I would like to create a program on the BBB for autonomous OpenROV which could avoid obstacles (like quey, rocks, sunken wrecks). I’m interesting in this article: http://advantech.gr/med07/papers/T20-006-812.pdf. In this project I would like to use IMU, LVS and OpenCV. In addition the rov should archive photos. So, what have been done?
- MicroSD As Extra Storage:
- Archive photos on the SD card with time, pitch, roll, yaw and depth data: http://oi63.tinypic.com/24180o7.jpg
Now I have a problem with data processing in real time on the BBB. I would like to achieve 15-30 fps but I cannot install OpenCV ( http://blog.lemoneerlabs.com/3rdParty/Darling_BBB_30fps_DRAFT.html ). I have a issue with missing packages (for example: GLib, Pango, GdkPixbuf, ATK, cairo, librsvg, poppler, freetype2 etc.) Installation of new packages is very cumbersome (a long instalation/configuration time, high ping rate in cockpit after instalation). Anyone install OpenCV on 30.0.2/0.3 software?
Also I don’t have access to Accel Data (“we are not actively pulling Acceleration data. You will definitely need to add new code to the existing software to access accel data.”) Any ideas?
I would like to point out that using OpenCV and archive image in real time cause very high CPU usage.
How to lower the CPU usage on the BBB? Maybe turn off the cockpit? New Data Socket Client?