_mac_os.sh

cmake .. -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DBUILD_PYTHON_BINDINGS=true -G Unix\ Makefiles -DPYTHON_EXECUTABLE=/Library/Frameworks/Python.framework/Versions/3.10/bin/python3

https://opencv.org/releases/ 

Install OpenCV on MAC

https://github.com/IntelRealSense/librealsense/issues/5275

PyPi Packages:

https://pypi.org/search/?q=opencv

pip install scikit-build

https://www.geeksforgeeks.org/how-to-install-opencv-4-on-macos/

Installing pyrealsense2 on MacOS

Install homebrew if you don't already have it.

Step 1

Install tools required to compile RealSense Libraries.

brew install cmake libusb pkg-config

Step 2

Compile and install Intel RealSense libraries.

git clone https://github.com/IntelRealSense/librealsense to clone librealsense

cd librealsense (or cd into wherever you cloned)

mkdir build && cd build

cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DBUILD_PYTHON_BINDINGS=true -G Unix\ Makefiles -DCMAKE_MACOSX_RPATH=ON -DCMAKE_INSTALL_RPATH="/usr/local/lib" -DPYTHON_EXECUTABLE=$(which python3)

make -j4

sudo make install

Step 3

Distribute libraries to Python site-packages

cp wrappers/python/pyrealsense2.2.50.0.cpython-310-darwin.so $(dirname $(dirname $(which python3)))/lib

cp wrappers/python/pybackend2.2.50.0.cpython-310-darwin.so $(dirname $(dirname $(which python3)))/lib

cd $(dirname $(dirname $(which python3)))/lib/ && ln -s pyrealsense2.2.50.0.cpython-310-darwin.so pyrealsense2.2.cpython-310-darwin.so

cd $(dirname $(dirname $(which python3)))/lib/ && ln -s pyrealsense2.2.50.0.cpython-310-darwin.so pyrealsense2.cpython-310-darwin.so

cd $(dirname $(dirname $(which python3)))/lib/ && ln -s pybackend2.2.50.0.cpython-310-darwin.so  pybackend2.2.cpython-310-darwin.so

cd $(dirname $(dirname $(which python3)))/lib/ && ln -s pybackend2.2.50.0.cpython-310-darwin.so  pybackend2.cpython-310-darwin.so

https://dev.intelrealsense.com/docs/python2

Realsense on Raspberry

 https://github-wiki-see.page/m/acrobotic/Ai_Demos_RPi/wiki/Raspberry-Pi-4-and-Intel-RealSense-D435

 

 

Raspberry Pi 4 and Intel RealSense D435 - acrobotic/Ai_Demos_RPi Wiki

Pre-install Requirements

• Start with updating, upgrading, and installing dependencies and tools:

sudo apt-get update && sudo apt-get dist-upgrade
sudo apt-get install automake libtool vim cmake libusb-1.0-0-dev libx11-dev xorg-dev libglu1-mesa-dev

• Expand the filesystem by selecting the Advanced Options menu entry, and select yes to rebooting:

sudo raspi-config

• Increase swap to 2GB by changing the file below to CONF_SWAPSIZE=2048:

sudo vi /etc/dphys-swapfile

• Apply the change:

sudo /etc/init.d/dphys-swapfile restart swapon -s

• Create a new udev rule:

cd ~
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ 

• Apply the change (needs to be run by root):

sudo su
udevadm control --reload-rules && udevadm trigger
exit

• Modify the path by adding the following line to the .bashrc file:

export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

• Apply the change:

source ~/.bashrc

Installation

• Install protobuf — Google's language-neutral, platform-neutral, extensible mechanism for serializing structured data:

cd ~
git clone --depth=1 -b v3.10.0 https://github.com/google/protobuf.git
cd protobuf
./autogen.sh
./configure
make -j1
sudo make install
cd python
export LD_LIBRARY_PATH=../src/.libs
python3 setup.py build --cpp_implementation 
python3 setup.py test --cpp_implementation
sudo python3 setup.py install --cpp_implementation
export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=cpp
export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION_VERSION=3
sudo ldconfig
protoc --version

• Install libtbb-dev parallelism library for C++:

sudo apt install -y libtbb-dev

• Install RealSense SDK librealsense:

cd ~/librealsense
mkdir  build  && cd build
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=Release -DFORCE_LIBUVC=true
make -j1
sudo make install

• Install RealSense SDK pyrealsense2 Python bindings for librealsense:

cd ~/librealsense/build
cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python3)
make -j1
sudo make install

• Modify the path by adding the following line to the .bashrc file:

export PYTHONPATH=$PYTHONPATH:/usr/local/lib

• Apply the change:

source ~/.bashrc

• Install OpenGL:

sudo apt-get install python-opengl
sudo -H pip3 install pyopengl
sudo -H pip3 install pyopengl_accelerate==3.1.3rc1

• Change pi settings (enable OpenGL):

sudo raspi-config
"7. Advanced Options" – "A8 GL Driver" – "G2 GL (Fake KMS)"

Remote Operation

• Enable VNC:

"3. Boot Options" – "B1 Desktop/CLI" – "B4 Desktop Autologin"
"5. Interfacing Options" – "P3 VNC" – "Yes"
"7. Advanced Options" – "A5 Resolution" – "DMT Mode 85 1280X720 60Hz 16:9"

• Select "Finish" on the raspi-config menu, and select "Yes" to rebooting

• Install a VNC client on another computer, for example VNC Viewer by RealVNC

• VNC into the Raspberry Pi and run the built-in viewer from a terminal window:

realsense-viewer

Debugging

• ERROR: Could not initialize offscreen context!

pi@raspberrypi:~ $ realsense-viewer
Could not initialize offscreen context!

There is a difference between running vncserver from the terminal and using raspi-config to install it. So, if you see the below output you're doing it wrong:

pi@raspberrypi:~ $ glxgears -info
GL_RENDERER = llvmpipe (LLVM 9.0.1, 128 bits)
GL_VERSION = 3.1 Mesa 19.3.2
GL_VENDOR = VMware, Inc.

Output known to be working:

GL_RENDERER = V3D 4.2
GL_VERSION = 2.1 Mesa 19.3.2
GL_VENDOR = Broadcom

The process to make the necessary changes is described in raspberrypi/Raspberry-Pi-OS-64bit#21 and raspberrypi/Raspberry-Pi-OS-64bit#3. It comes down to how we run vncserver, running it from a Putty terminal uses a VMware driver, whereas running it via sudo raspi-config > interfacing options > vncserver > enable and directly login from the VNC client app then uses the necessary Broadcom driver.

• ERROR: GLFW Driver Error: GLX: GLX version 1.3 is required

pi@raspberrypi:~ $ realsense-viewer
GLFW Driver Error: GLX: GLX version 1.3 is required
Could not initialize offscreen context!

Follow the steps described in IntelRealSense/librealsense#7343.

🗂️ Page Index for this GitHub Wiki

Intel RealSense Notes

 SDK:

Git Repository:

https://github.com/IntelRealSense/librealsense/releases/tag/v2.50.0

https://www.analyticsvidhya.com/blog/2021/05/pose-estimation-using-opencv/

Visual Odometry

1. Google Cartographer
2. GMapping
3. Hector SLAM
4. RTabMap
5. ORB SLAM
6. Rovio

Robotic Operating System

OpenSource SLAM

+70 case studies from studios & firms using the Unity engine | Case study, testimonials & showcase | Unity

On Raspberry:

https://issueexplorer.com/issue/IntelRealSense/librealsense/9865

Below is practice on Windows 10

Ensure to use correct python to install modules, otherwise, you may get error:
ModuleNotFoundError: No module named

python -m pip install pyrealsense2

pip uninstall pyrealsense2

python -m pip install opencv-python

https://github.com/BakingBrains/Pose_estimation

Link to the Youtube video: https://www.youtube.com/watch?v=brwgBf6VB0I

# Skeleton Tracking

python -m pip install --find-links="%CUBEMOS_SKEL_SDK%\wrappers\python" cubemos.skeletontracking

cd "%CUBEMOS_SKEL_SDK%\wrappers\python"

cd "%CUBEMOS_SKEL_SDK%\samples\python\"

c. Run the sample on a local image

python skeleton-tracking-image.py ..\res\images\skeleton_estimation.jpg

To save the results you can use an additional parameter:

python skeleton-tracking-image.py -o C:\tmp\output.jpg `

..\res\images\skeleton_estimation.jpg