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# Chameleon-Vision
a free software for FRC teams to use for vision proccesing on their robots
Chameleon Vision is free open-source software for FRC teams to use for vision proccesing on their robots.
## getting started
## Getting started
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.
See Deployment for notes on how to deploy the project on a live system.
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.
(Coming soon!)
### Prerequisites
---
#### For the co-processor
- Java 12 Runtime
- Avahi Daemon
so in order to run this project we will need to install python in order to run the backend and node.js with vue.js in order to run the fronted
#### For the driver station
#### backend
- Bonjour
- python 3.7 and above
- opencv 3.4.5
- tornado web framework
- robotpy-cscore
- pynetworktables
- pymq
#### frontend
- vue.js
- vuex
- vue-router
- less and less-loader
- iView
- vue-native-websocket
### installing
#### for the backend
1. sudo apt-get update
2. apt-get dist-upgrade
3. sudo apt-get upgrade
4. sudo apt-get install python3-pip python3-dev cmake zip unzip build-essential git libnss-mdns --fix-missing
5. sudo pip3 install numpy (if on raspberry pi do "sudo apt-get install python3-numpy")
6. sudo apt-get install python3-opencv
7. pip3 install robotpy-cscore
8. pip3 install pyzmq
9. pip3 install tornado
to run the backend:
```
sudo python3 Main.py
```
if backed gets suck or no camera are recognized after a crash do:
```
sudo pkill -9 python3
```
#### compiling:
in order to compile the program for runtime run: (still needs to install dependencies)
```
python3 -m nuitka --follow-imports Main.py
```
#### for the frontend
1. sudo apt-get install nodejs npm
2. cd chameleon-client
3. sudo npm install
4. sudo npm install @vue/cli
to run the front end you can open the cli ui by:
```
vue ui
```
of you can auto serve the ui by
```
npm run serve
```
## Deployment
Deploying is as simple as uploading the chameleon-vision-1.xx.jar file to your target device.
Run the program with `java -jar chameleon-vision-1.xx.jar`
## Hardware
this is important when choosing your sbc it is more important to have a good usb controller that a good cpu
### ARM Co-processors
Currently only Raspberry Pi 3 or 4 models with at least 1GB of RAM are tested and supported.
Additional ARM-based single board computers (Odroid, Nvidia Jetson, etc.) will be supported in the near future.
on the odroid xu4 which is very fast i have got many bottlenecks from the usb controller and many times making the program crach
#### networking
it is very important to install Bonjour
## docs
main docs can be found at [google docs](https://docs.google.com/document/d/1qDuwHtpIPJfyXGIL8PJG89LZwRWbn2J9f-5g19lWL9U/edit?usp=sharing)
### x86 Computers
Currently any 64-Bit devices (Windows, Linux and Mac OS) are supported.
32 Bit devices are not supported.
## Authors
* **Sagi Frimer** - *initial work* - websocket, settings manager, UI
* **Ori Agranat** - *main coder* - vision loop , UI, websocket, networktables
* **Ori Agranat** - *main coder* - vision loop, UI, websocket, networktables
* **Omer Zipory** - *developer* - vision loop, websocket, networking
* **Banks Troutman** - *developer* - vision loop, websocket, networking
* **Matt Morley** - *developer* - documentation
## Acknowledgments
* the [robotpy project](https://github.com/robotpy) and mainly the cscore libs
* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/master/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/master/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/master/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
* basically all of stackoverflow
* [Apache Commons](https://commons.apache.org/) - Specifically [Commons Math](https://commons.apache.org/proper/commons-math/), and [Commons Lang](https://commons.apache.org/proper/commons-lang/)
##License
Copyright (C) 2019 Ori Agranat oriagranat9@gmail.com
* [Javalin](https://javalin.io/)
* [Spring Framework](https://spring.io/)
* This file is part of Chameleon Vision.
* [JSON](https://json.org)
Chameleon Vision can not be copied without the express permission of Ori Agranat
Chameleon Vision binaries may be distributed under [Creative Commons Attribution 4.0](https://creativecommons.org/licenses/by/4.0/)
* [Google](https://github.com/google) - Specifically [Gson](https://github.com/google/gson)
## License
Usage of Chameleon Vision must fall under all terms of [Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International](https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode)