Embedded-Vision

Code for vision. Don't read me, read the code : P

I'm currently testing it and will delete the venv shortly.

TODO

[] Check the performance at different lighting conditions [] Add PD control -> center the ball [] usb communication []

Libraries

Core Libraries

sudo apt install -y git
sudo apt install -y python3-opencv
sudo apt install -y python3-pip
pip install numba --break-system-packages

Firmware Config

sudo nano /boot/firmware/config.txt

Set camera_auto_detect=1 to 0

Add underneath:

dtoverlay=imx219,cam1

Libcamera Dependencies

sudo apt install -y build-essential
sudo apt install -y libboost-dev
sudo apt install -y libgnutls28-dev openssl libtiff-dev pybind11-dev
sudo apt install -y qtbase5-dev libqt5core5a libqt5widgets5t64
sudo apt install -y meson cmake
sudo apt install -y python3-yaml python3-ply
sudo apt install -y libglib2.0-dev libgstreamer-plugins-base1.0-dev

Building Libcamera

cd
git clone https://github.com/raspberrypi/libcamera.git
cd libcamera
meson setup build --buildtype=release -Dgstreamer=enabled -Dpycamera=enabled
sudo ninja -C build install

GStreamer

sudo apt install gstreamer1.0-tools
sudo ldconfig
rm ~/.cache/gstreamer-1.0/registry.*.bin
echo 'export GST_PLUGIN_PATH=/usr/local/lib/aarch64-linux-gnu/gstreamer-1.0' >> ~/.bashrc
echo 'export LD_LIBRARY_PATH=/usr/local/lib/aarch64-linux-gnu:$LD_LIBRARY_PATH' >> ~/.bashrc
echo 'export PYTHONPATH=/usr/local/lib/python3/dist-packages:$PYTHONPATH' >> ~/.bashrc
gst-inspect-1.0 libcamerasrc

Test command above.

User Permission

sudo usermod -aG video $USER
sudo reboot

Camera Test

gst-launch-1.0 libcamerasrc ! fakesink