OpenCV&Pi Cam – Step 3 : create your own project

22 Wednesday May 2013

Posted by Pierre in OpenCV and Pi camera

As an example, we will create camcv, a soft strongly inspired from raspistill. It will allow us later to modify source code and play with OpenCV.

create a new folder in your home directory and copy all raspicam apps source code.

cd
mkdir camcv
cd camcv
cp /opt/vc/userland/host_applications/linux/apps/raspicam/* .
mv RaspiStill.c camcv.c
Perhaps a chmod is necessary (sudo chmod 777 camcv.c)

2. remove then content of CMakeLists.txt and replace with :
cmake_minimum_required(VERSION 2.8)
project( camcv )
SET(COMPILE_DEFINITIONS -Werror)
include_directories(/opt/vc/userland/host_applications/linux/libs/bcm_host/include)
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)
add_executable(camcv RaspiCamControl.c RaspiCLI.c RaspiPreview.c camcv.c)
target_link_libraries(camcv /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 )

3. delete CMakeFiles directory if it exits
4. Compile & test
cmake .
make
./camcv -t 1000

5. [optional] Clean file. camcv.c is a long file with a lot of useless lines for us. All these following function could be delete (or commented). Remove of course all call to these functions in the remaining code.
static void dump_status(RASPISTILL_STATE *state)
static int parse_cmdline(int argc, const char **argv, RASPISTILL_STATE *state)
static void display_valid_parameters()
static MMAL_STATUS_T add_exif_tag(RASPISTILL_STATE *state, const char *exif_tag)
static void add_exif_tags(RASPISTILL_STATE *state)
static void store_exif_tag(RASPISTILL_STATE *state, const char *exif_tag)

The existing line default_status(&state); avoid you to parse command line using defaults parameters. Just add a line after this one :
state.filename=”foobar.jpg”;

Recompile and retest. Should work.
At this stage you should watch an old good movie with John Wayne.

262 thoughts on “OpenCV&Pi Cam – Step 3 : create your own project”

sergio ponce said:

January 3, 2017 at 2:26 am

Hi, anybody has the solution for this problema??

root@raspberrypi:/home/camcv# make
Scanning dependencies of target camcv
[ 20%] Building C object CMakeFiles/camcv.dir/RaspiCamControl.c.o
[ 40%] Building C object CMakeFiles/camcv.dir/RaspiCLI.c.o
[ 60%] Building C object CMakeFiles/camcv.dir/RaspiPreview.c.o
[ 80%] Building C object CMakeFiles/camcv.dir/camcv.c.o
[100%] Linking C executable camcv
/usr/bin/ld: CMakeFiles/camcv.dir/camcv.c.o: undefined reference to symbol ‘sem_post@@GLIBC_2.4’
//lib/arm-linux-gnueabihf/libpthread.so.0: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/camcv.dir/build.make:177: recipe for target ‘camcv’ failed
make[2]: *** [camcv] Error 1
CMakeFiles/Makefile2:67: recipe for target ‘CMakeFiles/camcv.dir/all’ failed
make[1]: *** [CMakeFiles/camcv.dir/all] Error 2
Makefile:83: recipe for target ‘all’ failed
make: *** [all] Error 2
root@raspberrypi:/home/camcv#

I did the next step…

1) I copied this CMakefilelists.txt:

# raspistill/raspivid/raspiyuv

cmake_minimum_required(VERSION 2.8)
project( camcv )
SET(COMPILE_DEFINITIONS -Werror)
include_directories(/opt/vc/userland/host_applications/linux/libs/bcm_host/include)
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)
add_executable(camcv RaspiCamControl.c RaspiCLI.c RaspiPreview.c camcv.c)
target_link_libraries(camcv /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 )

2) I Modified the next lines from the file RaspiTex.h

#include
#include
#include
#include

and still have the problem

Thanks!

Reply
- sergio ponce said:
  
  January 3, 2017 at 2:28 am
  
  the values of the #includes are:
  
  Reply
  - sergio ponce said:
    
    January 3, 2017 at 2:29 am
    
    “opt/vc/include/EGL/egl.h”
    “opt/vc/include/EGL/eglext.h”
    “opt/vc/include/GLES/gl.h”
    “opt/vc/include/GLES/glext.h”
- BlackSoul said:
  
  January 7, 2017 at 8:04 pm
  
  add “pthread” to target_link_libraries
  
  Reply
  - bin said:
    
    March 2, 2018 at 9:44 am
    
    how to do ?
RJG2 said:

January 10, 2017 at 2:11 am

Just an FYI, this is my CMakeLists.txt to get things compiling with a fresh install of everything on a Pi 3 B as of the date of this post. Using the PiCam 2 as I go forward with this.

I had to add a bunch of things to the include directories, executables, and link libraries. Oh, and I think I needed to install OpenGL libraries (mesa).

==================================

cmake_minimum_required(VERSION 2.8)

project( mirrorcamcv )

SET(COMPILE_DEFINITIONS -Werror)

include_directories(/opt/vc/userland-master/host_applications/linux/libs/bcm_host/include)

include_directories(/opt/vc/userland-master/host_applications/linux/libs/sm)

include_directories(/opt/vc/userland-master/interface/vcos)

include_directories(/opt/vc/userland-master)

include_directories(/opt/vc/include)

include_directories(/opt/vc/userland-master/interface/vcos/pthreads)

include_directories(/opt/vc/userland-master/interface/vmcs_host/linux)

include_directories(/opt/vc/include/GLES)

include_directories(/opt/vc/include/GLES2)

include_directories(/home/pi/mirrorcamcv)

add_executable(mirrorcamcv RaspiCamControl.c RaspiCLI.c RaspiPreview.c gl_scenes/square.c gl_scenes/mirror.c gl_scenes/models.c gl_scenes/teapot.c gl_scenes/yuv.c gl_scenes/sobel.c gl_scenes/vcsm_square.c tga.c RaspiTexUtil.c RaspiTex.c mirrorcamcv.c)

target_link_libraries(mirrorcamcv /usr/lib/arm-linux-gnueabihf/libm.so /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/libvcsm.so /opt/vc/lib/libGLESv2.so /opt/vc/lib/libGLESv1_CM.so /opt/vc/lib/libEGL.so pthread)

Reply
- Sanket Agarwal said:
  
  January 15, 2017 at 8:23 am
  
  Hello, did you complete this step successfully?
  
  Reply
- KKoych said:
  
  February 15, 2017 at 7:26 pm
  
  I was able to compile using your CMakeLists.txt
  
  I just had to change “mirrocamcv” to “camcv”, as that was the name of my file and project.
  
  Thank you for sharing.
  
  Reply
  - pleriche said:
    
    February 21, 2017 at 11:01 am
    
    I tried that (changing all occurrences of mirrorcamcv to camcv, but assuming scenes/mirror.c should remain) and I got
    No such file or directory
    #include “RaspiTexUtil.h”
    
    I can’t help wondering whether modifying the out-of-the-box CMakeLists.txt would be a more robust approach, deleting what’s not needed and renaming what is, where necessary, but I don’t have the necessary familiarity with either cmake or the code structure to attempt it without a lot of research.
  - Feiyu said:
    
    March 19, 2017 at 1:37 am
    
    @pleriche
    
    RGJ2’s version of CMakeLists worked perfect for me. Please be aware of this line:
    
    include_directories(/home/pi/mirrorcamcv)
    
    RGJ2 has built his project under another directory. Change this line into
    
    include_directories(/opt/vc/userland-master/mirrorcamcv)
    
    And it should work.
Javier said:

January 26, 2017 at 4:31 am

Hey there, this is how my CMakeLists.txt looks:

cmake_minimum_required(VERSION 2.8)
project( camcv )
SET(COMPILE_DEFINITIONS -Werror)
include_directories(/opt/vc/userland/host_applications/linux/libs/bcm_host/include)
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/host_applications/linux/libs/sm)
include_directories(/opt/vc/include/GLES)
include_directories(/opt/vc/include/GLES2)
include_directories(/opt/vc/include)
include_directories(/home/pi/camcv)
add_executable(camcv RaspiCamControl.c RaspiCLI.c RaspiPreview.c camcv.c RaspiTexUtil.c RaspiTex.c gl_scenes/square.c gl_scenes/mirror.c gl_scenes/models.c gl_scenes/teapot.c gl_scenes/yuv.c gl_scenes/sobel.c gl_scenes/vcsm_square.c tga.c)
target_link_libraries(camcv /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/libGLESv1_CM.so /opt/vc/lib/libEGL.so /opt/vc/userland/build/lib/libvcsm.so pthread m)

Reply
- Gaby said:
  
  February 20, 2017 at 7:24 am
  
  This is exactly how my CMakeList.txt looks like. However, when I type in the command line cmake . I get the following error “CMake Erro at CMakeLists.txt:14 (add-executable): Cannot finf source file gl_scenes.quare.c”
  
  Any ideas how to solve this?
  
  Reply
pleriche said:

February 18, 2017 at 10:39 pm

Like everyone else round here I’ve been through innumerable versions of CMakeLists.txt and finally decided to cut to the end of the comments and try the latest and greatest, from Javier 26Jan 2017.

I now get:
CMake Warning at CMakeLists.txt:14 (add_executable):
Cannot generate a safe runtime search path for target camcv because there
is a cycle in the constraint graph:

dir 0 is [/opt/vc/lib]
dir 1 must precede it due to runtime library [libvcsm.so]
dir 1 is [/opt/vc/userland/build/lib]
dir 0 must precede it due to runtime library [libmmal_core.so]

Some of these libraries may not be found correctly.

Since it only flagged it as a Warning I went for broke with a make but got:
RaspiTex.h: No such file or directory

I’ve no idea what’s going on. Can anyone help?

By the way, I’m running under Raspbian Jessie. This has been going on so long I’m sure at least some of the earlier folks must have been using Wheezy.

Reply
Jit said:

March 21, 2017 at 10:01 pm

Finally I made it to taking the picture ‘once.’ The foobar.jpg did appear. Then it would not take the same pic again. I recompiled everything … few times. No luck.

Anyone can help?

Reply
hama said:

April 30, 2017 at 3:28 pm

any idea
CMakeFiles/camcv.dir/camcv.c.o: In function `default_status’:
camcv.c:(.text+0x590): undefined reference to `raspitex_set_defaults’
CMakeFiles/camcv.dir/camcv.c.o: In function `parse_cmdline’:
camcv.c:(.text+0x1598): undefined reference to `raspitex_parse_cmdline’
CMakeFiles/camcv.dir/camcv.c.o: In function `display_valid_parameters’:
camcv.c:(.text+0x17c0): undefined reference to `raspitex_display_help’
CMakeFiles/camcv.dir/camcv.c.o: In function `create_camera_component’:
camcv.c:(.text+0x2428): undefined reference to `raspitex_configure_preview_port’
CMakeFiles/camcv.dir/camcv.c.o: In function `main’:
camcv.c:(.text+0x3938): undefined reference to `raspitex_init’
camcv.c:(.text+0x3c6c): undefined reference to `raspitex_start’
camcv.c:(.text+0x3fec): undefined reference to `raspitex_capture’
camcv.c:(.text+0x449c): undefined reference to `raspitex_stop’
camcv.c:(.text+0x44b4): undefined reference to `raspitex_destroy’
collect2: error: ld returned 1 exit status
CMakeFiles/camcv.dir/build.make:182: recipe for target ‘camcv’ failed
make[2]: *** [camcv] Error 1
CMakeFiles/Makefile2:67: recipe for target ‘CMakeFiles/camcv.dir/all’ failed
make[1]: *** [CMakeFiles/camcv.dir/all] Error 2
Makefile:83: recipe for target ‘all’ failed
make: *** [all] Error 2

Reply
- John Wiggins said:
  
  May 30, 2017 at 6:52 am
  
  I finally got it to make (now to test it) When copying the files from userland/host_applications/linux/apps/raspicam/* make sure you use cp -r to include copying the files in gl_scenes as well
  
  Reply
disheet said:

May 10, 2017 at 10:25 am

why I am getting this error?

pi@raspberrypi:~/camcv $ make
[ 20%] Linking C executable camcv
/usr/bin/ld: CMakeFiles/camcv.dir/camcv.c.o: undefined reference to symbol ‘sem_post@@GLIBC_2.4’
//lib/arm-linux-gnueabihf/libpthread.so.0: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/camcv.dir/build.make:177: recipe for target ‘camcv’ failed
make[2]: *** [camcv] Error 1
CMakeFiles/Makefile2:67: recipe for target ‘CMakeFiles/camcv.dir/all’ failed
make[1]: *** [CMakeFiles/camcv.dir/all] Error 2
Makefile:83: recipe for target ‘all’ failed
make: *** [all] Error 2

Reply
rinku said:

May 23, 2017 at 6:34 am

hi Javier
i tried your code and it showd an error like this:
No rule to make target ‘/opt/vc/userland/build/lib/libvcsm.so’, needed by ‘camcv’. Stop.
CMakeFiles/Makefile2:67: recipe for target ‘CMakeFiles/camcv.dir/all’ failed
make[1]: *** [CMakeFiles/camcv.dir/all] Error 2
Makefile:83: recipe for target ‘all’ failed
can you please help me out????

Reply
pleriche said:

June 1, 2017 at 1:49 pm

I gave up on all this when I discovered that Raspbian Jessie has done it all for you – you can just install OpenCV as a package. With that, I got the Adafruit face-follower working in no time.

Reply
answerChoi said:

September 15, 2017 at 5:38 am

I met below error

make[2]: *** No rule to make target ‘/opt/vc/lib/libGLESv2.so’, needed by ‘camcv’. Stop.
CMakeFiles/Makefile2:67: recipe for target ‘CMakeFiles/camcv.dir/all’ failed
make[1]: *** [CMakeFiles/camcv.dir/all] Error 2
Makefile:83: recipe for target ‘all’ failed
make: *** [all] Error 2

My OS version is Rasbian STRETCH

I searching file but I can’t

Reply
bin said:

March 2, 2018 at 9:03 am

when i do 4 step,I got the error :
pi@raspberrypi:~/camcv $ make
Scanning dependencies of target camcv
[ 20%] Building C object CMakeFiles/camcv.dir/RaspiCamControl.c.o
/home/pi/camcv/RaspiCamControl.c:33:33: fatal error: interface/vcos/vcos.h: No such file or directory
#include “interface/vcos/vcos.h”
^
compilation terminated.
CMakeFiles/camcv.dir/build.make:62: recipe for target ‘CMakeFiles/camcv.dir/RaspiCamControl.c.o’ failed
make[2]: *** [CMakeFiles/camcv.dir/RaspiCamControl.c.o] Error 1
CMakeFiles/Makefile2:67: recipe for target ‘CMakeFiles/camcv.dir/all’ failed
make[1]: *** [CMakeFiles/camcv.dir/all] Error 2
Makefile:83: recipe for target ‘all’ failed
make: *** [all] Error 2
Any ideas how to solve this?
thx.

Reply
Daryl_123 said:

March 15, 2018 at 12:30 am

Hey guys, I am having trouble on the first step. I try to run cp /opt/vc/userland/host_applications/linux/apps/raspicam/* .
mv RaspiStill.c camcv.c and first got cp: target ‘camcv.c’ is not a directory. I tried just camcv, same thing. I left the camcv directory I had already made and tried again and got cp cannot stat cp /opt/vc/userland/host_applications/linux/apps/raspicam/* .no such file or directory
cp cannnot stat .mv no such file or directory
cp cannot stat raspistill no such file or directory, I understrand i dont have RaspiStilll.c, i kept getting no file or directory. I am using an RPI 3, and yes, I followed to the files directory and there is a RaspiStill.c file in the raspicam folder. What is wrong???

Reply
pat054 said:

August 22, 2018 at 5:49 pm

Hello,

when I run the “cp / opt / vc / userland / host_applications / linux / apps / raspicam / *” command, I have the following problem:
cp: missing destination file operand after ‘/ opt / vc / userland / host_applications / linux / apps / raspicam / *’
Try ‘cp –help’ for more information.

Help: What is missing?

Reply