Week-8

Goals of the week

Rosification of camViz tool
Adding support of ROS2 in newer camViz tool

Progress

Basically I have to use previously build Subscriber camera-interface with a C++ based GUI!!!

GTK 2.0 and GTK 3.0 mix up issue : old Status - Solved

This problem came again.

pankhuri@pankhuri-LENOVO-IDEAPAD-500-15ISK:~/week8-camviz/build$ cmake ..
THIS IS ROS1
ROS1 found
-- Configuring done
-- Generating done
-- Build files have been written to: /home/pankhuri/week8-camviz/build
pankhuri@pankhuri-LENOVO-IDEAPAD-500-15ISK:~/week8-camviz/build$ make -j 4
Scanning dependencies of target camViz
[ 33%] Building CXX object CMakeFiles/camViz.dir/camViz.cpp.o
[ 66%] Building CXX object CMakeFiles/camViz.dir/viewer.cpp.o
In file included from /opt/jderobot/include/jderobot/visionlib/colorspaces/colorspacesmm.h:25:0,
                 from /home/pankhuri/week8-camviz/viewer.h:29,
                 from /home/pankhuri/week8-camviz/viewer.cpp:22:
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:123:38: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     Image& convert(Image& dst) const throw(NoConversion);
                                      ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:162:36: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toGRAY8(Image& dst) const throw(FormatMismatch);
                                    ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:163:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toYUY2(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:164:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toHSV8(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:165:36: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toYCRCB(Image& dst) const throw(FormatMismatch);
                                    ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:184:58: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static Image& imageCvt(const Image& src, Image& dst) throw(NoConversion);
                                                          ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:216:36: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toGRAY8(Image& dst) const throw(FormatMismatch);
                                    ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:217:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toRGB8(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:218:36: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toYCRCB(Image& dst) const throw(FormatMismatch);
                                    ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:224:58: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static Image& imageCvt(const Image& src, Image& dst) throw(NoConversion);
                                                          ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:255:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toRGB8(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:256:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toYUY2(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:274:58: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static Image& imageCvt(const Image& src, Image& dst) throw(NoConversion);
                                                          ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:304:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toRGB8(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:310:58: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static Image& imageCvt(const Image& src, Image& dst) throw(NoConversion);
                                                          ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:340:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toRGB8(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:347:58: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static Image& imageCvt(const Image& src, Image& dst) throw(NoConversion);
                                                          ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:379:36: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toGRAY8(Image& dst) const throw(FormatMismatch);
                                    ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:380:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toRGB8(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:381:36: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toYCRCB(Image& dst) const throw(FormatMismatch);
                                    ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:387:58: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static Image& imageCvt(const Image& src, Image& dst) throw(NoConversion);
                                                          ^~~~~
In file included from /opt/jderobot/include/jderobot/visionlib/colorspaces/colorspacesmm.h:25:0,
                 from /home/pankhuri/week8-camviz/camViz.cpp:27:
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:123:38: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     Image& convert(Image& dst) const throw(NoConversion);
                                      ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:162:36: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toGRAY8(Image& dst) const throw(FormatMismatch);
                                    ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:163:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toYUY2(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:164:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toHSV8(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:165:36: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toYCRCB(Image& dst) const throw(FormatMismatch);
                                    ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:184:58: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static Image& imageCvt(const Image& src, Image& dst) throw(NoConversion);
                                                          ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:216:36: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toGRAY8(Image& dst) const throw(FormatMismatch);
                                    ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:217:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toRGB8(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:218:36: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toYCRCB(Image& dst) const throw(FormatMismatch);
                                    ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:224:58: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static Image& imageCvt(const Image& src, Image& dst) throw(NoConversion);
                                                          ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:255:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toRGB8(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:256:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toYUY2(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:274:58: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static Image& imageCvt(const Image& src, Image& dst) throw(NoConversion);
                                                          ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:304:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toRGB8(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:310:58: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static Image& imageCvt(const Image& src, Image& dst) throw(NoConversion);
                                                          ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:340:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toRGB8(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:347:58: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static Image& imageCvt(const Image& src, Image& dst) throw(NoConversion);
                                                          ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:379:36: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toGRAY8(Image& dst) const throw(FormatMismatch);
                                    ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:380:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toRGB8(Image& dst) const throw(FormatMismatch);
                                   ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:381:36: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void toYCRCB(Image& dst) const throw(FormatMismatch);
                                    ^~~~~
/opt/jderobot/include/jderobot/visionlib/colorspaces/imagecv.h:387:58: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static Image& imageCvt(const Image& src, Image& dst) throw(NoConversion);
                                                          ^~~~~
/home/pankhuri/week8-camviz/camViz.cpp: In function ‘int main(int, char**)’:
/home/pankhuri/week8-camviz/camViz.cpp:47:13: warning: unused variable ‘fps’ [-Wunused-variable]
         int fps = config["Fps"].as<int>();
             ^~~
/home/pankhuri/week8-camviz/camViz.cpp:52:24: warning: variable ‘camRGB’ set but not used [-Wunused-but-set-variable]
  camViz::CameraClient* camRGB;
                        ^~~~~~
/home/pankhuri/week8-camviz/camViz.cpp:37:14: warning: unused parameter ‘argc’ [-Wunused-parameter]
 int main(int argc, char** argv){
              ^~~~
In file included from /home/pankhuri/week8-camviz/camViz.cpp:29:0:
/home/pankhuri/week8-camviz/mainsubcpp.hpp: In function ‘camViz::CameraClient* camViz::getCameraClient(int, std::__cxx11::string)’:
/home/pankhuri/week8-camviz/mainsubcpp.hpp:69:1: warning: control reaches end of non-void function [-Wreturn-type]
 }
 ^
[100%] Linking CXX executable camViz
[100%] Built target camViz
pankhuri@pankhuri-LENOVO-IDEAPAD-500-15ISK:~/week8-camviz/build$ cd ..
pankhuri@pankhuri-LENOVO-IDEAPAD-500-15ISK:~/week8-camviz$ ./build/camViz camViz.yml

(camViz:5744): Gtk-ERROR **: 10:07:26.986: GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported
Trace/breakpoint trap (core dumped)

Current status: Solved

But sinnce it is a rutime problem so I am focusing on building tool ahead.

Merged ROS1 + ROS2 in camviz. No error in building it.

Working on refactoring the GUI part now.

Step-1

Learning GTK + glade for building GUI tool

http://www.peteronion.org.uk/GtkExamples/GladeTutorials.html

https://people.gnome.org/~newren/tutorials/developing-with-gnome/html/ch02s02.html

GTK provides GUI toolkit for C and GTKMM is a C++ Interfaces for GTK+ and GNOME

Similar error: https://software.intel.com/en-us/forums/computer-vision/topic/802362

Earlier we were assuming that error is coming from opencv versions and their dependency on GTK 2. So, I removed libpencv only to realize later that it was removing several ROS Melodic and Dashing packages. The project was showing errors in compiling now. As a result reinstalled back all these packages and with further study and testing I found out the problem was due to libglade.

Useful command in testing this was:


**GTK issue solved** by removing libglademm header file

**It is deprecated (Since 2009) and has no support in GTK3 so it will cause problems with opencv3 too!!! My suggestion is to remove this header file for long term support** [libglademm-deprecated](https://packages.debian.org/sid/libglademm-2.4-1v5)

Instead we should use GTK Builder from GTKMM only

Links: 
[GTK-Builder](https://developer.gnome.org/gtkmm-tutorial/stable/sec-builder-loading-glade-file.html.en)

[gtk-builder](https://riptutorial.com/gtk3/example/19806/-cplusplus--using-gtk--builder-in-gtkmm)

**Next Issue:**

**"terminate called after throwing an instance of 'Gtk::BuilderError'"**

pankhuri@pankhuri-LENOVO-IDEAPAD-500-15ISK:~/week8-camviz/build$ ./camViz camViz.yml Loading glade 11 BuilderError: camViz.glade:5:1 Unhandled tag:

(camViz:2835): gtkmm-CRITICAL **: 20:00:55.019: gtkmm: object `image’ not found in GtkBuilder file.

(camViz:2835): gtkmm-CRITICAL **: 20:00:55.019: gtkmm: Gtk::Builder: widget `image’ was not found in the GtkBuilder file, or the specified part of it.

** (camViz:2835): CRITICAL **: 20:00:55.019: Gtk::Builder::get_widget(): dynamic_cast<> failed. 22

(camViz:2835): gtkmm-CRITICAL **: 20:00:55.019: gtkmm: object `mainwindow’ not found in GtkBuilder file.

(camViz:2835): gtkmm-CRITICAL **: 20:00:55.019: gtkmm: Gtk::Builder: widget `mainwindow’ was not found in the GtkBuilder file, or the specified part of it.

** (camViz:2835): CRITICAL **: 20:00:55.019: Gtk::Builder::get_widget(): dynamic_cast<> failed.

(camViz:2835): gtkmm-CRITICAL **: 20:00:55.019: gtkmm: object `fpslabel’ not found in GtkBuilder file.

(camViz:2835): gtkmm-CRITICAL **: 20:00:55.019: gtkmm: Gtk::Builder: widget `fpslabel’ was not found in the GtkBuilder file, or the specified part of it.

** (camViz:2835): CRITICAL **: 20:00:55.019: Gtk::Builder::get_widget(): dynamic_cast<> failed. Segmentation fault (core dumped)

``` Status: Solved

Glade file needs to be formatted. We have to replace Widgets with objects and glade-interface with interface.

Migrating from libglade to GtkBuilder

Next Stage

ROSified with all errors removed but instead of image from usb-cam I am getting this small window which probably means my images are not getting to GUI input commands.

errror

Challenge here

I had to refactor the ros image drivers so that it returns output accordinly to the required input in GUI. I took help of comm library but excluded my drivers from here totally. After few errors I rosified it fully and partial implementation of ROS2 too!!

com-ros-test

Task ahead

Now, I will be refactoring ROS2 drivers and completing the camViz tool.

ROS2-camViz

2 approaches:

Using the ROS architecture, I was able to build it but I am getting runtime error as pointed in issue Issue#05

Issue of multithreading spinner**

Using the previously build drivers, making some changes in them I was able to get it run but not able to view images. As it does not gets out of the loop to give input to GUI.

Will make changes in it now.

ros2-cmaviz errors

To summarize:

Camviz isolated from base repository : Done
Camviz isolated from ICE files: Done
Camviz Implemented witH ros1 : Done
Camviz Implemented with ROS2: Code almost done, currently not able to view images; need to correct it
ROS1-ROS2 interface incorporated in Camviz : Done