Implemented chilitags on the NAO robot and updated uncrustify config file according to version 0.71.0

.github/README.md

@@ -0,0 +1 @@
+../README-NAO.md

CMakeLists.txt

@@ -1,8 +1,9 @@
 ################################################################################
 #   Copyright 2013-2014 EPFL                                                   #
 #   Copyright 2013-2014 Quentin Bonnard                                        #
+#   Copyright 2016 Bahar Irfan                                                 #
 #                                                                              #
-#   This file is part of chilitags.                                            #
+#   This file was modified to implement Chilitags on NAO robot.                #
 #                                                                              #
 #   Chilitags is free software: you can redistribute it and/or modify          #
 #   it under the terms of the Lesser GNU General Public License as             #
@@ -26,7 +27,7 @@ set(CPACK_PACKAGE_VERSION_MAJOR "2")
 set(CPACK_PACKAGE_VERSION_MINOR "0")
 set(CPACK_PACKAGE_VERSION_PATCH "0")
 
-add_definitions(-std=c++11)
+add_definitions(-std=gnu++11)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
 find_package(OpenCV REQUIRED )
 include_directories(${OpenCV_INCLUDE_DIRS})
@@ -37,6 +38,7 @@ message(STATUS "OpenCV version: ${OpenCV_VERSION}")
 ##########################################
 
 option(WITH_SAMPLES                     "Build demos" OFF)
+option(WITH_NAOMODULE                   "Build module for NAO" OFF)
 option(WITH_TESTS                       "Build tests" OFF)
 option(WITH_JNI_BINDINGS                "Build JNI bindings compatible with ordinary Java and Android" OFF)
 option(WITH_INVERTED_TAGS               "Support for 'inverted' tags" OFF)
@@ -103,6 +105,10 @@ if (WITH_SAMPLES)
     add_subdirectory(samples)
 endif()
 
+if (WITH_NAOMODULE)
+    add_subdirectory(naoModule)
+endif()
+
 if(WITH_TESTS)
     add_subdirectory(test)
 endif()

README-NAO.md

@@ -0,0 +1,267 @@
+# ChilitagsModule: Chilitags for NAO Robot
+
+ChilitagsModule implements Chilitags (Bonnard et al., 2013) on a NAO robot (SoftBank Robotics Europe, France). Chilitags are 2D fiducial markers to detect objects and determine their positions. ChilitagsModule was tested on NAOqi 2.1 and 2.4 on a NAO robot. While Pepper robot (SoftBank Robotics Europe, France) also has a NAOqi operating system, ChilitagsModule was not tested on it.
+
+For looking and pointing at objects with Chilitags using a NAO robot, see B. Irfan (2016), "Robust Pointing with NAO Robot", `https://github.com/birfan/NAOpointing`, which uses ChilitagsModule.
+
+## Install Chilitags and ChilitagsModule on NAO Using Precompiled Libraries
+
+* Open Choregraphe. From Connection -> Advanced, choose file transfer.
+
+* Upload the precompiled ChilitagsModule files in *naoModule/compiled_files* to the robot (9 files).
+
+* Connect to the robot using terminal (e.g. via putty from Windows).
+
+* Run the following commands:
+
+```
+    $ su  (password is root)
+    $ mv /usr/lib/libstdc++.so /usr/lib/libstdc++_nao.so
+    $ mv /usr/lib/libstdc++.so.6 /usr/lib/libstdc++_nao.so.6
+    $ mv /usr/lib/libstdc++.so.6.0.14 /usr/lib/libstdc++_nao.so.6.0.14
+    $ mkdir dev
+    $ cd dev
+    $ mkdir bin
+    $ mkdir lib
+    $ cd ../..
+    $ scp libchilitagsmodule.so /home/nao/dev/lib
+    $ scp testchilitagsmodule* /home/nao/dev/bin
+    $ scp libchilitags.so /usr/lib
+    $ scp libchilitags_static.a /usr/lib
+    $ scp libstdc++.so* /usr/lib
+
+    $ nano naoqi/preferences/autoload.ini
+```
+
+* Add the following line under [user]
+
+```
+    /home/nao/dev/lib/libchilitagsmodule.so
+```
+
+* Save and close the file (Ctrl + Alt + X), and restart naoqi
+
+```
+    $ nao restart
+```
+
+* Test the module by running
+
+```
+    $ python dev/bin/testchilitagsmodule.py
+```
+
+* Then present Chilitags number 8 to NAO to retrieve the info.
+
+
+## Install Chilitags and ChilitagsModule on NAO Using OpenNAO (Compile from Source)
+
+Use the following instructions for compiling Chilitags and ChilitagsModule for NAO robot (using OpenNAO) and running the module on the robot, if the precompiled libraries do not work.
+
+*   Download OpenNAO OS VirtualBox and C++ NAOqi cross toolchain for Linux 32 from Software (OR use the *libnaoqi_files* folder in *naoModule* folder provided instead of the toolchain) in 
+
+
+    http://community.aldebaran.com
+
+
+*   Setup OpenNAO using VirtualBox
+
+
+*   Clone Chilitags and ChilitagsModule to OpenNAO: 
+
+
+    git clone https://github.com/birfan/chilitags
+
+```
+    $ cd chilitags
+```
+
+*   Use the *naoModule/libnaoqi_files* folder to copy the files to *include*, *lib*, *bin*, *share/cmake* and *share/naoqi* (copy the naoqi folder completely) to */usr/local/include*, */usr/local/lib*, */usr/local/share*, */usr/local/bin*, respectively.
+
+    OR  in the cross toolchain folder, go to *libnaoqi* folder and copy the files that contain "al" and "qi", along with "rttools" and "naoqi" from localhost to virtual (OpenNAO) to the respective places as above.
+
+### Configure GCC to C++11
+
+*    In OpenNAO:
+
+```
+    $ mkdir src
+
+    $ mkdir dev
+```
+
+On local computer:
+
+
+*   Get gcc-5.3.0
+
+
+*   Copy the folder to OpenNAO:
+
+```
+    $ scp -P 2222 -r gcc-5.3.0/ nao@localhost:/home/nao/src/
+```
+
+On OpenNAO:
+
+```
+    $ cd src/gcc-5.3.0
+
+    $ mkdir build && cd build
+
+    $ ../configure --enable-languages=c,c++
+
+    $ sudo make -j8
+
+    $ sudo make install exec_prefix=/usr/local
+```
+
+
+*   Export the local library path to update the gcc
+
+```
+    $ export "LD_LIBRARY_PATH=/usr/local/lib"
+```
+
+*   In chilitags/CMakeLists.txt, change the add_definitions for c++11 to the format below:
+
+```
+    add_definitions(-std=gnu++11)
+```
+
+### Compile Chilitags
+
+In *chilitags/build* folder:
+
+*   To run it locally on the NAO:
+
+```
+   $ cmake .. -DCMAKE_CXX_COMPILER="/usr/local/bin/c++" -DCMAKE_C_COMPILER="/usr/local/bin/gcc" -DCMAKE_CXX_FLAGS_RELEASE="-O3 -DNDEBUG -D_GLIBCXX_USE_CXX11_ABI=0 -s -mtune=atom -mssse3 -mfpmath=sse" -DCMAKE_C_FLAGS_RELEASE="-O3 -DNDEBUG -s -mtune=atom -mssse3 -mfpmath=sse" -DWITH_NAOMODULE=ON -DWITH_TOOLS=ON -DCMAKE_BUILD_TYPE=Release -DCHILITAGSMODULE_IS_REMOTE=OFF
+```
+
+*   To run it remotely from OpenNAO:
+
+```
+    $ cmake .. -DCMAKE_CXX_COMPILER="/usr/local/bin/c++" -DCMAKE_C_COMPILER="/usr/local/bin/gcc" -DCMAKE_CXX_FLAGS_RELEASE="-O3 -DNDEBUG -D_GLIBCXX_USE_CXX11_ABI=0 -s -mtune=atom -mssse3 -mfpmath=sse" -DCMAKE_C_FLAGS_RELEASE="-O3 -DNDEBUG -s -mtune=atom -mssse3 -mfpmath=sse" -DWITH_NAOMODULE=ON -DWITH_TOOLS=ON -DCMAKE_BUILD_TYPE=Release -DCHILITAGSMODULE_IS_REMOTE=ON
+```
+
+### Rename Old Libraries On NAO
+
+To be able to revert to the default libraries in case of any problems, rename the libraries on NAO:
+
+```
+    $ mkdir dev && cd dev
+
+    $ mkdir bin && mkdir lib
+
+    $ sudo mv /usr/lib/libstdc++.so /usr/lib/libstdc++_nao.so
+
+    $ sudo mv /usr/lib/libstdc++.so.6 /usr/lib/libstdc++_nao.so.6
+
+    $ sudo mv /usr/lib/libstdc++.so.6.0.14 /usr/lib/libstdc++_nao.so.6.0.14
+```
+
+## Run Chilitags on NAO Locally:
+
+
+*   Send the code from OpenNAO to NAO:
+
+```
+    $ cd chilitags/build/naoModule
+
+    $ scp libchilitagsmodule.so nao@robotIP:/home/nao/dev/lib
+
+    $ scp testchilitagsmodule* nao@robotIP:/home/nao/dev/bin
+
+    $ cd ../src
+
+    $ scp libchilitags.so nao@robotIP:/usr/lib
+
+    $ scp libchilitags_static.a nao@robotIP:/usr/lib
+
+    $ cd /usr/local/lib
+
+    $ scp libstdc++.so* nao@robotIP:/usr/lib
+```
+
+*   On NAO:
+
+```
+    $ nano naoqi/preferences/autoload.ini
+```
+
+*   Add the following line under [user]
+
+```
+    /home/nao/dev/lib/libchilitagsmodule.so
+```
+
+*   Save and close the file, and restart naoqi
+
+```
+    $ nao restart
+```
+
+*   When the robot starts (and all the modules load)
+
+```
+    $ cd dev/bin
+
+    $ ./testchilitagsmodule "127.0.0.1"
+```
+    OR
+
+```
+    $ python testchilitagsmodule.py
+```
+
+## Run Chilitags Remotely (from OpenNAO):
+
+(Comment /home/nao/dev/lib/libchilitagsmodule.so in the *autoload.ini* file, if previously added and restart Nao)
+
+```
+    $ cd chilitags/build/naoModule
+
+    $ ./chilitagsmodule --pip robotIP --pport 9559
+
+    $ ./testchilitagsmodule robotIP
+```
+    OR
+
+```
+    $ python testchilitagsmodule.py
+```
+
+## Coding style
+
+This repository uses `uncrustify`, a tool that does automatic code formatting based on a predefined configuration defined in `uncrustify.cfg` (updated according to version 0.71.0) to keep the code formatting consistent with Chilitags. 
+
+## License
+
+ChilitagsModule is released under GNU Lesser General Public License v3.0 (LGPL3) in accordance with Chilitags (Bonnard et al., 2013). Cite the following if using this work:
+
+ * Chilitags for NAO Robot. B. Irfan and S. Lemaignan. University of Plymouth, UK. `https://github.com/birfan/chilitags`. 2016.
+
+ * Chilitags 2: Robust Fiducial Markers for Augmented Reality. Q. Bonnard, S. Lemaignan, G.  Zufferey, A. Mazzei, S. Cuendet, N. Li, P. Dillenbourg. CHILI, EPFL, Switzerland. `http://chili.epfl.ch/software`. 2013.
+
+```
+	@misc{chilitagsModule,
+		title = {Chilitags for NAO Robot},
+		author={Irfan, Bahar and Lemaignan, S\'{e}verin},
+		publisher={University of Plymouth, UK},
+		url={https://github.com/birfan/chilitags},
+		year={2016}
+	}
+
+	@misc{chilitags,
+		title = {Chilitags 2: Robust Fiducial Markers for Augmented Reality and Robotics.},
+		author={Bonnard, Quentin and Lemaignan, S\'{e}verin and Zufferey, Guillaume and Mazzei, Andrea and Cuendet, S\'{e}bastien and Li, Nan and \"{O}zg\"{u}r, Ayberk and Dillenbourg, Pierre},
+		publisher={CHILI, EPFL, Switzerland},
+		url={http://chili.epfl.ch/software},
+		year={2013}
+	}
+```
+
+## Contact
+
+If you need further information about using Chilitags with the NAO robot, contact Bahar Irfan: bahar.irfan (at) plymouth (dot) ac (dot) uk (the most recent contact information is available at [personal website](https://www.baharirfan.com)).

README.md

@@ -154,6 +154,9 @@ in its source code.
 Specific instructions for building Chilitags for Android can be found under 
 [README-ANDROID.md](README-ANDROID.md).
 
+Specific instructions for building Chilitags for NAO robot can be found under 
+[README-NAO.md](README-NAO.md), which was developed by B. Irfan and S. Lemaignan.
+
 ### Coding style
 
 This repository uses `uncrustify`, a tool that does automatic code formatting based on a predefined configuration defined in `uncrustify.cfg`.