Install Libfreenect

Most of the instructions from this section originate from this aricle. Feel free to follow along with this gist or use the article.

Let's start by making sure our machine is up to date.

sudo apt-get update
sudo apt-get upgrade

Then we have to install the necessary dependencies.

sudo apt-get install git-core cmake freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev

Next, we clone the libfreenect project to our machine. Feel free to clone it anywhere you please.

git clone git://github.com/OpenKinect/libfreenect.git

Now install libfreenect

cd libfreenect
mkdir build
cd build
cmake -L ..
make
sudo make install
sudo ldconfig /usr/local/lib64/

If you want to use the kinect as a non-root user then do the following

sudo adduser $USER video
sudo adduser $USER plugdev

Then make a rule file for linux device manager

sudo gedit /etc/udev/rules.d/51-kinect.rules

Add the following to the file:

# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"
# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"
# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02c2", MODE="0666"
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02be", MODE="0666"
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02bf", MODE="0666"

To test your installation, try running this command:

freenect-glview

Now that we have libfreenect on our machine, it is time to make it work with python.

sudo apt-get install cython
sudo apt-get install python-dev
sudo apt-get install python-numpy

Next we need to set up freenect with python. So go to your libfreenect directory .../libfreenect/wrappers/python and run the following command

sudo python setup.py install

If and only if creating 51-kinect.rules does not allow you to run a python script as a non-root user:

vi /etc/udev/rules.d/66-kinect.rules

Add this text to the file:

# ATTR{product}=="Xbox NUI Motor"  
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"\n
# ATTR{product}=="Xbox NUI Audio"\n
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"\n
# ATTR{product}=="Xbox NUI Camera"\n
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"\n

Install Deep-RTC

Clone the repo

https://github.com/MaxConners/Terrain-Classification.git

Create Environment

conda create -n terrain-classification python=2.7
source activate terrain-classification

Install Requirements

To install all necessary packages run:

pip install -r requirements.txt

Usage

This section details how to set up the terrain classification application.

Training a model

To train a model open a terminal and run

python train_model.py <model_name> <corpus_path>

where the directory tree is:

-   <corpus_path>

    -   <class_folder_2>

        -   <image_1.jpg>
        -   <image_2.jpg>
        -   ...
        -   <image_n.jpg>

    -   <class_folder_2>

        -   <image_1.jpg>
        -   <image_2.jpg>
        -   ...
        -   <image_n.jpg>

    -   ...
    -   <class_folder_n>

        -   <image_1.jpg>
        -   <image_2.jpg>
        -   ...
        -   <image_n.jpg>

Example

python train_model.py fast_net terrain_images