This library allows to use the Raspberry Pi Camera.
Thanks To -Tom Low sebaffle@gmail.com : for his contribution in version 0.1.5
0.0.1 Initial libary
Download the file to your raspberry. Then, uncompress the file and compile
tar xvzf raspicamxx.tgz cd raspicamxx mkdir build cd build cmake ..
At this point you'll see something like
-- CREATE OPENCV MODULE=1
-- CMAKE_INSTALL_PREFIX=/usr/local
-- REQUIRED_LIBRARIES=/opt/vc/lib/libmmal_core.so;/opt/vc/lib/libmmal_util.so;/opt/vc/lib/libmmal.so
-- Change a value with: cmake -D
If OpenCV development files are installed in your system, then you see -- CREATE OPENCV MODULE=1 otherwise this option will be 0 and the opencv module of the library will not be compiled.
Finally compile and install make sudo make install
After that, you have the programs raspicam_test and raspicam_cv_test (if opencv was enabled). Run the first program to check that compilation is ok.
You can check that the library has installed the header files under /usr/local/lib/raspicam , and the libraries in /usr/local/lib/libraspicam.so and /usr/local/lib/libraspicam_cv.so (if opencv support enabled)
We provide a simple example to use the library. Create a directory for our own project.
First create a file with the name simpletest_raspicam.cpp and add the following code
/* /
using namespace std;
int main ( int argc,char *argv ) {
raspicam::RaspiCam Camera; //Cmaera object
//Open camera
cout<<"Opening Camera..."<<endl;
if ( !Camera.open()) {cerr<<"Error opening camera"<<endl;return -1;}
//wait a while until camera stabilizes
cout<<"Sleeping for 3 secs"<<endl;
sleep(3);
//capture
Camera.grab();
//allocate memory
unsigned char data=new unsigned char[ Camera.getImageTypeSize ( raspicam::RASPICAM_FORMAT_RGB )];
//extract the image in rgb format
Camera.retrieve ( data,raspicam::RASPICAM_FORMAT_RGB );//get camera image
//save
std::ofstream outFile ( "raspicam_image.ppm",std::ios::binary );
outFile<<"P6\n"<<Camera.getWidth() <<" "<<Camera.getHeight() <<" 255\n";
outFile.write ( ( char* ) data, Camera.getImageTypeSize ( raspicam::RASPICAM_FORMAT_RGB ) );
cout<<"Image saved at raspicam_image.ppm"<<endl;
//free resrources
delete data;
return 0;
}
//
Now, create a file named CMakeLists.txt and add:
#####################################
cmake_minimum_required (VERSION 2.8)
project (raspicam_test)
find_package(raspicam REQUIRED)
add_executable (simpletest_raspicam simpletest_raspicam.cpp)
target_link_libraries (simpletest_raspicam ${raspicam_LIBS})
#####################################
Finally, create,compile and execute mkdir build cd build cmake .. make ./simpletest_raspicam
A more complete sample project is provided in SourceForge.
If the OpenCV is found when compiling the library, the libraspicam_cv.so module is created and the RaspiCam_Cv class available. Take a look at the examples in utils to see how to use the class. In addition, we show here how you can use the RaspiCam_Cv in your own project using cmake.
First create a file with the name simpletest_raspicam_cv.cpp and add the following code
using namespace std;
int main ( int argc,char **argv ) {
time_t timer_begin,timer_end;
raspicam::RaspiCam_Cv Camera;
cv::Mat image;
int nCount=100;
//set camera params
Camera.set( CV_CAP_PROP_FORMAT, CV_8UC1 );
//Open camera
cout<<"Opening Camera..."<<endl;
if (!Camera.open()) {cerr<<"Error opening the camera"<<endl;return -1;}
//Start capture
cout<<"Capturing "<<nCount<<" frames ...."<<endl;
time ( &timer_begin );
for ( int i=0; i<nCount; i++ ) {
Camera.grab();
Camera.retrieve ( image);
if ( i%5==0 ) cout<<"\r captured "<<i<<" images"<<std::flush;
}
cout<<"Stop camera..."<<endl;
Camera.release();
//show time statistics
time ( &timer_end ); /* get current time; same as: timer = time(NULL) */
double secondsElapsed = difftime ( timer_end,timer_begin );
cout<< secondsElapsed<<" seconds for "<< nCount<<" frames : FPS = "<< ( float ) ( ( float ) ( nCount ) /secondsElapsed ) <<endl;
//save image
cv::imwrite("raspicam_cv_image.jpg",image);
cout<<"Image saved at raspicam_cv_image.jpg"<<endl;}
Now, create a file named CMakeLists.txt and add:
#####################################
cmake_minimum_required (VERSION 2.8)
project (raspicam_test)
find_package(raspicam REQUIRED)
find_package(OpenCV)
IF ( OpenCV_FOUND AND raspicam_CV_FOUND)
MESSAGE(STATUS "COMPILING OPENCV TESTS")
add_executable (simpletest_raspicam_cv simpletest_raspicam_cv.cpp)
target_link_libraries (simpletest_raspicam_cv ${raspicam_CV_LIBS})
ELSE()
MESSAGE(FATAL_ERROR "OPENCV NOT FOUND IN YOUR SYSTEM")
ENDIF()
#####################################
Finally, create,compile and execute mkdir build cd build cmake .. make ./simpletest_raspicam_cv