radomskist / NAI-AI-MRDC-2016

NIU's Northern Artificial Intellegence bot Vision and AI code for MRDC 2016.

NAI-ComputerVision

##Copyright Copyright (c) 2017 Steven Radomski [e-mail]

##Notice This system was rewritten from the ground up between Janurary 2016 and March 10th 2016 mostly by one person. There also might be some things that where hastily written at the competition due to last minute changes. This is repo is mainly to archive the status of NAI when it arrived at MRDC.

##Requires: Open Kinect 2:

https://github.com/OpenKinect/libfreenect2

http://openkinect.org/wiki/Main_Page

SDL 2:

https://www.libsdl.org/download-2.0.php

https://www.libsdl.org/

GLEW:

http://glew.sourceforge.net/install.html

http://glew.sourceforge.net/

GLM:

https://github.com/g-truc/glm

http://glm.g-truc.net/0.9.7/index.html

OpenCV (3.1):

http://opencv.org/downloads.html

http://opencv.org/

Zbar-Tools:

http://zbar.sourceforge.net/

sudo apt-get install libzbar-dev
sudo apt-get install zbar-tools

##Special folders Create a depends folder in the main directory to have libraries such as libusb and freenect2 in them.

Create a include folder in the main directory and copy the freenect2, libusb, GLM, and glew headers into their respective folders.

###Arguments -ct = webcam test, uses webcam display as window

-kdep = kinect depth display, if there is a kinect connected it'll use this by default.

-krgb = kinect rgb display.

-mem = memory map, uses the memory map. Used when all other options fail.

#CONTROLS

esc = close program

F11 = Fullscreen (when one screen) Align windows (with multiwin)

###Memory map controls: WASD, move north, south, west and east respectively.

Arrow keys = rotate camera

f = toggle path clipping

###Depth image keybinds

1 = Toggle depth image

2 = Toggle edges

3 = Toggle lines

4 = Toggle planes

#Remote compile + display

Works via SSH through ad hoc. Scripts may require some modification (change of IP). Scripts require #!/usr/bin/expect

1. Install expect (unix script library)

2. Host wifi hotspot on robot computer

3. Run the scriptgen.sh "ssh connection" "path to nai folder on robot computer" "password to login"

4. Connect to the hotspot with the remote computer (which uses the scripts)

a. connectrun.sh to run the program and get display remotely

b. pushcompile.sh to copy src and compile on remote computer