Perception in Robotics course final project (Term3 2020, Skoltech, Moscow-Russia)
- Evgeny Tsykunov (evgeny.tsykunov@skolkovotech.ru)
- Valery Ilin (valery.ilin@skoltech.ru)
- Stepan Perminov (stepan.perminov@skoltech.ru)
- Aleksey Fedoseev (aleksey.fedoseev@skoltech.ru)
- Elvira Zainulina (elvira.zainulina@skoltech.ru)
- 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
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
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
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
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
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
python main.py
This launching is just for demo because we got a log delay between frames
python pyglet_demo.py
cd plot/perminov_plotting
python oct_viz.py
All notebooks are in the folder notebooks. Use jupyter lab
to launch them.