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