大疆经纬M100+Manifold无人机开发总结
第一部分 妙算的安装
大疆对于开发者支持这一块做得不是很好。妙算开发手册上有些步骤有错误。
经费多的话还是建议买M210等机型功能比较全面。
1. 连接妙算与云台，有两根线一根是连接云台一根连接飞控。
2. 如果连反在运行Demo是或出现Unobtain等错误
3. 检测是否正确安装运行以下命令
4. cd /home/ubuntu/manifold_cam
5. make
6. make clean
7. sudo ./test -dt //显示在屏幕上并在连接djiGo的设备上显示
8. 注意：运行此demo是一定要打开遥控，不然出不了画面
第二部分 安装OnBoardSDK
9. 连接完妙算后接上显示屏首先不要急着安装OSDK要做的是先安装CMake不然可能会在cmake 时cmake不了。
10. 下载完OnBoardSDK 解压 安装
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| mkdir build |
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接下来就是运行自带的一些Demo以及激活OSDK
| cp ../sample/linux/common/UserConfig.txt bin/ |
| 在UserConfig.txt中输入要求的信息 特别注意/dev/tty那一项
下载Assailant2 进入到界面后勾选启用API控制
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cd bin
./djiosdk-flightcontrol-sample UserConfig.txt
第二部分 安装CUDA OpenCV ROS
安装cuda 同手册
sudo dpkg -i cuda-repo-l4t-r21.3-6-5-prod_6.5-42_armhf.deb
sudo apt-get update
sudo apt-get install cuda-toolkit-6-5
安装OpeCV
1.http://blog.csdn.net/FRD2009041510/article/details/42930113 //图文教程挺详细的
2.http://elinux.org/Jetson/Installing_OpenCV）
1.安装 OpenCV4tegra
访问以下链接以下载安装包“ libopencv4tegra-repo_l4t-r21_2.4.10.1_armhf.
deb ”
http://developer.download.nvidia.com/embedded/OpenCV/L4T_21.2/libopencv4tegra-repo_
l4t-r21_2.4.10.1_armhf.deb //最新的库版本是2.4.12了
执行以下命令进行安装
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sudo dpkg -i libopencv4tegra-repo_l4t-r21_2.4.10.1_armhf.deb
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sudo apt-get update
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sudo apt-get install libopencv4tegra libopencv4tegra-dev
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2.安装函数库
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sudo add-apt-repository universe
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sudo apt-get update
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# Some general development libraries
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sudo apt-get install build-essential make cmake cmake-curses-gui g++
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# libav video input/output development libraries
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sudo apt-get install libavformat-dev libavutil-dev libswscale-dev
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# Video4Linux camera development libraries
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sudo apt-get install libv4l-dev
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# Eigen3 math development libraries
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sudo apt-get install libeigen3-dev
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# OpenGL development libraries (to allow creating graphical windows)
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sudo apt-get install libglew1.6-dev
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# GTK development libraries (to allow creating graphical windows)
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sudo apt-get install libgtk2.0-dev
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3.安装opencv源码
①.下载源码（推荐2.4.10）
https://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.4.10/
②.解压
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cd Downloads
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unzip opencv-2.4.10.zip
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mv opencv-2.4.10 ~
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③.Make
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cd ~/opencv-2.4.10
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mkdir build
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cd build
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cmake -DWITH_CUDA=ON -DCUDA_ARCH_BIN="3.2" -DCUDA_ARCH_PTX="" -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF ..
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sudo make -j4 install
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④.配置环境变量
echo "# Use OpenCV and other custom-built libraries." >> ~/.bashrc
echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/" >> ~/.bashrc
source ~/.bashrc
⑤.测试
第一个例子：边缘提取
# Test a simple OpenCV program. Creates a graphical window, hence you should plug a HDMI monitor in or use a remote viewer such as X Tunneling or VNC or TeamViewer on your desktop.
cd ~/opencv-2.4.10/samples/cpp
g++ edge.cpp -lopencv_core -lopencv_imgproc -lopencv_highgui -o edge
(Or for OpenCV 3.0: g++ edge.cpp -lopencv_core -lopencv_imgproc -lopencv_highgui -lopencv_imgcodecs -o edge)
./edge
第二个例子：摄像头图像的拉普拉斯变换
# If you have a USB webcam plugged in to your board, then test one of the live camera programs and linking to every OpenCV module.
g++ laplace.cpp -lopencv_core -lopencv_imgproc -lopencv_highgui -lopencv_calib3d -lopencv_contrib -lopencv_features2d -lopencv_flann -lopencv_gpu -lopencv_legacy -lopencv_ml -lopencv_objdetect -lopencv_photo -lopencv_stitching -lopencv_superres -lopencv_video -lopencv_videostab -o laplace
(Or for OpenCV 3.0: g++ laplace.cpp -lopencv_adas -lopencv_bgsegm -lopencv_bioinspired -lopencv_calib3d -lopencv_ccalib -lopencv_core -lopencv_datasets -lopencv_face -lopencv_features2d -lopencv_flann -lopencv_highgui -lopencv_imgcodecs -lopencv_imgproc -lopencv_latentsvm -lopencv_line_descriptor -lopencv_ml -lopencv_objdetect -lopencv_optflow -lopencv_photo -lopencv_reg -lopencv_rgbd -lopencv_saliency -lopencv_shape -lopencv_stitching -lopencv_superres -lopencv_surface_matching -lopencv_text -lopencv_tracking -lopencv_videoio -lopencv_video -lopencv_videostab -lopencv_xfeatures2d -lopencv_ximgproc -lopencv_xobjdetect -lopencv_xphoto -o laplace)
./laplace
第三个例子：CPU和GPU进行图像的霍夫变换
# Test a GPU accelerated OpenCV sample.
cd ../gpu
g++ houghlines.cpp -lopencv_core -lopencv_imgproc -lopencv_highgui -lopencv_calib3d -lopencv_contrib -lopencv_features2d -lopencv_flann -lopencv_gpu -lopencv_legacy -lopencv_ml -lopencv_objdetect -lopencv_photo -lopencv_stitching -lopencv_superres -lopencv_video -lopencv_videostab -o houghlines
./houghlines ../cpp/logo_in_clutter.png
第三部分 安装ROS
抱歉我只有一次装成功了，其他几次装完你之后重启的时候系统就崩了。
第四部分
刷机可以按照手册杀过来。但有两个坑
第一个 有个路径写错了
第二 解压完后直接恢复系统镜像，不要制作系统镜像不会成功的（等一天都不会动）
第三恢复系统后 会出现闪屏 这个是时候
apt-get update
apt-get upgrade
一下就可以了