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CLM ROS WRAPPER

ROS wrapper for the Cambridge face tracker (aka CLM framework). It works on catkin and it targets ROS indigo.

1. Dependencies

1.1 Prerequisites

sudo apt-get -y install libopencv-dev build-essential cmake git libgtk2.0-dev pkg-config python-dev python-numpy libdc1394-22 libdc1394-22-dev libjpeg-dev libpng12-dev libtiff4-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libxine-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev libtbb-dev libqt4-dev libfaac-dev libmp3lame-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev x264 v4l-utils unzip

1.2 ROS indigo

This guide is what I usually recommend, but also this link is equally useful (plus, it's the official guide).

1.3 OpenCV > 3.0.0

1.3.1 Download OpenCV

Download OpenCV from opencv.org. I used the 3.1.0 version available here.

1.3.2 Install OpenCV

  • Unzip the archive in a suitable directory (we will be using ~/src/)
  • cd ~/src/opencv-3.1.0
  • mkdir build
  • cd build
  • cmake -D CMAKE_BUILD_TYPE=RELEASE -D WITH_TBB=ON -D WITH_V4L=ON -D WITH_QT=ON -D WITH_OPENGL=ON ..
  • make -j7

1.3.3 Finish installation

To get OpenCV working properly, you need to edit your ~/.bashrc file by adding a proper OpenCV_DIR, to let the system know where OpenCV 3.* is compiled. Just add this line at the end of said file:

export OpenCV_DIR=~/src/opencv-3.1.0/build

2. Download and configure

2.1 Download the repo in a suitable catkin workspace

cd /your_ws/src
git clone https://github.com/sociallyassistiverobotics/clm_ros_wrapper.git

2.2 Compilation and Installation

If everything is ok , simply cd in the catkin workspace, and type:

cd /your_ws/
catkin_make
rospack profile

3. Usage

The default usage is pretty simple. Just be sure that there is a roscore instance in your local network, and then launch the node with roslaunch, provided that a roscore instance is already running:

Terminal 1 Terminal 2
roscore roslaunch clm_ros_wrapper clm_ros_wrapper.launch