// Using OpenCV with the Raspberry Pi camera

// 2015.11.21 created by Huangtao

raspi-config

“camera” and select “enable”

install Pi Camera:

===================

http://www.raspberrypi.org/archives/3890

test Pi Camera:

===============

raspistill -t 10000

ok.

https://github.com/robidouille/robidouille/tree/master/raspicam_cv

===================================================================

Prerequisites

First make sure you have cmake and git installed:

sudo apt-get install cmake git

You might also need gcc/g++ in case it's not already installed, along with some other libraries:

sudo apt-get install gcc g++ libx11-dev libxt-dev libxext-dev libgraphicsmagick1-dev libcv-dev libhighgui-dev

You need the raspberry pi userland libraries:

mkdir -p ~/git/raspberrypi

cd ~/git/raspberrypi

git clone https://github.com/raspberrypi/userland.git

cd userland

./buildme

Build the raspicam library

mkdir -p ~/git

cd ~/git

git clone https://github.com/robidouille/robidouille.git

cd robidouille/raspicam_cv

mkdir objs

make

This will create:

libraspicamcv.a: A static raspberry cam library which provides an opencv like interface

libraspicamcv.so: A shared library of the above

raspicamtest: A small test app which uses the static library. Execute with ./raspicamtest. Press Esc to exit.

Using the static library

Add the include path

-I$(HOME)/git/robidouille/raspicam_cv

Link with the raspicamcv library

-L$(HOME)/git/robidouille/raspicam_cv -lraspicamcv

Link with the userland libraries:

-L$(HOME)/git/raspberrypi/userland/build/lib -lmmal_core -lmmal -l mmal_util -lvcos -lbcm_host

In your code add #include "RaspiCamCV.h" and replace:

CvCapture -> RaspiCamCvCapture

cvCreateCameraCapture -> raspiCamCvCreateCameraCapture

cvQueryFrame -> raspiCamCvQueryFrame

cvReleaseCapture -> raspiCamCvReleaseCapture

cvGetCaptureProperty -> raspiCamCvGetCaptureProperty

cvSetCaptureProperty does not currently work. Use the raspiCamCvCreateCameraCapture2 method to specify width, height, framerate, bitrate and monochrome settings.

I use in this way:

===================

e.g.

#include <opencv2/opencv.hpp>

#include "RaspiCamCV.h"

...

g++ `pkg-config --cflags opencv` `pkg-config --libs opencv` -I/root/git/robidouille/raspicam_cv

-L/root/git/robidouille/raspicam_cv -lraspicamcv

-L/root/git/raspberrypi/userland/build/lib -lmmal_core -lmmal -l mmal_util -lvcos -lbcm_host

-o main main.cpp

ok,success!

some problem:

=============

error while loading shared libraries: libraspicamcv.so: cannot open shared object file: No such file or directory

use:

sudo cp ~/git/robidouille/raspicam_cv/libraspicamcv.so /usr/lib