BlackholeVision2

A vision system

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BlackholeVision Setup Guide

Step 1: Setup Your Device

1. Install Ubuntu on your device.

Step 2: Install Conda

1. Download and install Conda or Anaconda:
   👉 Download here
2. Create a Python 3.11 environment:

   conda create -n blackhole_vision python=3.11

Step 3: Clone the Repository

1. Open a terminal and run:

   git clone https://github.com/Geoffrey-8814/BlackholeVision2.git

Step 4: Install Required Libraries

1. Install nano (text editor):

   sudo apt update
   sudo apt install nano

2. Activate your Conda environment:

   conda activate blackhole_vision

3. Navigate to the project directory:

   cd BlackholeVision2

4. Install dependencies:

   pip install -r requirements.txt

5. Install RobotPy (for FRC support):

   python3 -m pip install --extra-index-url=https://wpilib.jfrog.io/artifactory/api/pypi/wpilib-python-release-2025/simple robotpy

6. Install PyTorch:
   • With CUDA 11.8:

     pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118

   • With CUDA 12.6:

     pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu126

   • Without CUDA:

     pip3 install torch torchvision torchaudio

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Step 5: Modify the Configuration File

1. Open the config.json file in a text editor:

   nano config.json

2. Modify the following fields:

   • Replace BlackholeVision with your device name.
   • Replace 10.12.34.2 with your roboRIO IP. Use the following format:
     • Team number 4321 → 10.43.21.2
     • Team number 12345 → 10.123.45.2

3. Save and exit (CTRL+X, then Y, then Enter).

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Step 6: Setup USB Ports

1. Identify Camera USB Ports

1. Connect a camera to your device.
2. Run the following command to get the USB port details:

   udevadm info --name=/dev/video0 --attribute-walk

3. Look for an ID that looks like /usb1/1-2/1-2.1/1-2.1:1.0.
4. Extract the port ID (e.g., 1-2.1 from 1-2.1:1.0).

2. Create and Edit USB Rules

1. Open the USB rules file:

   sudo nano /etc/udev/rules.d/99-usb-cameras.rules

2. Add the following rule, replacing 1-2.1 with your port ID and PORTNAME with your desired name:

   SUBSYSTEM=="video4linux", KERNELS=="1-2.1", SYMLINK+="PORTNAME"

3. Save and exit (CTRL+X, then Y, then Enter).

3. Apply the New Rules

sudo udevadm control --reload-rules

4. Verify the Assigned Port

ls -l /dev/PORTNAME

• If a camera is detected, the port assignment is successful.
• Repeat these steps for additional cameras.

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Step 7: Run sudo Without Password

1. Open a terminal and edit the sudoers file:

   sudo visudo

2. Scroll to the bottom and add this line, replacing $USER with your actual username:

   $USER ALL=(ALL) NOPASSWD: ALL

3. Save and exit (CTRL+X, then Y, then Enter).
4. Open a new terminal and test:

   sudo visudo

   • If no password is required, the setup is successful.

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Step 8: Create a Setup Script

1. Open a terminal and create a script:

   nano ~/startBlackholeVision.sh

2. Add the following lines:

   # Navigate to the project directory
   cd BlackholeVision2
   
   # Apply USB rules
   sudo udevadm trigger
   
   # Run the program (replace with your Conda Python path)
   /path/to/conda/envs/blackhole_vision/bin/python __init__.py

3. Save and exit (CTRL+X, then Y, then Enter).

4. Make the script executable:

   sudo chmod +x ~/startBlackholeVision.sh

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Step 9: Add BlackholeVision to Startup Applications

1. Open Startup Applications on Ubuntu.
2. Click Add.
3. Enter the command:

   ./startBlackholeVision.sh

4. Click Add to confirm.

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Step 10: Enable Automatic Login

Follow this guide or:

1. Open Settings > System.
2. Select Users.
3. Click Unlock (top-right corner) and enter your password.
4. Select the user account you want to log in automatically.
5. Enable Automatic Login.

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🚀 Setup Complete! Now your BlackholeVision system will start automatically upon boot. 🚀