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Nix Camera Experiment

This was an experiment with nix/c++ and opencv. I wanted to see if nix could be a useful solution for big projects on embedded systems. Nix has support for some popular embbeded boards, so I thought it was worth pursuing.

TODO:

  • Add multithread support for camera streams.
  • Working camera stream.
  • Display image segmentation masks from pytorch models.
  • Optimize the ML segmentation camera stream for realtime speeds.
  • Improve segmentation accuracy. (Current masks are not useable for navigation)
  • Modularize codebase to allow seperation of tasks amongst threads and classes.

Libraries

The libraries are added via nix packages housed inside the libraries folder. The libraries folder current has three libraries residing in it. Pytorch and httplib, while spdlog is included it is not integrated with the main flake.nix file. (Due to some compile errors) The reasoning behind using nix for dependencies instead of the countless other package managers for c++ or any other language. Is reliability and cross-compliation, by building the source code for each library we can avoid the massive headache of sourcing binanaries and dependencies for libraries when deploying to arm based systems.

Building & Running

First, because nix is awesome you don't need to download anything (except for nix). After cloning the repo make sure you have nix flakes enabled. Make sure that a camera is on /dev/video0 then execute this command ./build-run.sh it will take some time. But when its finished the camera server will be running on http://localhost:8080/stream!

There are three main nix commands that you will need to know to develop with nix. It's the build and develop commands prefixed with nix like so: nix develop or nix run. Now for the next question what do all three really do?

nix build

It will compile the project according to the nix configuration files like flake.nix or and other .nix file. CMake is used for building the raw executable, but nix manages the steps and environment that cmake receives to build the binaries in. When its completed a new folder named result will be available with the compiled binary ready.

nix run

Cannot use nix run because the ros libraries are not packaged into the binary. This means you need to build the program and then execute it in the shell provided by nix develop. There is a script to make this easier called build-run.sh

nix develop

It will compile the devshell which is a custom development environment with all the libraries and headers necessary to develop this project. Its nice when executed you have a full fledged dev environment without any configuration necessary as a new developer.

Debugging

I decided to use valgrind for memory debugging since its reliable and its been around for awhile. Use the command below to execute teleop-control with valgrind. Make sure you run nix build before using valgrind since it doesn't compile the binary by itself.

valgrind --leak-check=yes ./result/bin/teleop-control

Developing on WSL

Write something saying how wsl is not plug and play for this project and that native linux is much easier to configure.

About

Fun little camera server written in c++ supercharged with nix.

Topics

cppnixopencv

Resources

Readme
Activity

Stars

1 star

Watchers

1 watching

Forks

0 forks
Report repository

Releases

Packages

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
 blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks");
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

Skip to content
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Nix Camera Experiment
This was an experiment with nix/c++ and opencv. I wanted to see if nix could be a useful solution for big projects on embedded systems. Nix has support for some popular embbeded boards, so I thought it was worth pursuing.
TODO:
  •  Add multithread support for camera streams.
  •  Working camera stream.
  •  Display image segmentation masks from pytorch models.
  •  Optimize the ML segmentation camera stream for realtime speeds.
  •  Improve segmentation accuracy. (Current masks are not useable for navigation)
  •  Modularize codebase to allow seperation of tasks amongst threads and classes.
Libraries
The libraries are added via nix packages housed inside the libraries folder. The libraries folder current has three libraries residing in it. Pytorch and httplib, while spdlog is included it is not integrated with the main flake.nix file. (Due to some compile errors) The reasoning behind using nix for dependencies instead of the countless other package managers for c++ or any other language. Is reliability and cross-compliation, by building the source code for each library we can avoid the massive headache of sourcing binanaries and dependencies for libraries when deploying to arm based systems.
Building & Running
First, because nix is awesome you don't need to download anything (except for nix). After cloning the repo make sure you have nix flakes enabled. Make sure that a camera is on /dev/video0 then execute this command ./build-run.sh it will take some time. But when its finished the camera server will be running on http://localhost:8080/stream!
There are three main nix commands that you will need to know to develop with nix. It's the build and develop commands prefixed with nix like so: nix develop or nix run. Now for the next question what do all three really do?
nix build
It will compile the project according to the nix configuration files like flake.nix or and other .nix file. CMake is used for building the raw executable, but nix manages the steps and environment that cmake receives to build the binaries in. When its completed a new folder named result will be available with the compiled binary ready.
nix run
Cannot use nix run because the ros libraries are not packaged into the binary. This means you need to build the program and then execute it in the shell provided by nix develop. There is a script to make this easier called build-run.sh
nix develop
It will compile the devshell which is a custom development environment with all the libraries and headers necessary to develop this project. Its nice when executed you have a full fledged dev environment without any configuration necessary as a new developer.
Debugging
I decided to use valgrind for memory debugging since its reliable and its been around for awhile. Use the command below to execute teleop-control with valgrind. Make sure you run nix build before using valgrind since it doesn't compile the binary by itself.
valgrind --leak-check=yes ./result/bin/teleop-control
Developing on WSL
Write something saying how wsl is not plug and play for this project and that native linux is much easier to configure.
About
Fun little camera server written in c++ supercharged with nix.
Topics
cppnixopencv
Resources
Readme
Activity
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
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Nix Camera Experiment
This was an experiment with nix/c++ and opencv. I wanted to see if nix could be a useful solution for big projects on embedded systems. Nix has support for some popular embbeded boards, so I thought it was worth pursuing.
TODO:
  •  Add multithread support for camera streams.
  •  Working camera stream.
  •  Display image segmentation masks from pytorch models.
  •  Optimize the ML segmentation camera stream for realtime speeds.
  •  Improve segmentation accuracy. (Current masks are not useable for navigation)
  •  Modularize codebase to allow seperation of tasks amongst threads and classes.
Libraries
The libraries are added via nix packages housed inside the libraries folder. The libraries folder current has three libraries residing in it. Pytorch and httplib, while spdlog is included it is not integrated with the main flake.nix file. (Due to some compile errors) The reasoning behind using nix for dependencies instead of the countless other package managers for c++ or any other language. Is reliability and cross-compliation, by building the source code for each library we can avoid the massive headache of sourcing binanaries and dependencies for libraries when deploying to arm based systems.
Building & Running
First, because nix is awesome you don't need to download anything (except for nix). After cloning the repo make sure you have nix flakes enabled. Make sure that a camera is on /dev/video0 then execute this command ./build-run.sh it will take some time. But when its finished the camera server will be running on http://localhost:8080/stream!
There are three main nix commands that you will need to know to develop with nix. It's the build and develop commands prefixed with nix like so: nix develop or nix run. Now for the next question what do all three really do?
nix build
It will compile the project according to the nix configuration files like flake.nix or and other .nix file. CMake is used for building the raw executable, but nix manages the steps and environment that cmake receives to build the binaries in. When its completed a new folder named result will be available with the compiled binary ready.
nix run
Cannot use nix run because the ros libraries are not packaged into the binary. This means you need to build the program and then execute it in the shell provided by nix develop. There is a script to make this easier called build-run.sh
nix develop
It will compile the devshell which is a custom development environment with all the libraries and headers necessary to develop this project. Its nice when executed you have a full fledged dev environment without any configuration necessary as a new developer.
Debugging
I decided to use valgrind for memory debugging since its reliable and its been around for awhile. Use the command below to execute teleop-control with valgrind. Make sure you run nix build before using valgrind since it doesn't compile the binary by itself.
valgrind --leak-check=yes ./result/bin/teleop-control
Developing on WSL
Write something saying how wsl is not plug and play for this project and that native linux is much easier to configure.
About
Fun little camera server written in c++ supercharged with nix.
Topics
cppnixopencv
Resources
Readme
Activity
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
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Nix Camera Experiment
This was an experiment with nix/c++ and opencv. I wanted to see if nix could be a useful solution for big projects on embedded systems. Nix has support for some popular embbeded boards, so I thought it was worth pursuing.
TODO:
  •  Add multithread support for camera streams.
  •  Working camera stream.
  •  Display image segmentation masks from pytorch models.
  •  Optimize the ML segmentation camera stream for realtime speeds.
  •  Improve segmentation accuracy. (Current masks are not useable for navigation)
  •  Modularize codebase to allow seperation of tasks amongst threads and classes.
Libraries
The libraries are added via nix packages housed inside the libraries folder. The libraries folder current has three libraries residing in it. Pytorch and httplib, while spdlog is included it is not integrated with the main flake.nix file. (Due to some compile errors) The reasoning behind using nix for dependencies instead of the countless other package managers for c++ or any other language. Is reliability and cross-compliation, by building the source code for each library we can avoid the massive headache of sourcing binanaries and dependencies for libraries when deploying to arm based systems.
Building & Running
First, because nix is awesome you don't need to download anything (except for nix). After cloning the repo make sure you have nix flakes enabled. Make sure that a camera is on /dev/video0 then execute this command ./build-run.sh it will take some time. But when its finished the camera server will be running on http://localhost:8080/stream!
There are three main nix commands that you will need to know to develop with nix. It's the build and develop commands prefixed with nix like so: nix develop or nix run. Now for the next question what do all three really do?
nix build
It will compile the project according to the nix configuration files like flake.nix or and other .nix file. CMake is used for building the raw executable, but nix manages the steps and environment that cmake receives to build the binaries in. When its completed a new folder named result will be available with the compiled binary ready.
nix run
Cannot use nix run because the ros libraries are not packaged into the binary. This means you need to build the program and then execute it in the shell provided by nix develop. There is a script to make this easier called build-run.sh
nix develop
It will compile the devshell which is a custom development environment with all the libraries and headers necessary to develop this project. Its nice when executed you have a full fledged dev environment without any configuration necessary as a new developer.
Debugging
I decided to use valgrind for memory debugging since its reliable and its been around for awhile. Use the command below to execute teleop-control with valgrind. Make sure you run nix build before using valgrind since it doesn't compile the binary by itself.
valgrind --leak-check=yes ./result/bin/teleop-control
Developing on WSL
Write something saying how wsl is not plug and play for this project and that native linux is much easier to configure.
About
Fun little camera server written in c++ supercharged with nix.
Topics
cppnixopencv
Resources
Readme
Activity
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

Skip to content
BranchesTags
Repository files navigation
Nix Camera Experiment
This was an experiment with nix/c++ and opencv. I wanted to see if nix could be a useful solution for big projects on embedded systems. Nix has support for some popular embbeded boards, so I thought it was worth pursuing.
TODO:
  •  Add multithread support for camera streams.
  •  Working camera stream.
  •  Display image segmentation masks from pytorch models.
  •  Optimize the ML segmentation camera stream for realtime speeds.
  •  Improve segmentation accuracy. (Current masks are not useable for navigation)
  •  Modularize codebase to allow seperation of tasks amongst threads and classes.
Libraries
The libraries are added via nix packages housed inside the libraries folder. The libraries folder current has three libraries residing in it. Pytorch and httplib, while spdlog is included it is not integrated with the main flake.nix file. (Due to some compile errors) The reasoning behind using nix for dependencies instead of the countless other package managers for c++ or any other language. Is reliability and cross-compliation, by building the source code for each library we can avoid the massive headache of sourcing binanaries and dependencies for libraries when deploying to arm based systems.
Building & Running
First, because nix is awesome you don't need to download anything (except for nix). After cloning the repo make sure you have nix flakes enabled. Make sure that a camera is on /dev/video0 then execute this command ./build-run.sh it will take some time. But when its finished the camera server will be running on http://localhost:8080/stream!
There are three main nix commands that you will need to know to develop with nix. It's the build and develop commands prefixed with nix like so: nix develop or nix run. Now for the next question what do all three really do?
nix build
It will compile the project according to the nix configuration files like flake.nix or and other .nix file. CMake is used for building the raw executable, but nix manages the steps and environment that cmake receives to build the binaries in. When its completed a new folder named result will be available with the compiled binary ready.
nix run
Cannot use nix run because the ros libraries are not packaged into the binary. This means you need to build the program and then execute it in the shell provided by nix develop. There is a script to make this easier called build-run.sh
nix develop
It will compile the devshell which is a custom development environment with all the libraries and headers necessary to develop this project. Its nice when executed you have a full fledged dev environment without any configuration necessary as a new developer.
Debugging
I decided to use valgrind for memory debugging since its reliable and its been around for awhile. Use the command below to execute teleop-control with valgrind. Make sure you run nix build before using valgrind since it doesn't compile the binary by itself.
valgrind --leak-check=yes ./result/bin/teleop-control
Developing on WSL
Write something saying how wsl is not plug and play for this project and that native linux is much easier to configure.
About
Fun little camera server written in c++ supercharged with nix.
Topics
cppnixopencv
Resources
Readme
Activity
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
Nix Camera Experiment
This was an experiment with nix/c++ and opencv. I wanted to see if nix could be a useful solution for big projects on embedded systems. Nix has support for some popular embbeded boards, so I thought it was worth pursuing.
TODO:
  •  Add multithread support for camera streams.
  •  Working camera stream.
  •  Display image segmentation masks from pytorch models.
  •  Optimize the ML segmentation camera stream for realtime speeds.
  •  Improve segmentation accuracy. (Current masks are not useable for navigation)
  •  Modularize codebase to allow seperation of tasks amongst threads and classes.
Libraries
The libraries are added via nix packages housed inside the libraries folder. The libraries folder current has three libraries residing in it. Pytorch and httplib, while spdlog is included it is not integrated with the main flake.nix file. (Due to some compile errors) The reasoning behind using nix for dependencies instead of the countless other package managers for c++ or any other language. Is reliability and cross-compliation, by building the source code for each library we can avoid the massive headache of sourcing binanaries and dependencies for libraries when deploying to arm based systems.
Building & Running
First, because nix is awesome you don't need to download anything (except for nix). After cloning the repo make sure you have nix flakes enabled. Make sure that a camera is on /dev/video0 then execute this command ./build-run.sh it will take some time. But when its finished the camera server will be running on http://localhost:8080/stream!
There are three main nix commands that you will need to know to develop with nix. It's the build and develop commands prefixed with nix like so: nix develop or nix run. Now for the next question what do all three really do?
nix build
It will compile the project according to the nix configuration files like flake.nix or and other .nix file. CMake is used for building the raw executable, but nix manages the steps and environment that cmake receives to build the binaries in. When its completed a new folder named result will be available with the compiled binary ready.
nix run
Cannot use nix run because the ros libraries are not packaged into the binary. This means you need to build the program and then execute it in the shell provided by nix develop. There is a script to make this easier called build-run.sh
nix develop
It will compile the devshell which is a custom development environment with all the libraries and headers necessary to develop this project. Its nice when executed you have a full fledged dev environment without any configuration necessary as a new developer.
Debugging
I decided to use valgrind for memory debugging since its reliable and its been around for awhile. Use the command below to execute teleop-control with valgrind. Make sure you run nix build before using valgrind since it doesn't compile the binary by itself.
valgrind --leak-check=yes ./result/bin/teleop-control
Developing on WSL
Write something saying how wsl is not plug and play for this project and that native linux is much easier to configure.
About
Fun little camera server written in c++ supercharged with nix.
Topics
cppnixopencv
Resources
Readme
Activity
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers");
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
Nix Camera Experiment
This was an experiment with nix/c++ and opencv. I wanted to see if nix could be a useful solution for big projects on embedded systems. Nix has support for some popular embbeded boards, so I thought it was worth pursuing.
TODO:
  •  Add multithread support for camera streams.
  •  Working camera stream.
  •  Display image segmentation masks from pytorch models.
  •  Optimize the ML segmentation camera stream for realtime speeds.
  •  Improve segmentation accuracy. (Current masks are not useable for navigation)
  •  Modularize codebase to allow seperation of tasks amongst threads and classes.
Libraries
The libraries are added via nix packages housed inside the libraries folder. The libraries folder current has three libraries residing in it. Pytorch and httplib, while spdlog is included it is not integrated with the main flake.nix file. (Due to some compile errors) The reasoning behind using nix for dependencies instead of the countless other package managers for c++ or any other language. Is reliability and cross-compliation, by building the source code for each library we can avoid the massive headache of sourcing binanaries and dependencies for libraries when deploying to arm based systems.
Building & Running
First, because nix is awesome you don't need to download anything (except for nix). After cloning the repo make sure you have nix flakes enabled. Make sure that a camera is on /dev/video0 then execute this command ./build-run.sh it will take some time. But when its finished the camera server will be running on http://localhost:8080/stream!
There are three main nix commands that you will need to know to develop with nix. It's the build and develop commands prefixed with nix like so: nix develop or nix run. Now for the next question what do all three really do?
nix build
It will compile the project according to the nix configuration files like flake.nix or and other .nix file. CMake is used for building the raw executable, but nix manages the steps and environment that cmake receives to build the binaries in. When its completed a new folder named result will be available with the compiled binary ready.
nix run
Cannot use nix run because the ros libraries are not packaged into the binary. This means you need to build the program and then execute it in the shell provided by nix develop. There is a script to make this easier called build-run.sh
nix develop
It will compile the devshell which is a custom development environment with all the libraries and headers necessary to develop this project. Its nice when executed you have a full fledged dev environment without any configuration necessary as a new developer.
Debugging
I decided to use valgrind for memory debugging since its reliable and its been around for awhile. Use the command below to execute teleop-control with valgrind. Make sure you run nix build before using valgrind since it doesn't compile the binary by itself.
valgrind --leak-check=yes ./result/bin/teleop-control
Developing on WSL
Write something saying how wsl is not plug and play for this project and that native linux is much easier to configure.
About
Fun little camera server written in c++ supercharged with nix.
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cppnixopencv
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode");
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

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Nix Camera Experiment
This was an experiment with nix/c++ and opencv. I wanted to see if nix could be a useful solution for big projects on embedded systems. Nix has support for some popular embbeded boards, so I thought it was worth pursuing.
TODO:
  •  Add multithread support for camera streams.
  •  Working camera stream.
  •  Display image segmentation masks from pytorch models.
  •  Optimize the ML segmentation camera stream for realtime speeds.
  •  Improve segmentation accuracy. (Current masks are not useable for navigation)
  •  Modularize codebase to allow seperation of tasks amongst threads and classes.
Libraries
The libraries are added via nix packages housed inside the libraries folder. The libraries folder current has three libraries residing in it. Pytorch and httplib, while spdlog is included it is not integrated with the main flake.nix file. (Due to some compile errors) The reasoning behind using nix for dependencies instead of the countless other package managers for c++ or any other language. Is reliability and cross-compliation, by building the source code for each library we can avoid the massive headache of sourcing binanaries and dependencies for libraries when deploying to arm based systems.
Building & Running
First, because nix is awesome you don't need to download anything (except for nix). After cloning the repo make sure you have nix flakes enabled. Make sure that a camera is on /dev/video0 then execute this command ./build-run.sh it will take some time. But when its finished the camera server will be running on http://localhost:8080/stream!
There are three main nix commands that you will need to know to develop with nix. It's the build and develop commands prefixed with nix like so: nix develop or nix run. Now for the next question what do all three really do?
nix build
It will compile the project according to the nix configuration files like flake.nix or and other .nix file. CMake is used for building the raw executable, but nix manages the steps and environment that cmake receives to build the binaries in. When its completed a new folder named result will be available with the compiled binary ready.
nix run
Cannot use nix run because the ros libraries are not packaged into the binary. This means you need to build the program and then execute it in the shell provided by nix develop. There is a script to make this easier called build-run.sh
nix develop
It will compile the devshell which is a custom development environment with all the libraries and headers necessary to develop this project. Its nice when executed you have a full fledged dev environment without any configuration necessary as a new developer.
Debugging
I decided to use valgrind for memory debugging since its reliable and its been around for awhile. Use the command below to execute teleop-control with valgrind. Make sure you run nix build before using valgrind since it doesn't compile the binary by itself.
valgrind --leak-check=yes ./result/bin/teleop-control
Developing on WSL
Write something saying how wsl is not plug and play for this project and that native linux is much easier to configure.
About
Fun little camera server written in c++ supercharged with nix.
Topics
cppnixopencv
Resources
Readme
Activity
Stars
1 star
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages