2019PiVision

Summary

Retro-reflective tape tracking program in python using pnp

Tracking Target

Tracks retro-reflective tape, with length 14cm and width 5cm. It is currently optimized for a green LED ring around the camera to change this the HSV high and low values need to be changed. The camera needs to be placed level with the vision tape, and will calculate its X and Y relative to it in cm.

Setup

Make folder:

sudo mkdir /run/vision

Add service config file:

sudo vim /etc/systemd/system/vision.service

[Unit]
Description=vision daemon
After=network.target

[Service]
PIDFile=/run/vision/pid
User=pi
Group=pi
RuntimeDirectory=vision
WorkingDirectory=/home/pi/shared/streaming
ExecStart=/usr/bin/python app.py
ExecReload=/bin/kill -s HUP $MAINPID
ExecStop=/bin/kill -s TERM $MAINPID
PrivateTmp=true
Restart=always

[Install]
WantedBy=multi-user.target

To start it on boot:

sudo systemctl enable vision

To start it now:

sudo systemctl start vision

To stop it now

sudo systemctl stop vision

To reload settings

sudo systemctl daemon-reload sudo systemctl restart vision

To view logs:

tailf /var/log/syslog