This version integrates the core for ORF and Thermocam into the Halo core to run on Linux Ubuntu 10.04 with a themocam FLIR A5, an optics mount with two ueye stereo cameras and a Optical Range Finder MESA SR4000.

1. Download:

To download the Halo core on a Linux computer, type in a shell:

cd ~
git clone https://github.com/Gabs48/HaloLinux_Software

2. Install Drivers:

If it is the first time you are installing the software on your computer, you may need to install the ORF and the thermocam deriver first! If not, you can skip this step.

Install MESA-IMAGING 3D CAM Drivers

• Go to http://www.mesa-imaging.ch/support/driver-downloads/
• Download the linux driver you need (VERTIGO computer runs in 32bits)
• Double-click on the .deb file you intalled and follow the instructions
• **WARNING: ** There is a conflict in the defines provided from MESA-IMAGING and OpenCV. To solve that conflict, simply replace the files defineSR.h and libMesaSR.h by new one provided in the folder ~/HaloLinux_Software/Utilities/drivers/mesa:

cd ~/HaloLinux_Software/Utilities/drivers/mesa
sudo mv libMesaSR.h defineSR.h /usr/include

Install PLEORA Thermocam Drivers

• If you are running a 32bits version of Ubuntu 10.04 with a x86 processor architecture, copy ~/HaloLinux_Software/Utilities/drivers/pleora into the right directory:

cd ~/HaloLinux_Software/Utilities/drivers/pleora
sudo mkdir /opt/pleora/ebus_sdk/RHEL-6-i686/
sudo mv -r * /opt/pleora/ebus_sdk/RHEL-6-i686/

3. Compile:

To compile the core, create a build directory, config with cmake and compile with make using make:

cd ~/HaloLinux_Software
mkdir build
cd build
cmake ..
make

4. Install Software:

To install the software, create a script and add its link in the linux path so that you can start it from everywere in a shell. Begin with:

cd ~
mkdir bin
cd bin

Then create the script all in verifying your pleora version (for example it could be .../ebus_sdk/RHEL-6-x86_64/...). On VERTIGO computer, the version used is RHEL-6-i686:

echo source /opt/pleora/ebus_sdk/RHEL-6-i686/bin/set_puregev_env >> test_Halo
echo cd ~/HaloLinux_Software/build/bin/ >> test_Halo
echo ./TP_2601_SaveOpticsOrfThermo ~/HaloLinux_Software pFile-nosphere.txt >> test_Halo
chmod +x test_Halo

Finally, source the script in your .bashrc which wil be sourced itself everytime you start a shell session:

echo export PATH=$PATH:~/bin >> ~/.bashrc
source ~/.bashrc

5. Configure Software:

You can change the parameters of the software in ~/HaloLinux_Software/ParameterFiles/TP_2601_SaveOpticsOrfThermo/pFile-nosphere.txt:

• USE_THERMOCAM: to take ad save pictures from the thermocam
• USE_ORF: to take and save pictures from the orf
• USE_OTICSMOUNT: to take and save pictures from the opticsmount
• ORF_AUTO_EXPOSURE: set auto_exposuer for the ORF (advice: do not change)
• ORF_AMP_TRESH: set the amplitude threshold for ORF images (advice: do not change)
• ORF_MOD_FREQ: set the modulation frequency of the ORF emitter/receiver
• ORF_INTEGRATION_TIME: set the time of integration for denoising the ORF (advice: do not change)
• ORF_IP_ADDR: set the IP of he ORF device (by default with no dhcp server, it takes the value 192.168.1.42)
• ORF_CALIB_FILENAME: the path and the filename for the ORF caibration file. If it's not found, a calibration wll be launched by default (requires a GUI and a checkerboard)
• ORF_SAVE_DIR: the directory where the pictures will be saved. WARNING: Verify the directory is created before starting the program to avoid any error
• AUTOMATIC_IMAGE_STORAGE_OM: this parameter from the halo core should be set to false as the images are already saved in the test project

7. Configure IP addresses

To facilitate the ethernet communication between each device, we will give every devices a fix IP address on the network 192.168.1.* with a submask 255.255.255.0. If you already performed this step previously, you can skip it. If it is the first time, we need to fix the address for every devices:

• Vertigo computer: In the file /etc/network/interfaces verify those lines are added:

auto eth0
iface eth0 inet static
address 192.168.1.1
netmask 255.255.255.0

Then, you can restar the network with the command:

sudo /etc/init.d/networking restart

• ORF sensor: By default, the IP address it takes automatically the value 192.168.1.42. If you want to change it, you have to open a telnet communication with it (being on the network 192.168.1.*) and then change it. However, it doesn't seem to work, so we'll keep the automatic address to avoid any problem.

• Thermocam sensor: The best way to find or change the thermocam adress is to execute:

cd /opt/pleora/ebus_sdk/RHEL-6-i686/bin/
./GEVPlayer

Then, in the GUI, set everything in the camera parameters menu to enable a fixed IP address with the desired value. If you don't touch anything, the thermocam is set to take with the address 192.168.1.41

• Your own computer: If you are running on Windows: Go in Control Panel/Network and Internet/Network Connections. Find your Local Area Wired Network. Click right then Properties. Select IPV4 settings then edit and set:

IP address : 192.168.1.4
Submask: 255.255.255.0
Gateway: /

Finsish with OK. Then you can plug you ethernet cable.

6. Execute:

Finally, assemble Halo. Disconnect the ethernet cable from ORF camera. Power on Halo and wait a dozen of seconds before plugging the ethernet cable back in the ORF. Verify the ORF IP address is well set and start the program:

test_Halo

8. Known issues:

During compilation:

• The defines WORD and DWORD are already defined: You need to install the MESA-IMAGING driver correctly (step 2)
• PLEORA_LIBS cannot be found during cmake OR PvUtils.h ...etc... cannot be found during compilation OR Linking error undifined reference PvSystem ...: You need to install the PLEORA driver correctly (step 2)

During execution:

• The pleora env are not sourced: Verify the first line in your test_Halo script! (step 4)
• Either the ORF or the thermocam cannot be initialized: The IP addresses are badly configured (step 7)
• The OpticsMount cannot be initialized: Verify the OpticsMount IDs in /opt/GogglesOptics/CAMERA_FILE (see VERTIGO installation)
• OpticsMount calibration parameters are not found: Verify extrinsic.yml and intrinsic.yml files are in /opt/GogglesOptics/Calib_Params/defaultSet/ (see VERTIGO installation)
• ORF calibrations parameters are not found: Verify ORF_calib.xml is placed in the folder you specify in the parameter ORF_CALIB_FILENAME (step 5)
• The ORF pictures have a very bad quality: Verify visual ORF parameters