raspicam : C++ opencv 调用树莓派的 PiCamera

raspicam这个库允许我们掉用 Raspberry   PiCamera.

可以直接去https://sourceforge.net/projects/raspicam/files/  这个网址下载库文件

提示：

对树莓派进行固件升级   执行命令（sudo  rpi-update )

主要特性

 - 提供类 RaspiCam 来简单完全的控制PiCamera

 - Provides class  RaspiCam_Still and RaspiCam_Still_Cv for controlling the camera in still mode

 - 提供类RaspiCam_Cv 来方便的调用opencv来控制PiCamera

 - Provides class  RaspiCam_Still and RaspiCam_Still_Cv for controlling the camera in still mode

 - 提供类 RaspiCam_Still 和 类RaspiCam_Still_Cv 为了调节相机的状况

raspicam的安装

1.下载最新的raspicam安装包之后 直接解压缩  

2.将解压之后的文件拖到 树莓派的用户目录下

3，（我下载的是raspicam-0.1.3 直接以此为例）  执行以下命令编译文件包

cd raspicam-0.1.3

mkdir build

cd build

cmake ..（cmake 跟..之间有空格的哦）

完成之后你将会看到向下面的文字

-- 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<Variable>=<Value>

-- -- Configuring done-- Generating done

-- Build files have been written to:

/home/pi/raspicam/trunk/buildIf 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.

最后编译，安装，更新ldconfig

make

sudo make install

sudo ldconfig

下面编写两个简单的示例程序

文件命名为simpletest_raspicam.cpp

#include <ctime>

#include <fstream>

#include <iostream>

#include <raspicam/raspicam.h>
#include <unistd.h>

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;

}

执行编译命令

g++ simpletest_raspicam.cpp -o  simpletest_raspicam -I/usr/local/include  -lraspicam
./simpletest_raspicam

第二个示例将会调用opencv接口

#include <ctime>

#include <iostream>

#include <raspicam/raspicam_cv.h>

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;

}

执行编译命令

g++  simpletest_raspicam_cv.cpp -o   simpletest_raspicam_cv -I/usr/local/include/  -lraspicam  -lraspicam_cv   -lopencv_core -lopencv_highgui  -lopencv_imgcodecs 

 
thanks