vision-2018

The Drop Bears' vision code for FIRST Power Up (2018)

RPi3 setup

Our Raspberry Pi 3 is currently running Debian buster for ARMv8, as this provides a precompiled OpenCV.

We also tried Arch Linux ARM and Fedora 27 for ARMv7, but both resulted in compile errors in wpiutil. We're still investigating these, and I have an open issue for this.

If you have a prebuilt wheel of robotpy-cscore, this should get you up and running:

sudo apt install python3-opencv python3-pip
pip install --user ./robotpy_cscore-*-linux_aarch64.whl

You will also need the libopencv-dev package on Debian to compile robotpy-cscore. To compile robotpy-cscore on a RPi3, you'll need swap, as 1 GB of RAM won't be enough. (Using swap on zram should be enough. I had a maximum of 512 MB for my zram.)

Make sure the vision user is in the video group so it can access the webcam.

Install the vision.service file to /etc/systemd/system and enable and start it with systemctl enable --now vision.

I have a robotpy-cscore wheel (for Debian buster for ARMv8). Ping @auscompgeek on the RobotPy Gitter if you would like a copy.