mod-Imaging

The mod-Imaging captures an image from a specified V4l2 camera device and will preprocess it. Applying segmentation algorithms to it to create a path.

Runs on Rover1 Debix

Precompiled binary available here

Adheres to Makefile spec

Source code is confidentially available using your Github token

Uses service.yaml

Registers with SystemManager

Functionalities

• Use a gstreamer pipeline to capture an image from an input device and apply segmentation and edge detection
• Add debug information using a lightweight Canvas object

Running this module

note

First compilation may be quite long because gstreamer libraries and bindings need to be built. Subsequent builds will be faster.

Using the rover.yaml

1. Download the latest version of this module using the rover utility.

sudo rover update

2. Enable this module in your /home/debix/rover.yaml file by (re)adding the following lines:

...
- name: mod-Imaging
  cmd: mod-Imaging -service-yaml /home/debix/mods/mod-Imaging/service.yaml -debug
...

3. Start with the rover utility

sudo rover start

Precompiled

1. Download this module from the ASE Download Manager to your current working directory using curl

curl https://downloads.ase.vu.nl/api/mod-Imaging/latest -JL -o mod-Imaging.zip

2. Unzip the downloaded zip file. This will deflate the precompiled binary and its service yaml

unzip mod-Imaging.zip

3. Execute the binary

./mod-Imaging

From source

1. Clone the source code using your private ASE token. Make sure to replace <YOUR_TOKEN> with the token you received by email.

git clone https://<YOUR-TOKEN>@github.com/VU-ASE/mod-Imaging.git
git pull

2. Enter the source code directory

cd mod-Imaging

3. Build and start from source

make start

Dependencies

If you are running from source, you might need to install the following dependencies:

• https://gstreamer.freedesktop.org/documentation/installing/on-linux.html?gi-language=c#install-gstreamer-on-ubuntu-or-debian
• from apt: libglib2.0-dev
• from apt: libgstreamer1.0-dev
• from apt: libgstreamer-plugins-base1.0-dev

Using this module

Dependencies

This module does not depend on any other module.

Outputs

This modules presents a process where a v4l2 device's images are parsed, segmented, and path-planned. It publishes this trajectory as a set of points on an IMAGE-HEIGHTxIMAGE-WIDTH 2d array and encodes it to a CameraSensorOutput protobuf message. This message can also contain JPEG bytes and a Canvas object that will be automatically parsed in the util-WebController.