olinrobotics / fish-perception Goto Github PK

Relevant keywords: littoral navigation, laser profilometry, structured light

We need to reconfigure the Zipline for laser testing (after we get it working, see #1). Some ideas, in no particular order (feel free to suggest others!):

• Put lasers and cameras on the carriage
  • Ideally these would be eye-safe lasers
• Have a way to control the carriage remotely
• Put some sort of powerful computer (a Jetson?) on the carriage to do the processing
  • Or maybe, we want to continue to use our laptops as the brains
• Add some new vision targets that are simple shapes (ie. cubes or spheres) not fish
  • One idea was to have the carriage be bi-directional (lasers and cameras on either side of the carriage, with fish-like vision targets on one side and geometric shapes on the other side).

Some outstanding questions (thoughts welcome):

• What lasers are we going to use? Can they be made eye-safe?
• What cameras are we going to use? The Pi Cam HQs are configurable but fiddly

We'll use the Nvidia Jetson Nano (a super-charged Raspberry Pi) as the controller for the Zipline. We need to flash it with a clean install and install Python/OpenCV (Bill's instructions here, ignore the Sparkfun bits: https://bf01.notion.site/Setup-60b256239e2e4a60bc0236b8671767e7).

For this issue, we just need to get the Zipline working at all. #2 will deal with setting it up for laser testing.

Things to think about:

• ROS or no ROS?
• OS? Jetson? Pi?
• Physical layout and connectors
• Sensor drivers (in C++?)