libv4l source from http://git.,inuxtv.org/v4l-utils.git does not work well on RPi3. OpenCV3.2 build will experience error.
Instead, we should get Debian v4l-utils-1.12.5 source package. OpenCV3.2 will build successively.
One minor item is that after install v4l, the following line shall be added.
sudo ln -s /usr/local/include/libv4l1-videodev.h /usr/include/linux/videodev.h
Tuesday, May 23, 2017
Friday, May 19, 2017
ROS kinetic, Open CV 3.2.0, chrony on RP3
ROS installation on Raspberry Pi 3.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu
$(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80
--recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install -y python-rosdep python-rosinstall-generator
python-wstool python-rosinstall build-essential cmake
sudo rosdep init
rosdep update
mkdir -p ros_catkin_ws
cd ros_catkin_ws/
rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only
--tar > kinetic-ros_comm-wet.rosinstall
wstool init src kinetic-ros_comm-wet.rosinstall
|
Add chrony
xxxx@DronePi:/home/llin $ sudo apt-get install chrony
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following extra packages will be installed:
libtomcrypt0 libtommath0
timelimit
The following packages will be REMOVED:
ntp
The following NEW packages will be installed:
chrony libtomcrypt0
libtommath0 timelimit
0 upgraded, 4 newly installed, 1 to remove and 0 not upgraded.
Need to get 592 kB of archives.
After this operation, 486 kB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://mirrordirector.raspbian.org/raspbian/ jessie/main
libtommath0 armhf 0.42.0-1.1 [40.9 kB]
Get:2 http://mirrordirector.raspbian.org/raspbian/ jessie/main
libtomcrypt0 armhf 1.17-6 [301 kB]
Get:3 http://mirrordirector.raspbian.org/raspbian/ jessie/main
timelimit armhf 1.8-1 [13.8 kB]
Get:4 http://mirrordirector.raspbian.org/raspbian/ jessie/main chrony
armhf 1.30-2+deb8u2 [236 kB]
Fetched 592 kB in 1s (402 kB/s)
(Reading database ... 117074 files and directories currently
installed.)
Removing ntp (1:4.2.6.p5+dfsg-7+deb8u2) ...
Processing triggers for man-db (2.7.0.2-5) ...
Selecting previously unselected package libtommath0.
(Reading database ... 117046 files and directories currently
installed.)
Preparing to unpack .../libtommath0_0.42.0-1.1_armhf.deb ...
Unpacking libtommath0 (0.42.0-1.1) ...
Selecting previously unselected package libtomcrypt0:armhf.
Preparing to unpack .../libtomcrypt0_1.17-6_armhf.deb ...
Unpacking libtomcrypt0:armhf (1.17-6) ...
Selecting previously unselected package timelimit.
Preparing to unpack .../timelimit_1.8-1_armhf.deb ...
Unpacking timelimit (1.8-1) ...
Selecting previously unselected package chrony.
Preparing to unpack .../chrony_1.30-2+deb8u2_armhf.deb ...
Unpacking chrony (1.30-2+deb8u2) ...
Processing triggers for man-db (2.7.0.2-5) ...
Processing triggers for systemd (215-17+deb8u7) ...
Setting up libtommath0 (0.42.0-1.1) ...
Setting up libtomcrypt0:armhf (1.17-6) ...
Setting up timelimit (1.8-1) ...
Setting up chrony (1.30-2+deb8u2) ...
Creating config file /etc/chrony/chrony.conf with new version
Processing triggers for libc-bin (2.19-18+deb8u9) ...
Processing triggers for systemd (215-17+deb8u7) ...
xxxx@DronePi:/home/llin $
chronyc tracking
Reference ID : 204.9.54.119
(ntp.your.org)
Stratum : 2
Ref time (UTC) : Fri May 19
19:03:14 2017
System time : 0.000000061
seconds slow of NTP time
Last offset : +0.000309320
seconds
RMS offset : 0.000309320
seconds
Frequency : 3.352 ppm
fast
Residual freq : +30.246 ppm
Skew : 1000000.000
ppm
Root delay : 0.022802
seconds
Root dispersion : 42.945648 seconds
Update interval : 2.1 seconds
Leap status : Normal
xxxx@DronePi:~ $ chronyc sources
210 Number
of sources = 4
MS Name/IP
address Stratum Poll Reach
LastRx Last sample
===============================================================================
^?
wanderportips03.w.subnet. 3 8
77 196 +1198us[+1198us] +/- 52ms
^*
ntp.your.org 1 8
37 198 +390us[ +699us] +/- 15ms
^- jtsage.com 2 8
37 198 +1019us[+1328us] +/- 66ms
^?
time-b.timefreq.bldrdoc.g 1 9
2 192 +45ms[
+45ms] +/- 70ms
|
Prepare necessary packages
root@DronePi:/home/llin# apt-get install build-essential cmake
pkg-config
root@DronePi:/home/llin# apt-get install libavcodec-dev
libavformat-dev libswscale-dev
root@DronePi:/home/llin# apt-get install libgtk2.0-dev
root@DronePi:/home/llin# apt-get install libatlas-base-dev gfortran
root@DronePi:/home/llin# apt purge python2.7-minimal
root@DronePi:/home/llin# pip3 install numpy
|
Build opencv 3.2.0
wget -O opencv-3.2.0.zip https://github.com/opencv/opencv/archive/3.2.0.zip
unzip opencv-3.2.0.zip
cd opencv-3.2.0/
mkdir build
cd build/
cmake -D PYTHON_EXECUTABLE=/usr/bin/python3 -D
PYTHON_LIBRARY=/usr/lib/arm-linux-gnueabihf/libpythyon3.4m.so.1 -D
PYTHON_INCLUDE_DIRS=/usr/include/python3.4m ..
make -j4
sudo make install
|
Sunday, May 14, 2017
Wednesday, May 3, 2017
A joint "hard drive" out of /dev/sda and /dev/sdb
xxxx@ubuntu14builder:~$ df -k
Filesystem 1K-blocks Used Available Use% Mounted on
/dev/mapper/UbntSR--vCAC--Tmp--vg-root 14048320 3788560 9523096 29% /
none 4 0 4 0% /sys/fs/cgroup
udev 3042888 4 3042884 1% /dev
tmpfs 610808 3056 607752 1% /run
none 5120 0 5120 0% /run/lock
none 3054024 0 3054024 0% /run/shm
none 102400 0 102400 0% /run/user
/dev/sdb1 86566264 3968240 78194056 5% /work
/dev/sda1 240972 69013 159518 31% /boot
xxxx@ubuntu14builder:~$ sudo fdisk /dev/sdb
[sudo] password for llin:
Command (m for help): p
Disk /dev/sdb: 90.2 GB, 90194313216 bytes
128 heads, 42 sectors/track, 32768 cylinders, total 176160768 sectors
Units = sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disk identifier: 0x139cfac9
Device Boot Start End Blocks Id System
/dev/sdb1 2048 176160767 88079360 83 Linux
Command (m for help): d
Selected partition 1
Command (m for help): p
Disk /dev/sdb: 90.2 GB, 90194313216 bytes
128 heads, 42 sectors/track, 32768 cylinders, total 176160768 sectors
Units = sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disk identifier: 0x139cfac9
Device Boot Start End Blocks Id System
Command (m for help): n
Partition type:
p primary (0 primary, 0 extended, 4 free)
e extended
Select (default p): p
Partition number (1-4, default 1):
Using default value 1
First sector (2048-176160767, default 2048):
Using default value 2048
Last sector, +sectors or +size{K,M,G} (2048-176160767, default 176160767):
Using default value 176160767
Command (m for help): t
Selected partition 1
Hex code (type L to list codes): L
0 Empty 24 NEC DOS 81 Minix / old Lin bf Solaris
1 FAT12 27 Hidden NTFS Win 82 Linux swap / So c1 DRDOS/sec (FAT-
2 XENIX root 39 Plan 9 83 Linux c4 DRDOS/sec (FAT-
3 XENIX usr 3c PartitionMagic 84 OS/2 hidden C: c6 DRDOS/sec (FAT-
4 FAT16 <32M 40 Venix 80286 85 Linux extended c7 Syrinx
5 Extended 41 PPC PReP Boot 86 NTFS volume set da Non-FS data
6 FAT16 42 SFS 87 NTFS volume set db CP/M / CTOS / .
7 HPFS/NTFS/exFAT 4d QNX4.x 88 Linux plaintext de Dell Utility
8 AIX 4e QNX4.x 2nd part 8e Linux LVM df BootIt
9 AIX bootable 4f QNX4.x 3rd part 93 Amoeba e1 DOS access
a OS/2 Boot Manag 50 OnTrack DM 94 Amoeba BBT e3 DOS R/O
b W95 FAT32 51 OnTrack DM6 Aux 9f BSD/OS e4 SpeedStor
c W95 FAT32 (LBA) 52 CP/M a0 IBM Thinkpad hi eb BeOS fs
e W95 FAT16 (LBA) 53 OnTrack DM6 Aux a5 FreeBSD ee GPT
f W95 Ext'd (LBA) 54 OnTrackDM6 a6 OpenBSD ef EFI (FAT-12/16/
10 OPUS 55 EZ-Drive a7 NeXTSTEP f0 Linux/PA-RISC b
11 Hidden FAT12 56 Golden Bow a8 Darwin UFS f1 SpeedStor
12 Compaq diagnost 5c Priam Edisk a9 NetBSD f4 SpeedStor
14 Hidden FAT16 <3 61 SpeedStor ab Darwin boot f2 DOS secondary
16 Hidden FAT16 63 GNU HURD or Sys af HFS / HFS+ fb VMware VMFS
17 Hidden HPFS/NTF 64 Novell Netware b7 BSDI fs fc VMware VMKCORE
18 AST SmartSleep 65 Novell Netware b8 BSDI swap fd Linux raid auto
1b Hidden W95 FAT3 70 DiskSecure Mult bb Boot Wizard hid fe LANstep
1c Hidden W95 FAT3 75 PC/IX be Solaris boot ff BBT
1e Hidden W95 FAT1 80 Old Minix
Hex code (type L to list codes): 8e
Changed system type of partition 1 to 8e (Linux LVM)
Command (m for help): p
Disk /dev/sdb: 90.2 GB, 90194313216 bytes
128 heads, 42 sectors/track, 32768 cylinders, total 176160768 sectors
Units = sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disk identifier: 0x139cfac9
Device Boot Start End Blocks Id System
/dev/sdb1 2048 176160767 88079360 8e Linux LVM
Command (m for help): w
The partition table has been altered!
Calling ioctl() to re-read partition table.
WARNING: Re-reading the partition table failed with error 16: Device or resource busy.
The kernel still uses the old table. The new table will be used at
the next reboot or after you run partprobe(8) or kpartx(8)
Syncing disks.
xxxx@ubuntu14builder:~$ sync
xxxx@ubuntu14builder:~$ sudo reboot
xxxx@ubuntu14builder:~$ sudo umount /dev/sdb1
xxxx@ubuntu14builder:~$ sudo pvcreate /dev/sdb1
Physical volume "/dev/sdb1" successfully created
xxxx@ubuntu14builder:~$ sudo vgdisplay
--- Volume group ---
VG Name UbntSR-vCAC-Tmp-vg
System ID
Format lvm2
Metadata Areas 1
Metadata Sequence No 3
VG Access read/write
VG Status resizable
MAX LV 0
Cur LV 2
Open LV 2
Max PV 0
Cur PV 1
Act PV 1
VG Size 15.76 GiB
PE Size 4.00 MiB
Total PE 4034
Alloc PE / Size 4028 / 15.73 GiB
Free PE / Size 6 / 24.00 MiB
VG UUID 7uOLwS-kD45-Cg8v-7nsb-StQb-p48u-kYNisY
xxxx@ubuntu14builder:~$ sudo vgextend UbntSR-vCAC-Tmp-vg /dev/sdb1
Volume group "UbntSR-vCAC-Tmp-vg" successfully extended
xxxx@ubuntu14builder:~$ sudo lvdisplay
--- Logical volume ---
LV Path /dev/UbntSR-vCAC-Tmp-vg/root
LV Name root
VG Name UbntSR-vCAC-Tmp-vg
LV UUID tJCLnm-fAWE-1s2D-B1ob-iCCz-uUQf-2YbMUd
LV Write Access read/write
LV Creation host, time UbntSR-vCAC-Tmp, 2015-11-16 13:45:15 -0500
LV Status available
# open 1
LV Size 13.74 GiB
Current LE 3517
Segments 1
Allocation inherit
Read ahead sectors auto
- currently set to 256
Block device 252:0
--- Logical volume ---
LV Path /dev/UbntSR-vCAC-Tmp-vg/swap_1
LV Name swap_1
VG Name UbntSR-vCAC-Tmp-vg
LV UUID lZKMQk-offb-usYx-JP2M-frcj-ti9t-7zVS3w
LV Write Access read/write
LV Creation host, time UbntSR-vCAC-Tmp, 2015-11-16 13:45:15 -0500
LV Status available
# open 2
LV Size 2.00 GiB
Current LE 511
Segments 1
Allocation inherit
Read ahead sectors auto
- currently set to 256
Block device 252:1
xxxx@ubuntu14builder:~$ sudo lvextend -L +83G /dev/UbntSR-vCAC-Tmp-vg/root
Extending logical volume root to 96.74 GiB
Logical volume root successfully resized
xxxx@ubuntu14builder:~$ sudo resize2fs /dev/UbntSR-vCAC-Tmp-vg/root
resize2fs 1.42.9 (4-Feb-2014)
Filesystem at /dev/UbntSR-vCAC-Tmp-vg/root is mounted on /; on-line resizing required
old_desc_blocks = 1, new_desc_blocks = 7
The filesystem on /dev/UbntSR-vCAC-Tmp-vg/root is now 25359360 blocks long.
xxxx@ubuntu14builder:~$ df -k
Filesystem 1K-blocks Used Available Use% Mounted on
/dev/mapper/UbntSR--vCAC--Tmp--vg-root 99714544 3806124 91691064 4% /
none 4 0 4 0% /sys/fs/cgroup
udev 3042888 4 3042884 1% /dev
tmpfs 610808 3056 607752 1% /run
none 5120 0 5120 0% /run/lock
none 3054024 0 3054024 0% /run/shm
none 102400 0 102400 0% /run/user
/dev/sda1 240972 69013 159518 31% /boot
Filesystem 1K-blocks Used Available Use% Mounted on
/dev/mapper/UbntSR--vCAC--Tmp--vg-root 14048320 3788560 9523096 29% /
none 4 0 4 0% /sys/fs/cgroup
udev 3042888 4 3042884 1% /dev
tmpfs 610808 3056 607752 1% /run
none 5120 0 5120 0% /run/lock
none 3054024 0 3054024 0% /run/shm
none 102400 0 102400 0% /run/user
/dev/sdb1 86566264 3968240 78194056 5% /work
/dev/sda1 240972 69013 159518 31% /boot
xxxx@ubuntu14builder:~$ sudo fdisk /dev/sdb
[sudo] password for llin:
Command (m for help): p
Disk /dev/sdb: 90.2 GB, 90194313216 bytes
128 heads, 42 sectors/track, 32768 cylinders, total 176160768 sectors
Units = sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disk identifier: 0x139cfac9
Device Boot Start End Blocks Id System
/dev/sdb1 2048 176160767 88079360 83 Linux
Command (m for help): d
Selected partition 1
Command (m for help): p
Disk /dev/sdb: 90.2 GB, 90194313216 bytes
128 heads, 42 sectors/track, 32768 cylinders, total 176160768 sectors
Units = sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disk identifier: 0x139cfac9
Device Boot Start End Blocks Id System
Command (m for help): n
Partition type:
p primary (0 primary, 0 extended, 4 free)
e extended
Select (default p): p
Partition number (1-4, default 1):
Using default value 1
First sector (2048-176160767, default 2048):
Using default value 2048
Last sector, +sectors or +size{K,M,G} (2048-176160767, default 176160767):
Using default value 176160767
Command (m for help): t
Selected partition 1
Hex code (type L to list codes): L
0 Empty 24 NEC DOS 81 Minix / old Lin bf Solaris
1 FAT12 27 Hidden NTFS Win 82 Linux swap / So c1 DRDOS/sec (FAT-
2 XENIX root 39 Plan 9 83 Linux c4 DRDOS/sec (FAT-
3 XENIX usr 3c PartitionMagic 84 OS/2 hidden C: c6 DRDOS/sec (FAT-
4 FAT16 <32M 40 Venix 80286 85 Linux extended c7 Syrinx
5 Extended 41 PPC PReP Boot 86 NTFS volume set da Non-FS data
6 FAT16 42 SFS 87 NTFS volume set db CP/M / CTOS / .
7 HPFS/NTFS/exFAT 4d QNX4.x 88 Linux plaintext de Dell Utility
8 AIX 4e QNX4.x 2nd part 8e Linux LVM df BootIt
9 AIX bootable 4f QNX4.x 3rd part 93 Amoeba e1 DOS access
a OS/2 Boot Manag 50 OnTrack DM 94 Amoeba BBT e3 DOS R/O
b W95 FAT32 51 OnTrack DM6 Aux 9f BSD/OS e4 SpeedStor
c W95 FAT32 (LBA) 52 CP/M a0 IBM Thinkpad hi eb BeOS fs
e W95 FAT16 (LBA) 53 OnTrack DM6 Aux a5 FreeBSD ee GPT
f W95 Ext'd (LBA) 54 OnTrackDM6 a6 OpenBSD ef EFI (FAT-12/16/
10 OPUS 55 EZ-Drive a7 NeXTSTEP f0 Linux/PA-RISC b
11 Hidden FAT12 56 Golden Bow a8 Darwin UFS f1 SpeedStor
12 Compaq diagnost 5c Priam Edisk a9 NetBSD f4 SpeedStor
14 Hidden FAT16 <3 61 SpeedStor ab Darwin boot f2 DOS secondary
16 Hidden FAT16 63 GNU HURD or Sys af HFS / HFS+ fb VMware VMFS
17 Hidden HPFS/NTF 64 Novell Netware b7 BSDI fs fc VMware VMKCORE
18 AST SmartSleep 65 Novell Netware b8 BSDI swap fd Linux raid auto
1b Hidden W95 FAT3 70 DiskSecure Mult bb Boot Wizard hid fe LANstep
1c Hidden W95 FAT3 75 PC/IX be Solaris boot ff BBT
1e Hidden W95 FAT1 80 Old Minix
Hex code (type L to list codes): 8e
Changed system type of partition 1 to 8e (Linux LVM)
Command (m for help): p
Disk /dev/sdb: 90.2 GB, 90194313216 bytes
128 heads, 42 sectors/track, 32768 cylinders, total 176160768 sectors
Units = sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disk identifier: 0x139cfac9
Device Boot Start End Blocks Id System
/dev/sdb1 2048 176160767 88079360 8e Linux LVM
Command (m for help): w
The partition table has been altered!
Calling ioctl() to re-read partition table.
WARNING: Re-reading the partition table failed with error 16: Device or resource busy.
The kernel still uses the old table. The new table will be used at
the next reboot or after you run partprobe(8) or kpartx(8)
Syncing disks.
xxxx@ubuntu14builder:~$ sync
xxxx@ubuntu14builder:~$ sudo reboot
xxxx@ubuntu14builder:~$ sudo umount /dev/sdb1
xxxx@ubuntu14builder:~$ sudo pvcreate /dev/sdb1
Physical volume "/dev/sdb1" successfully created
xxxx@ubuntu14builder:~$ sudo vgdisplay
--- Volume group ---
VG Name UbntSR-vCAC-Tmp-vg
System ID
Format lvm2
Metadata Areas 1
Metadata Sequence No 3
VG Access read/write
VG Status resizable
MAX LV 0
Cur LV 2
Open LV 2
Max PV 0
Cur PV 1
Act PV 1
VG Size 15.76 GiB
PE Size 4.00 MiB
Total PE 4034
Alloc PE / Size 4028 / 15.73 GiB
Free PE / Size 6 / 24.00 MiB
VG UUID 7uOLwS-kD45-Cg8v-7nsb-StQb-p48u-kYNisY
xxxx@ubuntu14builder:~$ sudo vgextend UbntSR-vCAC-Tmp-vg /dev/sdb1
Volume group "UbntSR-vCAC-Tmp-vg" successfully extended
xxxx@ubuntu14builder:~$ sudo lvdisplay
--- Logical volume ---
LV Path /dev/UbntSR-vCAC-Tmp-vg/root
LV Name root
VG Name UbntSR-vCAC-Tmp-vg
LV UUID tJCLnm-fAWE-1s2D-B1ob-iCCz-uUQf-2YbMUd
LV Write Access read/write
LV Creation host, time UbntSR-vCAC-Tmp, 2015-11-16 13:45:15 -0500
LV Status available
# open 1
LV Size 13.74 GiB
Current LE 3517
Segments 1
Allocation inherit
Read ahead sectors auto
- currently set to 256
Block device 252:0
--- Logical volume ---
LV Path /dev/UbntSR-vCAC-Tmp-vg/swap_1
LV Name swap_1
VG Name UbntSR-vCAC-Tmp-vg
LV UUID lZKMQk-offb-usYx-JP2M-frcj-ti9t-7zVS3w
LV Write Access read/write
LV Creation host, time UbntSR-vCAC-Tmp, 2015-11-16 13:45:15 -0500
LV Status available
# open 2
LV Size 2.00 GiB
Current LE 511
Segments 1
Allocation inherit
Read ahead sectors auto
- currently set to 256
Block device 252:1
xxxx@ubuntu14builder:~$ sudo lvextend -L +83G /dev/UbntSR-vCAC-Tmp-vg/root
Extending logical volume root to 96.74 GiB
Logical volume root successfully resized
xxxx@ubuntu14builder:~$ sudo resize2fs /dev/UbntSR-vCAC-Tmp-vg/root
resize2fs 1.42.9 (4-Feb-2014)
Filesystem at /dev/UbntSR-vCAC-Tmp-vg/root is mounted on /; on-line resizing required
old_desc_blocks = 1, new_desc_blocks = 7
The filesystem on /dev/UbntSR-vCAC-Tmp-vg/root is now 25359360 blocks long.
xxxx@ubuntu14builder:~$ df -k
Filesystem 1K-blocks Used Available Use% Mounted on
/dev/mapper/UbntSR--vCAC--Tmp--vg-root 99714544 3806124 91691064 4% /
none 4 0 4 0% /sys/fs/cgroup
udev 3042888 4 3042884 1% /dev
tmpfs 610808 3056 607752 1% /run
none 5120 0 5120 0% /run/lock
none 3054024 0 3054024 0% /run/shm
none 102400 0 102400 0% /run/user
/dev/sda1 240972 69013 159518 31% /boot
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