bug fixes, add convenience tools in deploy

jehontan · May 26, 2022 · 379534d · 379534d
1 parent b58c838
commit 379534d
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Showing 6 changed files with 53 additions and 6 deletions.
diff --git a/.gitignore b/.gitignore
@@ -1,3 +1,4 @@
 .vscode
 __pycache__
-*.egg-info/
+*.egg-info/
+build
diff --git a/deploy/deploy_node.sh b/deploy/deploy_node.sh
@@ -0,0 +1,36 @@
+wget -O install_pivariety_pkgs.sh https://github.com/ArduCAM/Arducam-Pivariety-V4L2-Driver/releases/download/install_script/install_pivariety_pkgs.sh
+chmod +x install_pivariety_pkgs.sh
+./install_pivariety_pkgs.sh -p libcamera_dev
+./install_pivariety_pkgs.sh -p libcamera_apps
+./install_pivariety_pkgs.sh -p imx519_kernel_driver
+
+sudo apt install -y python2
+sudo apt install -y raspberrypi-kernel-headers
+sudo apt install -y gstreamer1.0-tools
+mkdir /home/pi/$(uname -r)
+
+# download kernel source code
+cd ~
+sudo apt install git bc bison flex libssl-dev
+sudo wget https://raw.githubusercontent.com/RPi-Distro/rpi-source/master/rpi-source -O /usr/local/bin/rpi-source && sudo chmod +x /usr/local/bin/rpi-source && /usr/local/bin/rpi-source -q --tag-update
+rpi-source -d $(uname -r)
+
+# compile driver
+cd ~
+git clone --branch v0.12.5 https://github.com/umlaeute/v4l2loopback.git
+cd v4l2loopback
+make clean && make
+make && sudo make install
+sudo depmod -a
+
+# use v4l2loopback
+sudo modprobe v4l2loopback video_nr=3
+gst-launch-1.0 libcamerasrc ! 'video/x-raw,width=1920,height=1080' ! videoconvert ! tee ! v4l2sink device=/dev/video3
+
+# install
+sudo apt install python3-opencv
+git clone https://github.com/jehontan/vision_localization.git
+echo 'export PATH=$PATH:${HOME}/.local/bin' >> ~/.bashrc 
+
+# autofocus
+libcamera-still -t 0 --keypress
diff --git a/deploy/multiview.html b/deploy/multiview.html
@@ -0,0 +1,9 @@
+<html>
+<body>
+    <img src='http://camera1.local:5127/preview' height=420px/>
+    <img src='http://camera2.local:5127/preview' height=420px/>
+    <br>
+    <img src='http://camera3.local:5127/preview' height=420px/>
+    <img src='http://camera4.local:5127/preview' height=420px/>
+</body>
+</html>
diff --git a/setup.py b/setup.py
@@ -5,7 +5,7 @@
 
 setuptools.setup(
     name="vision_localization",
-    version="0.0.1",
+    version="1.0.0",
     author="Je Hon Tan",
     author_email="[email protected]",
     description="Vision-based localization using ArUco markers.",

diff --git a/src/vision_localization/calibrate.py b/src/vision_localization/calibrate.py
@@ -132,7 +132,7 @@ def main():
         np.savez(args.out_file,
                  allCharucoCorners=allCharucoCorners,
                  allCharucoIds=allCharucoIds,
-                 img_size=img_size,
+                 img_size=np.array(img_size, dtype=int),
                  board_cols=args.board_cols,
                  board_rows=args.board_rows,
                  chess_size=args.chess_size,

diff --git a/src/vision_localization/offline_calibrate.py b/src/vision_localization/offline_calibrate.py
@@ -33,19 +33,20 @@ def main():
 
     board = cv2.aruco.CharucoBoard_create(int(data['board_cols']), int(data['board_rows']), float(data['chess_size']), float(data['marker_size']), marker_dict)
 
-    repError, K, D, rvecs, tvecs = cv2.aruco.calibrateCameraCharuco(data['allCharucoCorners'],
-                                                                    data['allCharucoIds'],
+    repError, K, D, rvecs, tvecs = cv2.aruco.calibrateCameraCharuco(data['allCharucoCorners'].tolist(),
+                                                                    data['allCharucoIds'].tolist(),
                                                                     board,
                                                                     data['img_size'],
                                                                     np.eye(3),
-                                                                    np.zeros((4,1)))
+                                                                    np.zeros((5,1)))
 
     with open(args.out_file, 'w') as f:
                 f.write('repError: {}\n'.format(repError))
                 f.write('fx: {}\nfy: {}\ncx: {}\ncy: {}\n'.format(K[0,0], K[1,1], K[0,2], K[1,2]))
                 f.write('D: {}\n'.format(D.flatten().tolist()))
 
     logging.info('Wrote calibration output to {}'.format(args.out_file))
+    logging.info('Done.')
 
 if __name__ == '__main__':
     main()