Raspberry pi camera servers - Revision history

Jca: /* common camera server */

2016-05-05T17:29:08Z

common camera server

← Older revision		Revision as of 19:29, 5 May 2016
Line 267:		Line 267:
	cam10onconnect cmd="cam10 poolpush img=12 cmd='poolget all toimg=30 fmt=rgb'"		cam10onconnect cmd="cam10 poolpush img=12 cmd='poolget all toimg=30 fmt=rgb'"
	; ;		; ;
	cam6 connect=rpi6:24920		cam6 connect=rpi6.local:24920
	cam7 connect=rpi7:24920		cam7 connect=rpi7.local:24920
	cam8 connect=rpi8:24920		cam8 connect=rpi8.local:24920
	cam9 connect=rpi9:24920		cam9 connect=rpi9.local:24920
	cam10 connect=rpi10:24920		cam10 connect=rpi10.local:24920
	;		;
	poolset img=26 log		poolset img=26 log

Jca: /* common camera server */

2016-05-05T17:19:46Z

common camera server

← Older revision		Revision as of 19:19, 5 May 2016
Line 260:		Line 260:
	; ;		; ;
	# load images scaled 2 levels down cam 6 is img=6+2 = 8		# load images scaled 2 levels down cam 6 is img=6+2 = 8
			# to get small overview images
	cam6onconnect cmd="cam6 poolpush img=8 cmd='poolget all toimg=26 fmt=rgb'"		cam6onconnect cmd="cam6 poolpush img=8 cmd='poolget all toimg=26 fmt=rgb'"
	cam7onconnect cmd="cam7 poolpush img=9 cmd='poolget all toimg=27 fmt=rgb'"		cam7onconnect cmd="cam7 poolpush img=9 cmd='poolget all toimg=27 fmt=rgb'"
Line 278:		Line 279:
	poolset img=30 log		poolset img=30 log
	;		;

			This configuration file connects to 5 camera boards.

			This gets an image from each of the raspberry pi cameras and load them to image numbers 26 to 30 in RGB format.

Jca: /* Raspberry pi camera */

2016-05-05T17:17:01Z

Raspberry pi camera

← Older revision		Revision as of 19:17, 5 May 2016
Line 205:		Line 205:

	NB! it seems like a frame rate of 1 (var picam.framerate=1) will not work, so keep it at 2 or higher.		NB! it seems like a frame rate of 1 (var picam.framerate=1) will not work, so keep it at 2 or higher.

			== common camera server ==

			A camera server to combine all the images may be needed - at least for logging of images and odometry.

			The camera server configuration file could look like this:

			local@rpi7:~/mobotware/build/config/gogo $ cat ucamserver.ini
			#!/bin/bash
			server imagepath="."
			server datapath="."
			server replayPath="log_cam"
			server port=24920
			#
			module load=var
			#
			module load=odoPose
			odopose log
			module load=mappose
			mappose log
			module load=utmpose
			utmpose log
			;mapPose replay
			module load=ucamif.so.0
			camdata add=img
			camdata add=gmk
			camdata add=path
			camdata add=cam
			;
			# autostart cameraserver on raspberry pi cameras
			module load=if alias=cam6keep
			module load=if alias=cam7keep
			module load=if alias=cam8keep
			module load=if alias=cam9keep
			module load=if alias=cam10keep
			cam6keep connect=rpi6.local:24926
			cam7keep connect=rpi7.local:24926
			cam8keep connect=rpi8.local:24926
			cam9keep connect=rpi9.local:24926
			cam10keep connect=rpi10.local:24926
			; ;
			# connect to get images
			module load=if alias=cam6
			module load=if alias=cam7
			module load=if alias=cam8
			module load=if alias=cam9
			module load=if alias=cam10
			; #
			camset device=6 focallength=455 posx=0.45 posy=0.03 posz=0.65 rotphi=0 rotkappa=0.8
			camset device=7 focallength=455 posx=0.45 posy=0.00 posz=0.65 rotphi=0 rotkappa=0
			camset device=8 focallength=455 posX=0.45 posY=-0.03 posZ=0.65 rotPhi=0 rotkappa=-0.8
			camset device=9 focallength=455 posX=0.45 posY=-0.03 posZ=0.65 rotPhi=0 rotkappa=-1.57
			camset device=10 focallength=455 posX=0.45 posY=-0.03 posZ=0.65 rotPhi=0 rotkappa=1.57
			; ;
			# load images scaled 2 levels down cam 6 is img=6+2 = 8
			cam6onconnect cmd="cam6 poolpush img=8 cmd='poolget all toimg=26 fmt=rgb'"
			cam7onconnect cmd="cam7 poolpush img=9 cmd='poolget all toimg=27 fmt=rgb'"
			cam8onconnect cmd="cam8 poolpush img=10 cmd='poolget all toimg=28 fmt=rgb'"
			cam9onconnect cmd="cam9 poolpush img=11 cmd='poolget all toimg=29 fmt=rgb'"
			cam10onconnect cmd="cam10 poolpush img=12 cmd='poolget all toimg=30 fmt=rgb'"
			; ;
			cam6 connect=rpi6:24920
			cam7 connect=rpi7:24920
			cam8 connect=rpi8:24920
			cam9 connect=rpi9:24920
			cam10 connect=rpi10:24920
			;
			poolset img=26 log
			poolset img=27 log
			poolset img=28 log
			poolset img=29 log
			poolset img=30 log
			;

Jca: /* Camera server on Raspberry camera */

2016-05-05T17:12:32Z

Camera server on Raspberry camera

← Older revision		Revision as of 19:12, 5 May 2016
Line 198:		Line 198:
	picam open		picam open
	# end of script		# end of script


			The ''camset'' commands configure the raspberry camera with different numbers, this is to ease the transfer of images to the combining camera server.

			Near the end is the camera number for this raspberry camera defined - the others are commented out.

			NB! it seems like a frame rate of 1 (var picam.framerate=1) will not work, so keep it at 2 or higher.

Jca: /* Camera server on Raspberry camera */

2016-05-05T16:31:52Z

Camera server on Raspberry camera

← Older revision		Revision as of 18:31, 5 May 2016
Line 159:		Line 159:

	=== Camera server on Raspberry camera ===		=== Camera server on Raspberry camera ===

			In the live directory is the camera configuration file, it looks something like this:

			local@rpi7:~/mobotware/build/config/gogo/picam $ cat ucamserver.ini
			#!/bin/bash
			# camera server scriptfile
			server imagepath="."
			server datapath="."
			server replayPath="foo"
			# server port=24920
			#
			module load=var
			module load=odopose
			module load=aurule.so.0
			module load=aupoly.so.0
			# camera parameters
			camset device=6 focallength=532 posx=0.45 posy=0.03 posz=0.65 rotphi=0 rotkappa=-1.57 # east -90 deg
			camset device=7 focallength=532 posx=0.45 posy=0.00 posz=0.65 rotphi=0 rotkappa=0
			camset device=8 focallength=532 posX=0.45 posY=-0.03 posZ=0.65 rotPhi=0 rotkappa=-0.785
			camset device=9 focallength=532 posX=0.45 posY=-0.03 posZ=0.65 rotPhi=0 rotkappa=0.785
			camset device=10 focallength=532 posX=0.45 posY=-0.03 posZ=0.65 rotPhi=0 rotkappa=1.57
			# raspberry pi camera
			module load=aupicam.so.0
			# use the one fit for this pi-cam
			# will then use the corresponding image-pool number
			# then much easier when collecting images
			var picam.camDeviceNum=6
			; var picam.camDeviceNum=7
			; var picam.camDeviceNum=8
			; var picam.camDeviceNum=9
			; var picam.camDeviceNum=10
			var picam.framerate=2
			var picam.resolution="768 1024"
			var picam.white=7
			var picam.exposuremode=1
			var picam.meter=0
			var picam.pyramidlevels=3
			picam open
			# end of script

Jca: /* Keeper */

2016-05-05T16:29:14Z

Keeper

← Older revision		Revision as of 18:29, 5 May 2016
Line 155:		Line 155:
	wait() : false		wait() : false
	</rule>		</rule>

			It is a XML formatted rule script, as defined for the aurule.so.0 plugin.

			=== Camera server on Raspberry camera ===

Jca: /* Raspberry pi camera */

2016-05-05T16:27:41Z

Raspberry pi camera

@@ Line 60: / Line 60: @@
   cp mobotware/build/config/gogo/picam/*.ini .
-The keeper uses some rules to monitor and restart the cameraserver, these should be
+Theaukeeper.ini file looks something like this
-in /usr/local/smr/bin/aursconf

Jca at 16:20, 5 May 2016

2016-05-05T16:20:43Z

← Older revision		Revision as of 18:20, 5 May 2016
Line 3:		Line 3:

	This configuration guide is for the raspberry pi cameras and for the single camera server.		This configuration guide is for the raspberry pi cameras and for the single camera server.

			== Prerequisites ==

			It is assumed that mobotware is compiled for (or on) raspberry, and installed to /usr/local/smr, e.g. from the mobotware directory like this:

			cd mobotware
			make
			sudo make install

			Make takes a long time (one hour or so).

			The make install installs the needed files into /usr/local/smr.local and links to this from /usr/local/smr. But do not put anything into /etc/rc.local.


	== Files needed ==		== Files needed ==

Jca: /* Keeper */

2016-05-05T16:14:36Z

Keeper

← Older revision		Revision as of 18:14, 5 May 2016
Line 31:		Line 31:
	#		#
	exit 0		exit 0

			This starts a script placed in /home/local named startKeeper as the user local.
			This is to run as much as possible without root privileges.

			Copy the start script to /home/local (beeing the user ''local'':

			cd
			cp mobotware/build/config/gogo/picam/startKeeper .
			chmod +x startKeeper

			Make a live directory where the configuration files for keeper and camera server resides, and copy the ini-files:

			mkdir live
			cd live
			cp mobotware/build/config/gogo/picam/*.ini .

			The keeper uses some rules to monitor and restart the cameraserver, these should be
			in /usr/local/smr/bin/aursconf

Jca: /* Keeper */

2016-05-05T16:07:39Z

Keeper

← Older revision		Revision as of 18:07, 5 May 2016
Line 23:		Line 23:
	The keeper is a server that starts the cameraserver when needed (and restarts it if it crashes or gets stuck in other ways).		The keeper is a server that starts the cameraserver when needed (and restarts it if it crashes or gets stuck in other ways).

	The Keeper should be started at reboot using the /etc/rc.local, like this		The Keeper should be started at reboot using the /etc/rc.local, like this line almostat the end of rc.local:

	# rc.local		# rc.local
	~~# This script is executed at the end of each multiuser runlevel~~. # Make sure that the script will "exit 0" on success or any other # value on error.		...
	#
	~~# In order to enable or disable this script just change the execution~~
	~~# bits~~.
	#
	~~# By default this script does nothing.~~
	~~# Print the IP address~~
	~~_IP=$(hostname -I) \|\| true~~
	~~if [ "$_IP" ]; then~~
	~~printf "My IP address is %s\n" "$_IP"~~
	fi
	# start keeper		# start keeper
	'''su -c "/home/local/startKeeper" local'''		'''su -c "/home/local/startKeeper" local'''
	#		#
	exit 0		exit 0