Birds Eye View/Getting the Code/Building and Installation Guide

Birds Eye View
Introduction
Research Dataset
Getting the Code
How to get the code Evaluation Building and Installation Guide
Getting Started
Startup Guide Minimal Application
Examples
Basic BEV Fast BEV
Library Docs
Performance
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Building OpenCV with GStreamer support

1. Install previous GStreamer dependencies

sudo apt-get install gstreamer1.0*
sudo apt install ubuntu-restricted-extras
sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev

2. Install compiler and building dependencies

sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
pip3 install numpy

3. Obtain source code from Github

git clone https://github.com/opencv/opencv.git
cd opencv/
git checkout 4.1.0

4. Configure with required flags

mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE \
-D CMAKE_INSTALL_PREFIX=/usr/local \
-D INSTALL_PYTHON_EXAMPLES=ON \
-D INSTALL_C_EXAMPLES=OFF \
-D PYTHON_EXECUTABLE=$(which python3) \
-D BUILD_opencv_python2=OFF \
-D CMAKE_INSTALL_PREFIX=$(python3 -c "import sys; print(sys.prefix)") \
-D PYTHON3_EXECUTABLE=$(which python3) \
-D PYTHON3_INCLUDE_DIR=$(python3 -c "from distutils.sysconfig import get_python_inc; print(get_python_inc())") \
-D PYTHON3_PACKAGES_PATH=$(python3 -c "from distutils.sysconfig import get_python_lib; print(get_python_lib())") \
-D WITH_GSTREAMER=ON \
-D BUILD_EXAMPLES=ON ..

5. Check configuration log

✔ Verify if it has Python 3: section and all interpreter and path are right. (If they aren’t there, check the numpy package)

✔ Check the GStreamer section. (If it does not indicate YES, go check GStreamer lib package)

6. Building

It will last some time. Please be patient.

sudo make -j4

7. Install the package

sudo make install
sudo ldconfig

Birds eye view library and examples installation

System Dependencies

Birds eye view has the following system dependencies:

• meson
• ninja
• boost
• opencv 3.1.0 (or higher version)

Build library and examples

git clone https://gitlab.com/RidgeRun/rnd/bird-eye-view.git
cd bird-eye-view
mkdir build
cd build
meson ..
ninja

Now you will find the example files:

• bevFromRectilinearImages
• bevFromFisheyeImages
• removeFisheyeFromImages

Patch to support 4 USB cameras

When using more than 2 USB cameras it is necessary to jump over the bandwidth restriction imposed by the generic usb driver, which is not capable of requesting the correct image size therefore requests the max size. It is necessary to recompile the driver after applying the required patch.

1. Download the kernel source

sudo apt-get source linux-image-unsigned-$(uname -r)
cd $(uname -r)/drivers/media/usb/uvc/
mkdir patches
cd patches

If you get this error:

E: You must put some 'source' URIs in your sources.list

Run the following commands:

sudo cp /etc/apt/sources.list /etc/apt/sources.list~
sudo sed -Ei 's/^# deb-src /deb-src /' /etc/apt/sources.list
sudo apt-get update

2. Create the patch file

vim 001-uvc-add-compressed-video-bandwidth-parameter.patch

Index: ./uvc_video.c
===================================================================
--- ./uvc_video.c
+++ ./uvc_video.c
@@ -161,6 +161,11 @@ static void uvc_fixup_video_ctrl(struct
 
                ctrl->dwMaxPayloadTransferSize = bandwidth;
        }
+
+       if (format->flags & UVC_FMT_FLAG_COMPRESSED) {
+         ctrl->dwMaxPayloadTransferSize = 0x300;
+       }
+
 }
 
 static int uvc_get_video_ctrl(struct uvc_streaming *stream,

3. Setup the series file:

echo 001-uvc-add-compressed-video-bandwidth-parameter.patch > series
cd ..

4. Apply the patch:

quilt push

5. Compile and reload the kernel module:

sudo make -C /lib/modules/$(uname -r)/build M=$(pwd) modules
sudo rmmod uvcvideo
sudo insmod uvcvideo.ko