raspicam_tracking with opencv

• step1: install your raspcam on raspberry pi like this and enter the raspi-config enable cam

  
  <img src=”/images/raspcam_track/2.jpg” alt=”替代文本” title=”2.jpg” width=auto />

• step2: compilation

  1. get source code here
  2. unzip the file and copy the directory under /opt/vc
  3. go to opt/vc and type : sed -i ‘s/if (DEFINED CMAKE_TOOLCHAIN_FILE)/if (NOT DEFINED CMAKE_TOOLCHAIN_FILE)/g’ makefiles/cmake/arm-linux.cmake

  4. create a build directory and compile (it takes a while)

      string &operator+(const string& A,const string& B) //cpp TEST
     

      sudo mkdir build
      cd build
      sudo cmake -DCMAKE_BUILD_TYPE=Release ..
      sudo make
      sudo make install
     

  5. Binary should be under /opt/vc/bin
     Go to /opt/vc/bin and test one file typing : ./raspistill -t 3000

• step3: creat a project

  1. here is my source code passwd 069e

  2. remove then content of CMakeLists.txt and replace with :

     project( YOUR CODE NAME ) find_package( OpenCV REQUIRED ) include_directories(/opt/vc/userland/host_applications/linux/libs/bcm_host/include) include_directories(/opt/vc/userland/host_applications/linux/apps/raspicam/gl_scenes) include_directories(/opt/vc/userland/interface/vcos) include_directories(/opt/vc/userland) include_directories(/opt/vc/userland/interface/vcos/pthreads) include_directories(/opt/vc/userland/interface/vmcs_host/linux) include_directories(/opt/vc/userland/interface/khronos/include) include_directories(/opt/vc/userland/interface/khronos/common) include_directories(./gl_scenes) include_directories(.) include_directories(/opt/vc/include) include_directories(/opt/vc/include/interface/vcos) include_directories(/opt/vc/include/interface/vcos/pthreads) include_directories(/opt/vc/include/interface/vmcs_host/linux) add_executable( YOUR CODE NAME `YOUR CODE NAME.cpp` RaspiCamControl.c RaspiCLI.c RaspiPreview.c RaspiTex.c RaspiTexUtil.c gl_scenes/teapot.c gl_scenes/models.c gl_scenes/square.c gl_scenes/mirror.c gl_scenes/yuv.c gl_scenes/sobel.c tga.c) target_link_libraries( `YOUR CODE NAME` /opt/vc/lib/libmmal_core.so /opt/vc/lib/libmmal_util.so /opt/vc/lib/libmmal_vc_client.so /opt/vc/lib/libvcos.so /opt/vc/lib/libbcm_host.so /opt/vc/lib/libGLESv2.so /opt/vc/lib/libEGL.so pthread ${OpenCV_LIBS} )

  3. compile

       cmake .
       make
       ./YOUR CODE NAME
     

  4. adjust HSV value

     <img src=”/images/raspcam_track/4.jpg” alt=”替代文本” title=”4.jpg” width=auto />

  5. it track only one color and one things

     <img src=”/images/raspcam_track/6.jpg” alt=”替代文本” title=”6.jpg” width=auto />

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