2.1.4 젯슨 나노로 동키카 만들기 셋업

0. NVIDIA에서 제공하는 이미지를 SD카드에 라이팅하여 사용한다.

• 아래의 툴을 다운 받아서 설치한다.

balenaEtcher - Flash OS images to SD cards & USB driveswww.balena.io

• 제공되어지는 기본 이미지를 위의 툴을 사용해서 라이팅 해야 한다.

https://drive.google.com/file/d/1wXD1CwtxiH5Mz4uSmIZ76fd78zDQltW_/viewdrive.google.com

• 라이팅 되어진 SD카드를 젯슨 나노에 설치하고, 모니터와 키보드, 마우스를 연결한 후, 전원을 넣어서 부팅 할 수 있다. 초기 비밀번호는 jetson

1. 라이브러리를 준비한다.

sudo apt-get update
sudo apt-get upgrade
sudo apt-get install build-essential python3 python3-dev python3-pip python3-pandas python3-opencv python3-h5py libhdf5-serial-dev hdf5-tools nano ntp

2. 파이썬 가상 개발 환경을 준비 한다.

sudo pip3 install virtualenv
python3 -m virtualenv -p python3 env
echo "source env/bin/activate" >> ~/.bashrc
source ~/.bashrc

3. 스왑 스페이스를 구성한다.

# Turn off swap
sudo swapoff /var/swapfile
# Allocates 4G of additional swap space at /var/swapfile
sudo fallocate -l 4G /var/swapfile
# Permissions
sudo chmod 600 /var/swapfile
# Make swap space
sudo mkswap /var/swapfile
# Turn on swap
sudo swapon /var/swapfile
# Automount swap space on reboot
sudo bash -c 'echo "/var/swapfile swap swap defaults 0 0" >> /etc/fstab'
# Reboot
sudo reboot

4. Open CV 라이브러리를 준비한다.

# Update
sudo apt-get update
sudo apt-get upgrade
# Pre-requisites
sudo apt-get install build-essential cmake unzip pkg-config
sudo apt-get install libjpeg-dev libpng-dev libtiff-dev
sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev
sudo apt-get install libxvidcore-dev libx264-dev
sudo apt-get install libgtk-3-dev
sudo apt-get install libatlas-base-dev gfortran
sudo apt-get install python3-dev

5. Open CV를 설치한다.

# Create a directory for opencv
mkdir -p projects/cv2
cd projects/cv2
 
# Download sources
wget -O opencv.zip https://github.com/opencv/opencv/archive/4.1.0.zip
wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.1.0.zip
 
# Unzip
unzip opencv.zip
unzip opencv_contrib.zip
 
# Rename
mv opencv-4.1.0 opencv
mv opencv_contrib-4.1.0 opencv_contrib

6. 가상 개발 환경에 들어가서 넘파이를 설치한다.

source ~/env/bin/activate
# Install Numpy
pip install numpy

7. CMake Config를 준비한다.

# Create a build directory
cd projects/cv2/opencv
mkdir build
cd build
 
# Setup CMake
cmake -D CMAKE_BUILD_TYPE=RELEASE \
    -D CMAKE_INSTALL_PREFIX=/usr/local \
    -D INSTALL_PYTHON_EXAMPLES=ON \
    -D INSTALL_C_EXAMPLES=OFF \
    -D OPENCV_ENABLE_NONFREE=ON \
    # Contrib path
    -D OPENCV_EXTRA_MODULES_PATH=~/projects/cv2/opencv_contrib/modules \
    # Your virtual environment's Python executable
    # You need to specify the result of echo $(which python)
    -D PYTHON_EXECUTABLE=~/env/bin/python \
    -D BUILD_EXAMPLES=ON ../opencv
    
    
    
# CUDA on SETUP example
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D INSTALL_PYTHON_EXAMPLES=ON -D INSTALL_C_EXAMPLES=OFF -D OPENCV_ENABLE_NONFREE=ON -D WITH_CUDA=ON -D ENABLE_FAST_MATH=ON -D CUDA_FAST_MATH=ON -D WITH_CUBLAS=ON -D WITH_CUDNN=ON -D WITH_LIBV4L=ON -D OPENCV_DNN_CUDA=ON -D OPENCV_EXTRA_MODULES_PATH=~/projects/cv2/opencv_contrib/modules -D PYTHON_EXECUTABLE=~/env/bin/python -D BUILD_EXAMPLES=ON ../   

8. 컴파일 한다.

make -j2

9. 컴파일한 OpenCV를 설치한다.

# Install OpenCV
sudo make install
sudo ldconfig

10. 라이브러리들을 연결한다.

# Go to the folder where OpenCV's native library is built
cd /usr/local/lib/python3.6/site-packages/cv2/python-3.6
# Rename
mv cv2.cpython-36m-xxx-linux-gnu.so cv2.so
# Go to your virtual environments site-packages folder
cd ~/env/lib/python3.6/site-packages/
# Symlink the native library
ln -s /usr/local/lib/python3.6/site-packages/cv2/python-3.6/cv2.so cv2.so

11. 잘 설치 되었는지 아래와 같이 확인 할 수 있다.

ls -la
total 48
drwxr-xr-x 10 user user 4096 Jun 16 13:03 .
drwxr-xr-x  5 user user 4096 Jun 16 07:46 ..
lrwxrwxrwx  1 user user   60 Jun 16 13:03 cv2.so -> /usr/local/lib/python3.6/site-packages/cv2/python-3.6/cv2.so
-rw-r--r--  1 user user  126 Jun 16 07:46 easy_install.py
drwxr-xr-x  5 user user 4096 Jun 16 07:47 pip
drwxr-xr-x  2 user user 4096 Jun 16 07:47 pip-19.1.1.dist-info
drwxr-xr-x  5 user user 4096 Jun 16 07:46 pkg_resources
drwxr-xr-x  2 user user 4096 Jun 16 07:46 __pycache__
drwxr-xr-x  6 user user 4096 Jun 16 07:46 setuptools
drwxr-xr-x  2 user user 4096 Jun 16 07:46 setuptools-41.0.1.dist-info
drwxr-xr-x  4 user user 4096 Jun 16 07:47 wheel
drwxr-xr-x  2 user user 4096 Jun 16 07:47 wheel-0.33.4.dist-info

12. 파이썬에서 OpenCV를 확인한다.

(env) jetson@jetson:~$ python 
Python 3.6.8 (default, Jan 14 2019, 11:02:34) 
[GCC 8.0.1 20180414 (experimental) [trunk revision 259383]] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import cv2
>>> print(cv2.__version__)
4.1.0
>>> quit()

13. 동키카 코드를 설치한다.

cd ~/projects
git clone https://github.com/waveshare/donkeycar
cd donkeycar
git checkout dev
pip install -e .[nano]
pip install --extra-index-url https://developer.download.nvidia.com/compute/redist/jp/v42 tensorflow-gpu==1.13.1+nv19.3

14. 동키카 예제를 설치한다.

donkey createcar --path ~/mycar

15. 아래와 같이 설정 파일을 수정한다.

cd ~/mycar

nano myconfig.py
---------------------------------------------------
#CAMERA
CAMERA_TYPE = "CSIC"   # (PICAM|WEBCAM|CVCAM|CSIC|V4L|MOCK)
IMAGE_W = 224
IMAGE_H = 224