additional experimental support for raspberry pi camera

external_src/raspicam-0.1.3/CMakeLists.txt

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+# ----------------------------------------------------------------------------
+#   Basic Configuration
+# ----------------------------------------------------------------------------
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+
+PROJECT(raspicam)
+set(PROJECT_VERSION "0.1.2")
+string(REGEX MATCHALL "[0-9]" PROJECT_VERSION_PARTS "${PROJECT_VERSION}")
+list(GET PROJECT_VERSION_PARTS 0 PROJECT_VERSION_MAJOR)
+list(GET PROJECT_VERSION_PARTS 1 PROJECT_VERSION_MINOR)
+list(GET PROJECT_VERSION_PARTS 2 PROJECT_VERSION_PATCH)
+set(PROJECT_SOVERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
+
+#------------------------------------------------------
+# Build type
+#------------------------------------------------------
+
+IF(NOT CMAKE_BUILD_TYPE )
+   SET( CMAKE_BUILD_TYPE "Release" )
+ENDIF()
+
+#------------------------------------------------------
+# Lib Names and Dirs
+#------------------------------------------------------
+
+    # Postfix of so's:
+set(PROJECT_DLLVERSION)
+SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_INSTALL_PREFIX}/lib/cmake/ /usr/lib/cmake)
+
+OPTION(BUILD_SHARED_LIBS 	"Set to OFF to build static libraries" ON)
+OPTION(BUILD_UTILS 	"Acitvates/Deactivates building utils  libraries" ON)
+
+# ----------------------------------------------------------------------------
+#   Find Dependencies
+# ----------------------------------------------------------------------------
+ #Add include to dependencies dir
+include_directories(${PROJECT_SOURCE_DIR}/dependencies ${PROJECT_SOURCE_DIR}/dependencies/mmal  ${PROJECT_SOURCE_DIR}/dependencies/vcos)
+#find the mmal libraries(I use conditional because I normally comile in pc)
+
+if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm*) 
+FIND_LIBRARY(mmalcore_LIBS NAMES mmal_core PATHS /opt/vc/lib)
+FIND_LIBRARY(mmalutil_LIBS NAMES mmal_util PATHS /opt/vc/lib)
+FIND_LIBRARY(mmal_LIBS NAMES mmal PATHS /opt/vc/lib)
+IF( (NOT mmal_LIBS ) OR (NOT mmalutil_LIBS) OR (NOT mmalcore_LIBS) )
+    MESSAGE(FATAL_ERROR "Could not find mmal libraries")
+ ENDIF()
+ set(REQUIRED_LIBRARIES ${REQUIRED_LIBRARIES} ${mmalcore_LIBS} ${mmalutil_LIBS} ${mmal_LIBS}  )
+ENDIF()
+
+#If opencv installed, creates the libraspicam_cv library module
+FIND_PACKAGE(OpenCV)
+IF(OpenCV_FOUND)
+  include_directories(${OpenCV_INCLUDE_DIRS})
+  SET(LIB_COMPONENTS ${LIB_COMPONENTS} ${PROJECT_NAME}_cv)
+  SET(PROJECT_CV_CREATED_FLAG "YES")  
+ENDIF()
+
+
+
+# ----------------------------------------------------------------------------
+#   PROJECT CONFIGURATION
+#   force some variables that could be defined in the command line to be written to cache
+# ----------------------------------------------------------------------------
+OPTION(INSTALL_DOC 	"Set to ON to build/install Documentation" OFF)
+IF (INSTALL_DOC)
+    FIND_PACKAGE(Doxygen REQUIRED)
+    MESSAGE( STATUS "INSTALL_DOC:         ${INSTALL_DOC} ")
+    INCLUDE("${PROJECT_SOURCE_DIR}/generateDoc.cmake")
+    GENERATE_DOCUMENTATION(${PROJECT_SOURCE_DIR}/dox.in)
+ENDIF()
+
+
+# ----------------------------------------------------------------------------
+#   Uninstall target, for "make uninstall"
+# ----------------------------------------------------------------------------
+CONFIGURE_FILE( "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY)
+ADD_CUSTOM_TARGET(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
+
+# ----------------------------------------------------------------------------
+# create configuration file from .in file (If you use windows take care with paths)
+# ----------------------------------------------------------------------------
+CONFIGURE_FILE("${PROJECT_SOURCE_DIR}/config.cmake.in" "${PROJECT_BINARY_DIR}/Find${PROJECT_NAME}.cmake")
+CONFIGURE_FILE("${PROJECT_SOURCE_DIR}/config.cmake.in" "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake")
+INSTALL(FILES "${PROJECT_BINARY_DIR}/Find${PROJECT_NAME}.cmake" DESTINATION lib/cmake/ )
+INSTALL(FILES "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" DESTINATION lib/cmake/ )
+
+# ----------------------------------------------------------------------------
+#   Program Optimization and debug (Extracted from OpenCV)
+# ----------------------------------------------------------------------------
+set(WARNINGS_ARE_ERRORS 		OFF CACHE BOOL "Treat warnings as errors")
+set(WHOLE_PROGRAM_OPTIMIZATION 	OFF CACHE BOOL "Flags for whole program optimization.")
+set(EXTRA_C_FLAGS "")
+set(EXTRA_C_FLAGS_RELEASE "")
+set(EXTRA_C_FLAGS_DEBUG "")
+set(EXTRA_EXE_LINKER_FLAGS "")
+set(EXTRA_EXE_LINKER_FLAGS_RELEASE "")
+set(EXTRA_EXE_LINKER_FLAGS_DEBUG "")
+
+IF(CMAKE_COMPILER_IS_GNUCXX OR MINGW)
+    set(ENABLE_PROFILING 		OFF CACHE BOOL "Enable profiling in the GCC compiler (Add flags: -g -pg)")
+    set(USE_OMIT_FRAME_POINTER 	ON CACHE BOOL "Enable -fomit-frame-pointer for GCC")
+    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm*) # We can use only -O2 because the -O3 causes gcc crash
+        set(USE_O2 ON CACHE BOOL "Enable -O2 for GCC")
+        set(USE_FAST_MATH ON CACHE BOOL "Enable -ffast-math for GCC")
+    endif()
+    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES powerpc*)
+        set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
+        set(USE_POWERPC ON CACHE BOOL "Enable PowerPC for GCC")
+    endif ()
+    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES amd64* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64*)
+        set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
+        set(USE_FAST_MATH ON CACHE BOOL "Enable -ffast-math for GCC")
+        set(USE_MMX ON CACHE BOOL "Enable MMX for GCC")
+        set(USE_SSE ON CACHE BOOL "Enable SSE for GCC")
+        set(USE_SSE2 ON CACHE BOOL "Enable SSE2 for GCC")
+        set(USE_SSE3 ON CACHE BOOL "Enable SSE3 for GCC")
+    endif()
+    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES i686* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES x86)
+        set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
+        set(USE_FAST_MATH ON CACHE BOOL "Enable -ffast-math for GCC")
+        set(USE_MMX ON CACHE BOOL "Enable MMX for GCC")
+        set(USE_SSE OFF CACHE BOOL "Enable SSE for GCC")
+        set(USE_SSE2 OFF CACHE BOOL "Enable SSE2 for GCC")
+        set(USE_SSE3 OFF CACHE BOOL "Enable SSE3 for GCC")
+    endif ()
+
+    set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Wall")
+
+    if(WARNINGS_ARE_ERRORS)
+        set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Werror")
+    endif()
+
+    # The -Wno-long-long is required in 64bit systems when including sytem headers.
+    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES amd64*)
+		set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Wno-long-long")
+    endif()
+
+    # Whole program optimization
+    if(WHOLE_PROGRAM_OPTIMIZATION)
+        set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -fwhole-program --combine")
+    endif()
+
+    # Other optimizations
+    if(USE_OMIT_FRAME_POINTER)
+       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -fomit-frame-pointer")
+    endif()
+    if(USE_O2)
+       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -O2")
+    endif()
+    if(USE_O3)
+       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -O3")
+    endif()
+    if(USE_FAST_MATH)
+       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -ffast-math")
+    endif()
+    if(USE_POWERPC)
+       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -mcpu=G3 -mtune=G5")
+    endif()
+    if(USE_MMX)
+       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -mmmx")
+    endif()
+    if(USE_SSE)
+       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse")
+    endif()
+    if(USE_SSE2)
+       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse2")
+    endif()
+    if(USE_SSE3 AND NOT MINGW) # SSE3 should be disabled under MingW because it generates compiler errors
+       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse3")
+    endif()
+
+    if(ENABLE_PROFILING)
+        set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -pg -g")
+    else()
+        if(NOT APPLE)
+            set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -ffunction-sections")
+        endif()
+    endif()
+
+    # Parallel mode
+    if(ENABLE_OPENMP)
+        set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS}  -fopenmp")
+        set(LINKER_LIBS ${LINKER_LIBS} gomp)
+    endif()
+
+    set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -DNDEBUG")
+    set(EXTRA_C_FLAGS_DEBUG "-g3 -O0 -DDEBUG -D_DEBUG -W -Wextra -Wno-return-type")
+
+    MESSAGE( STATUS "-------------------------------------------------------------------------------" )
+    message( STATUS "GNU COMPILER")
+    MESSAGE( STATUS "-------------------------------------------------------------------------------" )
+
+ENDIF	()
+
+IF(${CMAKE_SYSTEM_PROCESSOR} MATCHES armv6l ) ##BEAGLE BOARD
+  SET(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -mcpu=arm1176jzf-s  -mfpu=vfp -mfloat-abi=hard -ftree-vectorize")  
+ENDIF()
+
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -Wl,--no-as-needed")#for using condition variables
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${EXTRA_C_FLAGS} ")
+SET(CMAKE_CXX_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE}  -lpthread")
+SET(CMAKE_CXX_FLAGS_DEBUG "${EXTRA_C_FLAGS_DEBUG}  -lpthread")
+SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${EXTRA_EXE_LINKER_FLAGS}")
+SET(CMAKE_EXE_LINKER_FLAGS_RELEASE "${CMAKE_EXE_LINKER_FLAGS_RELEASE} ${EXTRA_EXE_LINKER_FLAGS_RELEASE}")
+SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "${CMAKE_EXE_LINKER_FLAGS_DEBUG} ${EXTRA_EXE_LINKER_FLAGS_DEBUG}")
+
+
+
+
+#------------------------------------------------
+# DIRS
+#------------------------------------------------
+ADD_SUBDIRECTORY(src)
+IF(BUILD_UTILS)
+ADD_SUBDIRECTORY(utils)
+ENDIF()
+
+
+# ----------------------------------------------------------------------------
+# display status message for important variables
+# ----------------------------------------------------------------------------
+message( STATUS )
+MESSAGE( STATUS "-------------------------------------------------------------------------------" )
+message( STATUS "General configuration for ${PROJECT_NAME} ${PROJECT_VERSION}")
+MESSAGE( STATUS "-------------------------------------------------------------------------------" )
+message( STATUS )
+message("    Built as dynamic libs?:" ${BUILD_SHARED_LIBS})
+message("    Compiler:"                   "${CMAKE_COMPILER}"   "${CMAKE_CXX_COMPILER}")
+message( STATUS "C++ flags (Release):       ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_RELEASE}")
+message( STATUS "C++ flags (Debug):         ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_DEBUG}")
+message( STATUS "CMAKE_CXX_FLAGS:         ${CMAKE_CXX_FLAGS}")
+message( STATUS "CMAKE_BINARY_DIR:         ${CMAKE_BINARY_DIR}")
+
+MESSAGE( STATUS )
+MESSAGE( STATUS "CMAKE_SYSTEM_PROCESSOR = ${CMAKE_SYSTEM_PROCESSOR}" )
+MESSAGE( STATUS "BUILD_SHARED_LIBS = ${BUILD_SHARED_LIBS}" )
+MESSAGE( STATUS "BUILD_UTILS = ${BUILD_UTILS}" )
+
+MESSAGE( STATUS "CMAKE_INSTALL_PREFIX = ${CMAKE_INSTALL_PREFIX}" )
+MESSAGE( STATUS "CMAKE_BUILD_TYPE = ${CMAKE_BUILD_TYPE}" )
+MESSAGE( STATUS "CMAKE_MODULE_PATH = ${CMAKE_MODULE_PATH}" )
+
+MESSAGE( STATUS )
+MESSAGE( STATUS "CREATE OPENCV MODULE=${OpenCV_FOUND}")
+MESSAGE( STATUS "CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}")
+MESSAGE( STATUS "REQUIRED_LIBRARIES=${REQUIRED_LIBRARIES}")
+MESSAGE( STATUS )
+MESSAGE( STATUS )
+MESSAGE( STATUS "Change a value with: cmake -D<Variable>=<Value>" )
+MESSAGE( STATUS )

external_src/raspicam-0.1.3/Changelog

@@ -0,0 +1,33 @@
+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