There are several technology used in this project, and you may be frustrated if you do not install what I describe below. :)
Default c++ I am using here is c++14 called modern c++ and its version is above 5.0. Do not worry about it if you are not familiar with. google helps you very much.
all c++ applications in this project are based on boost library and and are independent on specific version of boost.
Dynamic Library Path : In some environment like my macbook, you can not execute the app even if I successfully compile it, because the error comes out with the message below,
dyld: Library not loaded: XXXXXXX
I figure out that it happens when your terminal does not have libarary path, so you need to add following line into your ~/.bash_profile.
vim ~/.bash_profile
export DYLD_LIBRARY_PATH= /usr/local/Cellar/boost/XXXX
Installation on osx : The best way to install is to use "brew". It is simple and no needs to spend your precious time. :)
brew search boost <- show all boost related stuffs
brew install boost <- default
makefile modification : Each application written in c++ has makefile only for my environment. You need to change a couple of things.
CC = g++-5
LIBS = -L/usr/local/Cellar/boost/1.60.0_2/lib
INCLUDES = -I/usr/local/Cellar/boost/1.60.0_2/include/
I am not a big fan of this open source hardware, because performance is relatively poor compared to others such as ordroid series. I strongly recommend for you to consider other boards if you have enough money and time.
Download : From official site you can get the latest version raspbian and need to unzip it.
SD card format : with SDForamt app, you can format a sd card for installing raspbian.
Flashing image : there are 3 steps to flash.
diskutil list <= disk name of your sd card formatted
diskutil unmountDisk /dev/disk2 <= unmount
sudo dd bs=1m if=2016-05-10-raspbian-jessie.img of=/dev/rdisk2 <= flashing the image downloaded
Korean Support : 사이트 참고
This project basically does not require any camera capbility. It just shows how it works on air while a drone is flying. Perhaps, stereo camera may be needed in the future so as to implement collision avoidance.
Where to buy : I really like aliexpress, and it offers clone pi camera only with $21.24. How amazing it is. :)
How to enable : You need to attach it into camera slot on board. and enable camera configuration with raspi-config
sudo raspi-config
-> Choose "6 Enable Camear"
-> Select "Enable"
-> Then, reboot
V4L2 driver : linux standard device for camera
sudo modprobe bcm2835-v4l2
Camera Test : Simply you can test it without installing an additional application.
raspistill -o filename.jpg
raspistill -vf -hf -o filename.jpg -> when your cam is placed upside down
raspivid -o video.h264
This libary is the most famous in multimedia industry. I think you can use it for your comercial service just with litte modification.
OSX : I tried to use an another application like VLC and there was a few minutes to figure out that I needed to install gstreamer on my mac book. Fortunately, "brew" provides all you need. :)
brew install gstreamer gst-libav gst-plugins-ugly gst-plugins-base gst-plugins-bad gst-plugins-good
Another famous streaming library. One of my colleagues recommends it and I decided to try this as an alternative.
ardupilot site explains how to communicate with RPI2 ,not RPI3. Therefore, I need to figure out the difference in order to work properly with RPI3. Please make sure that you read whole page of the site first before doing below instructions.
Envirionment setting : You need additional python libraries which are not mentioned on the site.
sudo apt-get update
sudo apt-get install python-matplotlib python-serial python-wxgtk2.8 python-lxml
sudo apt-get install python-scipy python-opencv ccache gawk git python-pip python-pexpect
sudo apt-get install screen python-dev libxml2-dev libxslt-dev
sudo pip install pymavlink
sudo pip install mavproxy
Serial port enable : On the contrary to the site, serial port on RPI3 needs to be enabled by using "raspi-config"
/dev/ttyS0 is used for serial communication between Pixhawk and RPI3. To check it, just type "mavproxy.py" that automatically detects an appropriate port to deal with. You may be able to see some logs.
Boost Library on OSX - dyld Woes
RASPBERRY PI CAMERA BOARD – GSTREAMER
파이카메라 설정 및 사용
gstreamer error on mac
Raspberry Pi 3 Serial Port Usage