marvision
MAR24 ArUco Detection Program (C++)

Synopsis

marvision – the vision program for the minimal autonomous rover (MAR) project.

marvision [OPTIONS]

Installation

This program is designed to be cross-compiled and be run on Raspberry Pi Zero series. However, it is possible to install on other machines. The build system of this project is GNU Autotools.

We assume you have build-essential and other essentials e.g. gcc, g++, glibc, make, autotools installed.

Build for Host (Linux)

Building for host instead of cross compiling is discouraged and not tested.

  1. Ensure you have OpenCV (opencv and opencv_contrib) installed. The repositories can be found: OpenCV and OpenCV Extras. Please install version 4.9.0. You should consider the revisions below, taken from the recipe provided by OpenEmbedded.
    SRCREV_opencv = "dad8af6b17f8e60d7b95a1203a1b4d22f56574cf"
    SRCREV_contrib = "c7602a8f74205e44389bd6a4e8d727d32e7e27b4"
    Using a wrong version of OpenCV can cause the code fail to compile and waste your time/storage.
  2. Use Autotools to compile.
    ./configure
    make
    sudo make install

Cross-Compile

  1. Prepare your systems. Use a Debian Linux if possible; other distros may also work.
  2. Download our SDK from the release notes of meta-marfb. Choose the latest stable "Standard SDK".
  3. Install the SDK. See the SDK manual of the Yocto Project.
    ./path/to/sdk.sh
    Enter path when prompted.
  4. Run SDK environment setup script. What to run is prompted on the last few lines of the SDK installation output.
    . /path/to/environment-setup-script
    After environment setup, you can test by e.g. echo $CC or which autoreconf.
    echo $CC
    arm-oe-linux-gnueabi-gcc -marm -mfpu=vfp -mfloat-abi=hard -mcpu=arm1176jzf-s -D_TIME_BITS=64 -D_FILE_OFFSET_BITS=64 --sysroot=/usr/local/oecore-aarch64/sysroots/arm1176jzfshf-vfp-oe-linux-gnueabi
    which autoreconf
    /usr/local/oecore-aarch64/sysroots/aarch64-oesdk-linux/usr/bin/autoreconf
  5. Autoreconf.
    autoreconf

  6. Cross compile.

    ./configure ${CONFIGURE_FLAGS}

    E.g.,

    ./configure --host=... --with-libtool-sysroot=...
  7. Make and install.
    make
    make install DESTDIR=./tmp
  8. Copy to target and run.

This program can be configured, built, installed and packaged by meta-marfb–a sister project that builds fast boot Linux for MAR.

Usage

TODO

License

SPDX-License-Identifier: GPL-3.0-or-later

This project is licensed under GNU General Public License v3.0 or later (GPL-3.0-or-later).

Copyright (C) 2024 Qiyang Sun and the MAR Project Maintainers

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see https://www.gnu.org/licenses/.

Acknowledgements

Sister Projects

Generated by doxygen 1.9.4