It primarily provides sensor visualisations at this stage.
The currently implemented objects primarily work with Player/Stage based robots.
ARDev has been developed and tested in ubuntu linux, other flavours of linux should work fine but are not tested.
ARDev was written by Toby Collett as part of his PhD research at the University of Auckland. TI am keen to hear any feedback, and should be able to provide some personal support getting it running, so get in touch by email to ardev _at_ plan9.net.nz
There are three ways that you can use ARDev:
The getting started guide will focus mainly on using the toolkit as an IDS via the aride utility or the player module. The API documentation will help you with options 2 and 3. The test application in the src folder is also a good place to look for examples of using the library directly.
The other required libraries are:
Other optional libraries that you may wish to install include:
After you have installed the required and desired optional libraries you simply need to run ./configure and make.
All things going well you are now ready to proceed to the getting started guide.
Option 2 uses an overhead camera and a player based robot. This is more useful but more complicated. Probably trying option 1 first and then progressing to option 2 once thats done is a good plan.
Both the methods described here use the aride GUI for configuring ardev so to get started go to the aride directory (util/aride), then follow either option 1 or 2 below.
Run stage using the config file in util/aride/example/simple.cfg
then run aride specifing the stage aride config file i.e. ./aride ./example/stage.aride
then click on control->run and it should be all go. You should be able to driver the robot using playerjoy or playerv etc and watch the visualisation of the sensor data. This is simulating the ardev system running on the robots on board camera.
My example uses our labs pioneer robot, with a player server for serving up the camera images. The default artoolkitplus marker is ID '10', this can be changed in the config GUI.
Change to the aride directory. run ./aride example/overhead.aride (sleepy is our pioneer, we have seven...sleepy, happy, grumpy ... got it?) check the settings the UI, particularly you will need to change the server addresses for the player interfaces.
you will also need to specify a camera calibration file the format is: Translation (3 floats) Rotation Matrix (9 floats) focal distance sensor width (x and y) image size (x and y) scale factors (x and y)
Fields are sepearated by white space. the application ./util/calib/calibapp may help you generate this file. It uses tsai calibration to get the values and does basic detection of circles on a large cube to find the source points. If you are not using the artoolkitplus or opencv trackers then you may be able to omit the calibration file altogether.
you could generate the file manually the most important value is the 'tilt' or y axes rotation values. an example calibration file is also provided in the example dir.
in theory, provided your parameters are all correct and your player servers are running, simply click on the green play button ('start') and things should be all go.
Im keen on people using this software so dont hesitate to contact me if you are wanting to try the software and are having trouble. This project is under active development and any ideas voiced will certainly be considered.
Supported Projects:
References Used:
1.5.1