Raspberry Camera API: Difference between revisions

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=== Probably replaced by LIBCAMERA - on bullseye version of Raspberry Pi Linux ===
== Camera use ==


Raspberry pi operating system version "bullseye" uses a new camera library.


===Raspicam===
The info is taken from https://www.raspberrypi.com/documentation/accessories/camera.html#libcamera-and-libcamera-apps?ref=https://githubhelp.com


To be used from C++ direct or through openCV.
=== LibCamera ===


A rather short raspberry pi camera API is available from https://www.uco.es/investiga/grupos/ava/node/40.
If not already installed, install with


And can be downloaded from https://sourceforge.net/projects/raspicam/files/,
sudo apt install libcamera-apps


or get the file from sourceforge with no GUI, with (there may be newer versions):
It should not be needed to install libcamera-dev


cd ~/Downloads
==== Camera streaming ====
wget --no-check-certificate -O raspicam-0.1.9.zip https://downloads.sourceforge.net/project/raspicam/raspicam-0.1.9.zip?r=https%3A%2F%2Fsourceforge.net%2Fprojects%2Fraspicam%2F%3Fsource%3Dtyp_redirect&ts=1486483484&use_mirror=netix


Once fetched and available on the raspberry, then
The libcamera library can do streaming out of the box with the command:
Unpack and install:
unzip raspicam-0.1.9.zip
cd raspicam-0.1.9
mkdir build
cd build
cmake ..
make -j3
sudo make install
sudo ldconfig


The library is installed in /usr/local, and therefore to make cmake find it the path needs to be added to startup configuration, in file ~/.bashrc
libcamera-vid -n -t 0 --inline --listen --rotation 0 --framerate 30 --width 1920 --height 1080 -o tcp://0.0.0.0:8888


cd
It will listen to port 8888 for TCP connections on the localhost.
nano ~/.bashrc
add at the end:
export CMAKE_PREFIX_PATH=/usr/local/lib
source ~/.bashrc  # to implement export


Test with openCV
From another PC the stream can be displayed by VLC, (or the same parameter in the VLC "media" -> "open network stream")
  raspicam_cv_test
   
That takes 100 images and saves 3.
vlc tcp/h264://192.168.2.14:8888


=== Camera streamer ===
if 192.168.2.14 is the IP of the Raspberry pi.
The streaming will terminate when the VLC stops the connection.


To download the project you will need a source control system called git. It may not be installed on a fresh image. I know it’s not on the lite image. So you may need to install it.
A start-script is placed in the "local" home folder.
sudo apt-get install git


Now that you have git installed, use it to clone a copy of the mjpg-streamer to your Pi.
./stream_cam.sh


git clone https://github.com/jacksonliam/mjpg-streamer.git
with examples of different solutions.


After the cloned copy of the mjpeg-stream has been coppied to the raspberry-pi, follow these steps.
== camera from OpenCV ==


cd mjpg-streamer/mjpg-streamer-experimental/
The raspberry cameras seem to prefer 10 bit/pixel in Bayer RGGB format - other formats are not consistent for both new and old camera.
make -j4    # optional CMAKE_BUILD_TYPE=Debug
sudo make install


Make a script to start the streamer
=== Format check ===


cd
Install package v4l-utils (also installed by default)
nano start-stream.sh


copy this into the file (uncomment only one line - the others are examples for other resolutions - edit as desired)
sudo apt install v4l-utils


#!/bin/bash
The supported image formats from both cameras are:
#mjpg_streamer -i "input_raspicam.so -y 1600 -x 1200 -fps 5 -rot 90" -o output_http.so
mjpg_streamer -i "input_raspicam.so -y 972 -x 1296 -fps 3 -rot=0" -o output_http.so
#mjpg_streamer -i "input_raspicam.so -y 600 -x 800 -fps 3 -rot=0" -o output_http.so
#mjpg_streamer -i "input_raspicam.so -y 640 -x 480 -fps 5" -o output_http.so


Change the file to be executable
v4l2-ctl -d/dev/video0 --list-formats


  chmod +x start-stream.sh
  ioctl: VIDIOC_ENUM_FMT
        Type: Video Capture
        [0]: 'BA81' (8-bit Bayer BGBG/GRGR)
        [1]: 'pBAA' (10-bit Bayer BGBG/GRGR Packed)
        [2]: 'BG10' (10-bit Bayer BGBG/GRGR)


=== Start streaming at boot ===
For the used format 'BG10' the frame sizes supported is found


Start of applications can be controlled by the /etc/rc.local script:
v4l2-ctl -d /dev/video0 --list-framesizes BG10


  nano /etc/rc.local
  ioctl: VIDIOC_ENUM_FRAMESIZES
        Size: Discrete 2592x1944
        Size: Discrete 1920x1080
        Size: Discrete 1296x972
        Size: Discrete 640x480


add the following lines before 'exit 0' (close to the end)


# start camera streaming
su - local /home/local/start-stream.sh &


Copy and 'shift-ctrl-v' will do
But formats can be converted to other formats, visible as other video devices e.g /dev/video12.


Comment the last line (su - local /home/local/start-stream.sh &) if camera streaming should not start.
v4l2-ctl -d/dev/video12 --list-formats


to stop streaming use (if started)
ioctl: VIDIOC_ENUM_FMT
        Type: Video Capture Multiplanar
        [0]: 'YUYV' (YUYV 4:2:2)
        [1]: 'YVYU' (YVYU 4:2:2)
        [2]: 'VYUY' (VYUY 4:2:2)
        [3]: 'UYVY' (UYVY 4:2:2)
        [4]: 'YU12' (Planar YUV 4:2:0)
        [5]: 'YV12' (Planar YVU 4:2:0)
        [6]: 'RGB3' (24-bit RGB 8-8-8)
        [7]: 'BGR3' (24-bit BGR 8-8-8)
        [8]: 'BGR4' (32-bit BGRA/X 8-8-8-8)
        [9]: 'RGBP' (16-bit RGB 5-6-5)
        [10]: 'NV12' (Y/CbCr 4:2:0)
        [11]: 'NV21' (Y/CrCb 4:2:0)


pkill mjpg_streamer
Format BA81 did not give a proper result for both cameras.
 
I didn't succeed in using the converted formats, maybe because they are based on the BA81 format.
 
Format 'BG10' works for both cameras and is easily converted to RGB format using OpenCV (https://docs.opencv.org/3.4/db/d64/tutorial_js_colorspaces.html).
=== Watch camera stream ===
 
When the robot is on a net connection - cable or wifi - you can watch the stream from a browser
 
for streaming:
HTTP://jasmin.local:8080/?action=stream
or for a snapshot
HTTP://jasmin.local:8080/?action=snapshot
where jasmin should be replaced with the robot name, or jasmin.local can be replaced with the IP address.

Latest revision as of 14:49, 4 January 2022

Back to Robobot

Camera use

Raspberry pi operating system version "bullseye" uses a new camera library.

The info is taken from https://www.raspberrypi.com/documentation/accessories/camera.html#libcamera-and-libcamera-apps?ref=https://githubhelp.com

LibCamera

If not already installed, install with 

sudo apt install libcamera-apps

It should not be needed to install libcamera-dev

Camera streaming

The libcamera library can do streaming out of the box with the command: 

libcamera-vid -n -t 0 --inline --listen --rotation 0 --framerate 30 --width 1920 --height 1080 -o tcp://0.0.0.0:8888

It will listen to port 8888 for TCP connections on the localhost.

From another PC the stream can be displayed by VLC, (or the same parameter in the VLC "media" -> "open network stream") 

vlc tcp/h264://192.168.2.14:8888

if 192.168.2.14 is the IP of the Raspberry pi. The streaming will terminate when the VLC stops the connection.

A start-script is placed in the "local" home folder. 

./stream_cam.sh

with examples of different solutions.

camera from OpenCV

The raspberry cameras seem to prefer 10 bit/pixel in Bayer RGGB format - other formats are not consistent for both new and old camera.

Format check

Install package v4l-utils (also installed by default) 

sudo apt install v4l-utils

The supported image formats from both cameras are: 

v4l2-ctl -d/dev/video0 --list-formats

ioctl: VIDIOC_ENUM_FMT
       Type: Video Capture
       [0]: 'BA81' (8-bit Bayer BGBG/GRGR)
       [1]: 'pBAA' (10-bit Bayer BGBG/GRGR Packed)
       [2]: 'BG10' (10-bit Bayer BGBG/GRGR)

For the used format 'BG10' the frame sizes supported is found 

v4l2-ctl -d /dev/video0 --list-framesizes BG10

ioctl: VIDIOC_ENUM_FRAMESIZES
       Size: Discrete 2592x1944
       Size: Discrete 1920x1080
       Size: Discrete 1296x972
       Size: Discrete 640x480


But formats can be converted to other formats, visible as other video devices e.g /dev/video12. 

v4l2-ctl -d/dev/video12 --list-formats

ioctl: VIDIOC_ENUM_FMT
       Type: Video Capture Multiplanar
       [0]: 'YUYV' (YUYV 4:2:2)
       [1]: 'YVYU' (YVYU 4:2:2)
       [2]: 'VYUY' (VYUY 4:2:2)
       [3]: 'UYVY' (UYVY 4:2:2)
       [4]: 'YU12' (Planar YUV 4:2:0)
       [5]: 'YV12' (Planar YVU 4:2:0)
       [6]: 'RGB3' (24-bit RGB 8-8-8)
       [7]: 'BGR3' (24-bit BGR 8-8-8)
       [8]: 'BGR4' (32-bit BGRA/X 8-8-8-8)
       [9]: 'RGBP' (16-bit RGB 5-6-5)
       [10]: 'NV12' (Y/CbCr 4:2:0)
       [11]: 'NV21' (Y/CrCb 4:2:0)

Format BA81 did not give a proper result for both cameras. I didn't succeed in using the converted formats, maybe because they are based on the BA81 format. Format 'BG10' works for both cameras and is easily converted to RGB format using OpenCV (https://docs.opencv.org/3.4/db/d64/tutorial_js_colorspaces.html).

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