Vision based precision landing, codes getting error in Raspberry pi terminal while uploading

[Drone (PKB)]

Hello Everyone!
I am working on precision landning using below link.

GitHub - goodrobots/vision_landing: Precision landing using visual targets

Installation

First ensure the above dependencies are already installed.

There are two main components:

• vision_landing, a python script
• track_targets, a c++ program

track_targets must be compiled and installed into the main directory before vision_landing can be run. vision_landing calls track_targets to do the actual target detection and vector calculations.

git clone https://github.com/goodrobots/vision_landing
cd vision_landing/src
cmake . && make && make install

You should now have a track_targets file in the same directory as the vision_landing script (the root of the vision_landing project).

I have completed upto this. In terminal in which directory should I run below command?

aruco_calibration live mycamera_calibration.yml -m vision_landing/calibration/aruco_calibration_board_a4.yml -size 0.033

I am getting error like this after uploading.

[ppoirier]

Have you installed/build OpenCV and ARUCO Libraries as required ?

GitHub - goodrobots/vision_landing: Precision landing using visual targets

[Drone (PKB)]

Yes. I have installed both.

[Drone (PKB)]

I have installed both

Thanks

[ppoirier]

If you have not deployed using make install, you need to add path to the libs (.so) into your environment

[Drone (PKB)]

Hi, Thanks for the quick reply.
Sorry, I am not good at coding stuff. I am new to this. Learning it online. So if I ask anything silly pardon me.
I have done as follows;

1. Installed aruco using cmake
2. Downloaded OpenCV from a github account and extracted
3. Tested the camera using OpenCV
4. Installed dronekit
5. Installed vision landing

Now I am stuck in camera calibration command
I don’t know where to put those command;

aruco_calibration live mycamera_calibration.yml -m vision_landing/calibration/aruco_calibration_board_a4.yml -size 0.033

I hope above one is a single command.

It is giving error message like this.

[ppoirier]

Same answer as earlier… the command does not find the libaruco.so.3.0 library (that is a Shared Object type). It is either not located in the $PATH environment variable or it has a different name.

[Drone (PKB)]

Hi sir,
I am doing image calibration.
Its keep showing error. Please let me know what should I need to do?

Screenshot (31)|690x387

Thanks.

[ppoirier]

First of all , you have a low voltage warning… Please use correct power supply
What is the load on CPU ? You can check with Htop

[Drone (PKB)]

Thanks.

I am using 5 volt and 5 ampere power module.
But It is keep showing that voltage warning.

I am attaching few screenshots for your reference.

I have put below code in vision_landing.conf

Marker tracking history - number of frames that each marker is tracked for active marker transition

markerhistory=30

Marker tracking threshold - percentage of frames in tracking history that marker must be detected to be activated

markerthreshold=80

[ppoirier]

Its been a long time I worked with Aruco, cant tell if the numbers are OK
@anbello can probably help better at this stage or @LuckyBird

Oh… btw how did you fixed the .so lib issue ?

[Drone (PKB)]

I got it fixed with the follwing commands;

pip uninstall opencv-python

pip uninstall opencv-contrib-python

pip install opencv-contrib-python

[Drone (PKB)]

The calibration works fine for me. But it is not creating “mycamera_calibration.yml” file. Can you help?

[ppoirier]

So you reloaded the Aruco libs from contrib, not exactly @fnoop release. I guess it will do the same.

[Drone (PKB)]

Now, what should I do? Any help?
It’s been two weeks since started working on…

Thanks

[fnoop]

What camera are you using? If you’re using the standard raspberry cameras - v1 or v2 - you don’t really need to calibrate as vision_landing provides calibration files already.
Hey ppoirier, nice to see you’re still alive and droning

[Drone (PKB)]

Thanks for the reply,
Using v2.1 Raspberry pi camera…

So, I can skip the calibration part.
Am I correct?

[ppoirier]

Hello @fnoop nice to see you here as well
Thanks for helping on this old but still fascinating project

[Drone (PKB)]

@fnoop
Hi Fnoop
Could you please tell me what is the next step?
I have skipped the calibration part as you said.

Thanks

[Drone (PKB)]

@fnoop
Uploaded commands as follows

sudo systemctl start vision_landing
sudo systemctl stop vision_landing

Nothing is happening

Uploded this too
./vision_landing --input /dev/ttyS0 --markersize 0.235 --calibration calibration/raspicamv2-calibration-640x480.yml