Bluetooth
The following packages must be installed:
sudo apt-get install bluetooth libbluetooth-dev bluez
sudo pip3 install pybluez(might not be necessary)
The bluez.service file also needs to be updated:
sudo nano /etc/systemd/system/dbus-org.bluez.service
In the third line in the [Service] section, we need to add -C to the end
of the line: ExecStart=/usr/lib/bluetooth/bluetoothd -C
And right below that line, we need to add the following new line:ExecStartPost=/usr/bin/sdptool add SP
ArUco
The camera must be calibrated before (proper) use. Currently, the camera is NOT calibrated.
The file cal_chessboard.png needs to be printed out and several pictures need to be taken with the Pi camera in different orientations.
Then calibration.py needs to be run to generate two numpy files calibration_matrix.npy and distortion_coefficients.npy (the current ones are for a
different camera)
python calibration.py --dir calibration_checkerboard/ --square_size 0.024