樹莓派入手設定+opencv+qt配置開發環境
最近2個月做了一個基於單目相機跟蹤物體位姿的橫向專案，所用到的硬體主要有Raspberry Pi 3B+,Raspberry Pi Camera V2紅外夜視相機，以及嘉肯光電定製的紅外環形光源。
初次接觸樹莓派，配置上踩過一些坑，現記錄下來：
1、裝系統。由於是工業專案，追求魯棒性，所以安裝的是樹莓派官方推薦的Debain系統，這也是linux系統之一。在自己pc上通過SDFormatter工具先格式化tf卡，然後使用Win32DiskImager工具安裝下載好的Debain映象檔案。
2、開機後配置：在config中拓展系統空間、改位置、時區、鍵盤佈局、enable camera、enable SSH、enable VNC，參考此連結
3、下載並編譯opencv：按照此連結的步驟https://blog.csdn.net/leaves_joe/article/details/67656340，make之前注意：新增contrib選項編譯的時候可能會報錯，如果報錯，去掉此目錄就行（這個是opencv的拓展庫，一般用不到），另外把c加上。注意，編譯時間要6個小時，中間可能會出錯，不要懷疑，重複試，可以先sudo apt-get update、upgrade編譯的時候千萬不要更改下載源。編譯成功後，編譯生成的標頭檔案在/usr/local/include，生成的動態連結庫so檔案在/usr/local/lib，以後移植的時候，可以直接把這些檔案拷貝到對應目錄中，不用再麻煩的編譯了；
4、Qt安裝:sudo apt-get install qt5-default、qtcreator
在選單欄Tools->Options->Build&Run，進去之後，單擊Compilers，在選擇Add->GCC->Compiler Path為/usr/bin/gcc. 之後單擊Kits，Manual->Compiler->GCC,Debugger: System GDB at /usr/bin/gdb, Qt Version: Qt 5.5.1(qt5).之後選擇Apply，再選擇OK（若程式碼從win下移植到linux，漢字註釋會亂碼，選擇GBK即可）
對raspicam進行編譯（我第一次編譯的時候失敗的原因是/tmp檔案不能寫入，解決方法：萬能的重啟）
cd raspicam #庫下載位置
mkdir build
cd buil
cmake ..
make
sudo make install
sudo ldconfig
6、新建qt 工程測試：在pro檔案中加入如下內容：
INCLUDEPATH += /usr/local/include \
/usr/local/include/opencv \
/usr/local/include/opencv2 \
/usr/local/include/raspicam
LIBS += /usr/local/lib/libopencv_highgui.so \
/usr/local/lib/libopencv_core.so \
/usr/local/lib/libopencv_imgproc.so \
/usr/local/lib/libopencv_video.so \
/usr/local/lib/libopencv_videoio.so \
/usr/local/lib/libopencv_videostab.so \
/usr/local/lib/libraspicam.so \
/usr/local/lib/libraspicam_cv.so \
-L/usr/local/lib \
-lopencv_core \
-lopencv_imgcodecs \
-lopencv_highgui \
-lopencv_video \
-lopencv_videoio \
-lopencv_videostab \
-lraspicam \
-lraspicam_cv
7、開始測試
測試程式碼1
/* 這是下載的庫檔案中opencv測試的例子*/
#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;
}
測試程式碼2
#include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/videoio.hpp"
#include <iostream>
#include <raspicam/raspicam_cv.h>
using namespace cv;
using namespace std;
int main()
{
raspicam::RaspiCam_Cv Camera;
cout << "Built with OpenCV " << CV_VERSION << endl;
Mat image;
//set camera params
Camera.set( CV_CAP_PROP_FORMAT, CV_8UC1 );
//Open camera
if (!Camera.open()) {cout<<"Error opening the camera"<<endl;return -1;}
//Start capture
else{
while(1)
{
Camera.grab();
Camera.retrieve ( image);
if(image.empty())
break;
imshow("Sample", image);
if(waitKey(10) >= 0)
break;
waitKey(100);
}
}
return 0;
}