The following packages are needed on raspbian:

sudo apt update
sudo apt install \
        cmake gcc \
        libgpiod-dev \
        libboost-dev \
        libboost-system-dev \
        libboost-thread-dev \
        libboost-filesystem-dev \
        libasio-dev \
        libmagick++-dev \
        libeigen3-dev \
        libopencv-dev

Optional: Git to directly pull the repository, ccmake

Ssh into the robot.

Copy or clone the pigpiod repository:

git clone https://github.com/joan2937/pigpio 

Build and install:

cd pigpio
mkdir buildRel
cd buildRel
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j 4
sudo make install

Ssh into the robot.

Copy or clone the software repository:

git clone [email protected]:software_appcvrobot.git

Configure:

mkdir buildRel
cmake .. -DCMAKE_BUILD_TYPE=Release

Optional: Configure various options

ccmake ./

Remove microcontroller from socket and plug in programmer on the side pins. In the arduino ide, select the "Arduino Pro Mini" in the variant "ATMega 328P 8MHz 3.3V". Compile and upload the project in the firmware folder. Disconnect programmer and plug microcontroller back into the socket.

ffmpeg -f v4l2 -input_format h264 -framerate 15 -i /dev/video0 -c:v copy outputFile.mp4

ffmpeg -f v4l2 -input_format h264 -framerate 15 -i /dev/video0 -c:v copy -fflags nobuffer -f mpegts udp://192.168.93.167:1337

ffplay -fflags nobuffer -flags low_delay -framedrop -strict experimental -probesize 32 -analyzeduration 0 -sync ext udp://@:1337

Center crop for tweaking focus: ffplay -fflags nobuffer -flags low_delay -framedrop -strict experimental -probesize 32 -analyzeduration 0 -sync ext -vf "crop=640:480:640:480" udp://@:1337

display and record on PC:g ffmpeg -i udp://@:1337 -map 0 -c:v libx264 -crf 23 -f tee "test.mp4|[f=nut]pipe:" | ffplay pipe:

use raspi-config to change GPU memory to 256MB (otherwise can't record in high resolutions)

v4l2-ctl -L

Rotate, but breaks calibration:

v4l2-ctl -c rotate=180

for video, trade noise for lower exposure times:

v4l2-ctl -c iso_sensitivity_auto=0
v4l2-ctl -c iso_sensitivity=4

not sure if it helps with exposure times

v4l2-ctl -c scene_mode=11 

v4l2-ctl -c video_bitrate=25000000

v4l2-ctl --list-formats-ext
v4l2-ctl --get-fmt-video
v4l2-ctl --set-fmt-video=width=640,height=480,pixelformat=1

v4l2-ctl --set-fmt-video=width=1920,height=1080,pixelformat=4