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Table of Contents

Overview

Image collection is done on any computer running Linux on the drone. Image collection accesses the camera in the same manner as the airside system.

Repository:

https://github.com/UWARG/modelimage-trainingcollection

Software

Setup - USB Camera

Open Follow the terminal and navigate instructions to the home directory: cd ~/Clone the clone the repository and setup and activate the virtual environment.

...

: Autonomy Workflow Software

Install packages:

Code Block
pip

...

 install -r requirements.txt

  • Do NOT use the other requirements files

...

Usage - USB Camera

Note

Prerequisites:

...

Code Block
git checkout main
git pull
git submodule update --remote --merge

Copy the contents of imaging/rc.local/.copyme to /etc/rc.local .

  • Modifying /etc/rc.local requires superuser access (e.g. sudo )

...

  1. Disconnect all sensors

  2. Power on the computer

  3. Move or copy the images to be saved

  4. Delete the images to free space for future collection

Setup - Raspberry Pi Camera Module 3

Clone the repository or update it as normal (same as USB Camera), following Autonomy Workflow Software, but please read the warning box before you do so!

Note

When creating the virtual environment, use the --system-site-packages option to include the system libraries, or do not activate a virtual environment.

The picamera2 library is pre-installed on PiOS, and it is not encouraged to install it using pip: https://datasheets.raspberrypi.com/camera/picamera2-manual.pdf. Hence, we will use the pre-installed library instead.

Those libraries cannot be easily installed using pip and require additional steps, so we just use the provided library in global space. There are some missing dependencies when installing through pip, which causes build fail.

Usage - Raspberry Pi Camera Module 3

Option A: Run the script manually

Code Block
python picam.py

The test_cam.py file can be used to test camera settings using a preview and a monitor before image collection flights.

Option B: Run the script from bootup using /etc/rc.local.

Copy the picamera section of rc.local.copyme to /etc/rc.local (starts the image capturing in the background):

  • Make sure you don’t activate any virtual environments beforehand!

To stop it when you’re done:

Code Block
sudo systemctl stop rc-local.service