Software Installations: 2015

Wednesday, June 24, 2015

Installing Ubuntu 12.04 and ARIA (Pioneer API) on BeagleBone (White)

Windows 7
Ubuntu 12.04
Win32DiskImager
PuTTY 0.63
ARIA 2.9.0

Status:

2015.06.24 - "ARIA has been installed in /usr/local/Aria".
2015.06.24 - "ARIA has been installed in /usr/local/Aria" on Ubuntu 14.04. But ARIA APIs and demo app are running an error "ImportError: /usr/local/Aria/python/_AriaPy.so: cannot open shared object file:"

Installing Ubuntu 14.04 for BeagleBone:

Download Ubuntu for BeagleBone microSD card image (bone-ubuntu-14.04.2-console-armhf-2015-06-11-2gb.img.xz).
Write image to microSD card using Win32DiskImager.
Boot BeagleBone Board with RJ45 pluged.
Access BeagleBone with SSH client (user: ubuntu pass: temppwd)
Change sudo password:
sudo -i
passwd (ubuntu)
exit

Compiling ARIA from sources:

Installing dependencies to compile de sources:
sudo apt-get install binutils-multiarch gcc-4.6 build-essential swig python-dev python-setuptools python-serial
Configuring Enviroment to recompile ARIA files from sources:
Create PYTHONPATH and PYTHON_INCLUDE system variable:
sudo nano ~/.bashrc
Include these four lines below at the end of this file:
PYTHONPATH="/usr/local/Aria/python:${PYTHONPATH}"
export PYTHONPATH
PYTHON_INCLUDE="/usr/include/python2.7:${PYTHON_INCLUDE}"
export PYTHON_INCLUDE
Start a new shell or reload the config file by running the command below:
source ~/.bashrc
Download ARIA 2.9.0 - Other 32-bit Linux systems (Generic compressed TAR archive) with GCC 4.6
cd ~/
wget http://robots.mobilerobots.com/ARIA/download/current/ARIA-2.9.0+gcc4.6.tgz
tar -xzvf ARIA-2.9.0+gcc4.6.tgz
cd Aria-2.9.0/
sudo make install
The result is listed below:

------------------------------------------------------------------------------------
ARIA has been installed in /usr/local/Aria.

To be able to use the ARIA libraries, you must now add /usr/local/Aria/lib
to your LD_LIBRARY_PATH environment variable, or to the /etc/ld.so.conf system file,
then run 'ldconfig'
------------------------------------------------------------------------------------

Rebuild Python wrapper Library:
sudo nano ~/Aria-2.9.0/Makefile
CXX:=g++-4.6
PYTHON_INCLUDE:=/usr/include/python2.7
PYTHON_INCLUDE_FLAGS=-I/usr/include/python2.7
sudo make python (zzz... +- 1h)
Setting enviroment variable:
sudo nano /etc/ld.so.conf.d/aria.conf
Include these two lines (below) on this file:
include /usr/local/Aria/lib
include /usr/local/Aria/python
configure dynamic linker run-time bindings:
sudo ldconfig

References:

Sunday, April 12, 2015

Raspbian - Stream - Webcam+Motion Or Pi Camera+MMAL Motion

Raspbian v2015-02-16
Motion
MMAL Motion

Status:

20150412 - It's working.

Notes:

Pi camera works at 10~14fps.
Webcam works at 30?fps.
Using 50% for jpeg quality and size: 256x144px (Pi Camera).
With this configuration, CPU use is about 33%~96% for motion with webcam, and about 19%~53% for mmal-motion and Pi Camera.
It only works with firefox (Windows and Android? version).

Installing Motion for Webcam:

Install Motion:
sudo mkdir /home/webcam
sudo chmod 777 /home/webcam
cd /home/webcam
sudo apt-get install motion
Configure Motion:
sudo nano /etc/motion/motion.conf
Changing config file:
daemon on
framerate 15
threshold 500
gap 10
max_mpeg_time 30
output_normal center
ffmpeg_video_codec msmpeg4
target_dir /home/webcam
webcam_motion on
webcam_maxrate 30
webcam_port 8085
webcam_localhost off
Configure autostart of Motion:
sudo nano /etc/default/motion
Start Motion:
sudo motion
Troubleshooting:
"cannot create process id file ..."
mkdir /var/run/motion
chmod a+rwxt /var/run/motion

Testing Motion for Webcam:

http://<Raspberry-pi_IP-address>:8085

Installing MMAL Motion for Pi Camera:

Install Motion, dependencies and MMAL Motion:
sudo apt-get install motion libjpeg62
cd ~/
mkdir mmal
cd mmal
wget https://www.dropbox.com/s/jw5r1wss32tdibb/motion-mmal-opt.tar.gz
tar -zxvf motion-mmal-opt.tar.gz
cd ./motion-mmal
Configure Motion:
nano motion-mmalcam.conf
Changing config file:
daemon on
gap 10
mmalcam_secondary_buffer_upscale 2
stream_secondary off (ON to use with mmalcam_secondary_buffer_upscale)
output_secondary_pictures off (ON to use with mmalcam_secondary_buffer_upscale)
ffmpeg_output_secondary_movies off (ON to use with mmalcam_secondary_buffer_upscale)
Start MMAL Motion:
cd ~/mmal/motion-mmal/
./motion-mmal -n -c motion-mmalcam.conf

Testing MMAL Motion for Pi Camera:

http://<Raspberry-pi_IP-address>:8081

References:

Other options for Streaming:

Motion Google Drive Uploader and Emailer

Sunday, April 5, 2015

Raspbian - Pi Camera - MJPG-Streamer and Raspistill

Raspbian v2015-02-16
MJPG-Streamer v182
Raspistill

Status:

20150505 - Its working.

Notes:

Since pi camera is 5Mpx and HD, we're using 854x480 resolution.
Pi camera works at 1~2fps.
Using "Sport" exposure option to reduce distortion generated by the moviment.
Using 50% for jpeg quality (file size = +- 200kb. If use 10% then +-23Kb, else if 34% then +-150kb, else if 75% then +-240kb, else if 1280x720x50% than +-510kb).
With this configuration, CPU use is about 2%~3% for raspistill and +-2% for mjpg-streamer.
Using 640x360x50% results in 100kb file size.
It works with firefox and chrome (Windows and Android versions).

ToDo:

Compare performances (mjpg-streamer-raspistill / motion).

Installing:

Enabling Pi Camera:
sudo raspi-config
Select Enable camera and hit Enter, then go to Finish and you'll be prompted to reboot.
Install build dependencies:
sudo apt-get install libjpeg8-dev imagemagick libv4l-dev
Add missing videodev.h:
sudo ln -s /usr/include/linux/videodev2.h /usr/include/linux/videodev.h
Download MJPG-Streamer:
wget http://sourceforge.net/code-snapshots/svn/m/mj/mjpg-streamer/code/mjpg-streamer-code-182.zip
Unzip the MJPG-Streamer source code:
unzip mjpg-streamer-code-182.zip
Build MJPG-Streamer:
cd mjpg-streamer-code-182/mjpg-streamer
make mjpg_streamer input_file.so output_http.so
Install MJPG-Streamer:
sudo cp mjpg_streamer /usr/local/bin
sudo cp output_http.so input_file.so /usr/local/lib/
sudo cp -R www /usr/local/www
Start the camera and MJPG-Streamer:
mkdir /tmp/stream
raspistill --nopreview -w 640 -h 480 -q 5 -o /tmp/stream/pic.jpg -tl 100 -t 9999999 -th 0:0:0 & LD_LIBRARY_PATH=/usr/local/lib mjpg_streamer -i "input_file.so -f /tmp/stream -n pic.jpg" -o "output_http.so -w /usr/local/www"
Cleanup (removing source code files):
cd ../../
rm -rf mjpg-streamer-182

Testing:

http://<Raspberry-pi_IP-address>:8080

References:

Other options for Streaming: