controls-drawer's Introduction

############################################################################### Fixing LCM networking error ############################################################################### If you are getting errors like this: LCM: TTL set to zero, traffic will not leave localhost. Exception: java.net.SocketException: No such device

connect: Network is unreachable
Unable to read routing table (fgets): Network is unreachable
No route to 239.255.76.67

Then sudo ifconfig lo multicast sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev lo ###############################################################################

############################################################################### To run calibration cd projects/controls-drawer source env.sh

python software/drivers/cnc_table/position_driver_2d.py python software/drivers/crenova_iscope_endoscope_2Mpix/camera_driver.py python software/perception/basic_image_operations_filter.py cd results/calib_images/ python ../../software/controllers/exterior_camera_calibration.py

Illuminate the scene clearly with a phone (for now)

Take a first 1-2 images and check that the thresholding is working well,

change the threshold value as necessary

Once you have images that you're happy with, kill all drivers

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############################################################################### To run intrinsic camera calibration cd projects/controls-drawer source env.sh

First, put all the pictures of the square calibration image for the Crenova

camera in crenova_iscope_endoscope_2Mpix/square_images/*.jpg

Edit the file to change various things

subl software/drivers/general_camera_tests/test_calibration.py python software/drivers/general_camera_tests/test_calibration.py ###############################################################################

############################################################################### To move the table around by terminal

Edit to get the commands you want

subl software/drivers/cnc_table/simple_stream.py python software/drivers/cnc_table/simple_stream.py ###############################################################################

############################################################################### To take pictures using the camera driver

Run the camera driver with a flag that saves every image when triggered

python software/drivers/crenova_iscope_endoscope_2Mpix/camera_driver.py --save-images python software/drivers/general_camera_tests/image_request.py ###############################################################################

############################################################################### How to threshold images

Look in basic_image_operations_filter.py to see the basic threshold code

Turn this into a tool if you use it often

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############################################################################### How to run the line follower cd projects/controls-drawer source env.sh

python software/drivers/cnc_table/position_driver_2d.py python software/drivers/crenova_iscope_endoscope_2Mpix/camera_driver.py python software/drivers/general_camera_tests/image_request.py --stream python software/gui/display_images.py --image-channel IMAGE_TRACKING --include-points [lcm-logger] python software/controllers/line_follower.py ###############################################################################

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