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Our early-phase 2016 CV, and an interactive GUI for OpenCV vision module development. Superceded by Team694/DEStiny
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Stuy Vision 2016

This was the beginning our CV project for FRC 2016: Stronghold. Work was transferred to our robot DEStiny's repository when we chose to run the computer vision on the roboRIO, rather than on a Jetson TK1.

Forked and made using an alumni's project, inspired by CUAUV's auv-vision-gui

Setting Up

If JAVA_HOME is not set, set it with

$ export JAVA_HOME=/path/to/jdk

This should be in your ~/.bashrc or .profile to persist across reboots. (Do not include the dollar sign.)

To install OpenCV 3.0, first update your packages:

$ sudo apt-get update
$ sudo apt-get upgrade

, then install OpenCV's dependencies. Running will show you the dependencies, then ask you whether to continue. Say no and install them.

Then run:

$ ./

To use with eclipse

After OpenCV builds, update the Eclipse classpath:

$ cp .classpath-generic .classpath     # Generic JRE


$ cp .classpath-osx .classpath         # OSX JRE-1.8 u65

To build/run with ant

ant compile builds the project.

ant run-tegra runs the Tegra target (modules.StuyVisionModule.main) (starting the Tegra server). ant compile-and-run-tegra, or simply ant, compiles then runs for the tegra.

ant run-gui runs the GUI (gui.Main.main). ant compile-and-run-gui compiles then runs the GUI.

Make sure jfxrt.jar is in the right place. build.xml expects it at /usr/lib/jvm/jfxrt.jar.

Setting Up on a NVIDIA Jetson

To install OpenCV 3.0, run:

$ ./

To set up the runlevel and run the cv on boot, modify /etc/init/rc-sysinit.conf to use runlevel 4, which you will then modify

Find the line env DEFAULT_RUNLEVEL=2, and change it to


What will run in runlevel 4 is determined by the contents of /etc/rc4.d/. rc4.d contains symbolic links to the scripts that will run when booting to this run level. Add a symbolic link to a script whose name starts with S, followed by a two-digit number, and then a descriptive name. The two-digit number determines the order in which the scripts will run.

cd /etc/rc4.d/
sudo ln -s /path/to/script S80run-cv
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