Camera Usage

Table of contents

  1. Overview
  2. Requirements
    1. Hardware
    2. Target Software
    3. Host System
  3. Setup
    1. Camera Connections
    2. Target Software Setup
  4. Usage
  5. Network Configuration
  6. Stream Stereo Cameras
    1. Run Application On Target
    2. Run Application On Host
  7. Stream DFT Camera
    1. Run Application On Target
    2. Run Application On Host

Overview

This user guide describes how to use the cameras with the voxl-cam-manager applications as a means to validate the camera connections. We’ll use an application on the VOXL to stream video to a desktop Python based application.

The IPK is available here and can be easily installed on the target. The source code for this application as well as a desktop Python base GUI application is available here. Also, a Dockerized build environment is available here, so one could customize as needed.

Requirements

Hardware

  • Host computer (Ubuntu 18.04 used in this guide)
  • VOXL-DK
    • VOXL Core Board (MCCA-M0006)
    • Wi-Fi antennas (MANT-00001)
    • APM Regulator Board and cable (MCCA-M0009 and MCBL-00001 cable)
  • VOXL-ACC-PS
    • 5V/6A Power Supply (MPS-00001-1, MPN: WR9QA6000LCP-N(R6B)
  • VOXL-ACC-MV
    • Sunny GP161C Stereo Cameras and Flex Cable
    • Sunny MD102A Downward Facing Tracking (DFT) Camera and Flex Cable

Target Software

  • The voxl_cam_manager package here

Host System

Host computer (Ubuntu 18.04 used in this user guide) with:

  • Python 2.7
  • Install the following packages
sudo apt-get install python-dev
sudo apt-get install python-qt4
  • Clone the following repo:
git clone https://gitlab.com/voxl-public/voxl-cam-manager.git

Setup

Camera Connections

The Machine Vision Accessory Kit (VOXL-ACC-MV) comes with the MD102A DFT camera and flex cable and GP161C stereo cameras and flex cable.

  • Disconnect power
  • Connect the GP161C cameras and flex cable to J3 of the VOXL board as shown:
    • NOTE: when connecting the flex cable to J3, ensure the connectors are parallel when attaching and a solid ‘snap’ occurs to best ensure a good connection

camera-stream-0

  • Connect the MD102A camera and flex cable to J4 of the VOXL board as shown:
    • NOTE: again, when connecting the flex cable to J4 this time, ensure the connectors are parallel when attaching and a solid ‘snap’ occurs to best ensure a good connection

camera-stream-1

Target Software Setup

  • Download the voxl_cam_manager package here
  • Connect power to VOXL
  • Connect the VOXL board via USB to the host computer
  • Install the package to the target:
adb push voxl_cam_manager_x.x.x.ipk /home/root/ipk
adb shell "opkg install /home/root/ipk/voxl_cam_manager_x.x.x.ipk"

Usage

Network Configuration

  • Configure the VOXL as an Access Point (or connect it to a network)
    • instructions on how to do this are here
    • the default IP address of the device will be 192.168.8.1
  • Connect the host computer to the VOXL’s Access Point (default password is 1234567890) or to the same network you connected the VOXL to

Stream Stereo Cameras

Run Application On Target

  • Begin streaming from the stereo camera using the following command:
    • Note: the following commands use camera indicies that assume that only the two stereo cameras and DFT camera are connected.
voxl-image-streamer -c 1 -n 4 -i 192.168.8.1

Run Application On Host

On the host computer, which is connected to the VOXL’s network, run the following:

cd voxl-cam-manager/image_streamer/
python image_viewer.py -i 192.168.8.1

The stereo camera video stream should display in a GUI.

Stream DFT Camera

Run Application On Target

  • Begin streaming from the stereo camera using the following command:
    • Note: the following commands use camera indicies that assume that only the two stereo cameras and DFT camera are connected.
voxl-image-streamer -c 0 -n 4 -i 192.168.8.1

Run Application On Host

On the host computer, which is connected to the VOXL’s network, run the following:

cd voxl-cam-manager/image_streamer/
python image_viewer.py -i 192.168.8.1

The DFT camera video stream should display in a GUI.

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