InterIIT_2023

Installation

git clone -b main [email protected]:AerialRobotics-IITK/interiit_11.0.git
cd interiit_11.0
git submodule init
git submodule update

Install OpenCV 4.2.0

sudo apt install libopencv-dev python3-opencv

Create a virtualenv

sudo apt install python3.8-venv
python3 -m venv ./.venv
source ./.venv/bin/activate

Install python requirements

pip install -r requirements.txt

Execution

To build pose_ocam

cd pose_ocam
mkdir build && cd build
cmake ..
make

You should find the executable ocam inside build now.
Check the file of ocam using ls /dev/video*, check that it's the same in ./pose_ocam/src/main.cpp as devpath. If not, change it and run the script again. Otherwise, to run pose estimation through oCam-1CGN-U, or any of the similar series,

./pose_ocam/build/ocam

Note that quality of image would decide it's latency. To improve the parameters, try changing exposure and gain the same file.

In another terminal, run the following to install package for the controller

cd pluto_control
pip install . # if not done by the above script by chance

Run the controller in another terminal using

python single.py # this starts a log in src/logs/controller