In this step, we will modify our camcv code to

  • remove the preview display provided by MMAL layer
  • copy the camera buffer to a CvMat object
  • link CvMat to a IplImage object and display it
  • do some cleaning to remove all useless code (for us)

1. Download the camcv.c file here and note following comments/change : http://raufast.org/download/camcv.c

Lines 61+ : add OpenCV Includes
// *** PR : ADDED for OPENCV
#include <cv.h>
#include <highgui.h>

Line 156 : modify init values for test (size of file)
// *** PR : modif for demo purpose : smaller image
state->timeout = 1000; // 5s delay before take image
state->width = 320;//2592;
state->height = 200; //1944;

Line 230+ : in static void encoder_buffer_callback function. This is the core of the modification. This function is a callback, call to get the image in the queue. buffer contains the picture from the camera.

// *** PR : OPEN CV Stuff here !
// create a CvMat empty structure, with size of the buffer.
CvMat* buf = cvCreateMat(1,buffer->length,CV_8UC1);

// copy buffer from cam to CvMat
buf->data.ptr = buffer->data;

// decode image (interpret jpg)
IplImage *img = cvDecodeImage(buf, CV_LOAD_IMAGE_COLOR);

// we can save it !
cvSaveImage(“foobar.bmp”, img,0);
// or display it
cvNamedWindow(“camcvWin”, CV_WINDOW_AUTOSIZE);
cvShowImage(“camcvWin”, img );
cvWaitKey(0);

Line 711/726/823 : we remove the native preview window (replaced by opencv window)
// *** PR : we don’t want preview
camera_preview_port = NULL;

// PR : we don’t want preview
// status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);

// mmal_connection_destroy(state.preview_connection);

2. compile, run and check if your “foobar.bmp” file is created and if a nice window shows your picture taken by Pi Cam ! (press key to stop)

picture taken with Pi cam and displayed with opencv !

picture taken with Pi cam and displayed with opencv !

At this stage you should be very enthousiastic ! You can control your rpi camera with OpenCV ! Beautiful are bits, trees and the Pi.

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