Änderungen Gruppe 30_10_2022 V2

2022-10-30 20:01:47 +01:00
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+
+This library allows to use the Raspberry Pi Camera. 
+
+* Main features:
+ - Provides  class RaspiCam for easy and full control of the camera
+ - Provides class  RaspiCam_Cv for easy control of the camera with OpenCV.
+ - Provides class  RaspiCam_Still and RaspiCam_Still_Cv for controlling the camera in still mode
+ - Easy compilation/installation using cmake.
+ - No need to install development file of userland. Implementation is hidden.
+ - Many examples 
+
+* ChangeLog
+0.1.3
+  - Native support for BGR and RGB in opencv classes. No need to do conversion anymore.
+0.1.2
+  - Solved deadlock error in grab
+0.1.1
+  - Moved to c++11  mutex  and condition_variables. Bug fixed that caused random dead lock condition in grab()
+0.1.0
+  - Bug fixed in release for RapiCam and RaspiCam_Cv
+0.0.7
+  - Added classes  RaspiCam_Still and RaspiCam_Still_Cv for still camera mode
+0.0.6
+  - Bug ins cv camera corrected
+0.0.5 
+  - getImageBuffeSize change by getImageBufferSize (sorry)
+  - Change in capture format. Now, it is able to capture in RGB at high speed. 
+  - The second parameter of retrieve is now useless. Format must be specified in Raspicam::(set/get)Format before opening the camera and can not be change during operation.
+  - RaspiCam_Cv captures in BGR, which is obtained by converting from RGB. Therefore,  performance drops to half repect to the RaspiCam in RGB mode when using 1280x960.
+0.0.4
+  - Added shutter speed camera control
+  - OpenCv set/get params are now scaled to [0,100]
+  - Added more command line options in test programs
+0.0.3
+  - Fixed error in color conversion (rgb and bgr were swapped)
+  - Added command line options in raspicam_test to adjust exposure
+  - Changes in RaspiCam_Cv so that exposure can be adjusted. Very simply.
+0.0.2
+ - Decoupled opening from the start of capture in RaspiCam if desired. RapiCam::open and RaspiCam::startCapture
+ - Added  function RaspiCam::getId and RaspiCam_Cv::getId
+ - Added a new way to convert yuv2rgb which is a bit faster.Thanks to Stefan Gufman (gruffypuffy at gmail dot com)
+ - Added command line option -test_speed to utils programs (do not save images to memory)
+ - Removed useless code in private_impl
+ 
+0.0.1
+Initial libary
+
+
+* Compiling
+
+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<Variable>=<Value>
+-- 
+-- Configuring done
+-- Generating done
+-- Build files have been written to: /home/pi/raspicam/trunk/build
+
+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)
+
+* Using it in your projects
+
+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
+
+/**
+*/
+#include <ctime>
+#include <unistd.h>
+#include <fstream>
+#include <iostream>
+#include <raspicam/raspicam.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;
+}
+//
+
+Now, create a file named CMakeLists.txt and add:
+#####################################
+cmake_minimum_required (VERSION 2.8) 
+project (raspicam_test)
+set (CMAKE_MODULE_PATH "/usr/local/lib/cmake/${CMAKE_MODULE_PATH}")
+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.
+
+* OpenCV Interface
+
+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
+
+#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;
+}
+
+
+
+Now, create a file named CMakeLists.txt and add:
+#####################################
+cmake_minimum_required (VERSION 2.8) 
+project (raspicam_test)
+set (CMAKE_MODULE_PATH "/usr/local/lib/cmake/${CMAKE_MODULE_PATH}")
+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
+