bapin93 bapin93 - 19 days ago 6
C++ Question

Can I install raspicam c++ libraries on OS X?

I'm developing an OpenCV project that will run on a raspberry pi. So far I have been developing on a Mac in Xcode and all is going well. I recently realized that in order to tap into the raspberry pi camera I will need to use the raspicam library.

My question is, can I install raspicam libraries on OS X or are they raspberry pi hardware specific?

I would like to be able to develop, compile, and build on my Mac as well as compile and build on the raspberry pi. I am trying to avoid doing my development on the Pi.

If that's not possible do you have any recommendations for how I should manage the development setup for this project?

There is only a small section of my code that requires the raspicam libraries so I am not opposed to having a flag that executes the raspicam code if running on the Pi, otherwise executes the currently working OpenCV code if running on the Mac.

So far I have downloaded the raspicam source and I have done:

cd raspicam-0.1.3
mkdir build
cd build
cmake -DCMAKE_PREFIX_PATH="/usr/local/Cellar/opencv3/3.1.0_3/share/OpenCV" ..


And here is the output:

-- Adding cv library
--
-- -------------------------------------------------------------------------------
-- General configuration for raspicam 0.1.2
-- -------------------------------------------------------------------------------
--
Built as dynamic libs?:ON
Compiler:/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++
-- C++ flags (Release): -std=c++0x -Wl,--no-as-needed -lpthread
-- C++ flags (Debug): -std=c++0x -Wl,--no-as-needed -lpthread
-- CMAKE_CXX_FLAGS: -std=c++0x -Wl,--no-as-needed
-- CMAKE_BINARY_DIR: /Users/andres/Downloads/raspicam-0.1.3/build
--
-- CMAKE_SYSTEM_PROCESSOR = x86_64
-- BUILD_SHARED_LIBS = ON
-- BUILD_UTILS = ON
-- CMAKE_INSTALL_PREFIX = /usr/local
-- CMAKE_BUILD_TYPE = Release
-- CMAKE_MODULE_PATH = /usr/local/lib/cmake/;/usr/lib/cmake
--
-- CREATE OPENCV MODULE=1
-- CMAKE_INSTALL_PREFIX=/usr/local
-- REQUIRED_LIBRARIES=
--
--
-- Change a value with: cmake -D<Variable>=<Value>
--
-- Configuring done
CMake Warning (dev):
Policy CMP0042 is not set: MACOSX_RPATH is enabled by default. Run "cmake
--help-policy CMP0042" for policy details. Use the cmake_policy command to
set the policy and suppress this warning.

MACOSX_RPATH is not specified for the following targets:

raspicam
raspicam_cv

This warning is for project developers. Use -Wno-dev to suppress it.

-- Generating done
-- Build files have been written to: /Users/andres/Downloads/raspicam-0.1.3/build


Then

make


Output:

Scanning dependencies of target raspicam_cv
[ 5%] Building CXX object src/CMakeFiles/raspicam_cv.dir/raspicam_cv.cpp.o
clang: warning: -Wl,--no-as-needed: 'linker' input unused
clang: warning: -lpthread: 'linker' input unused
In file included from /Users/andres/Downloads/raspicam-0.1.3/src/raspicam_cv.cpp:39:
In file included from /Users/andres/Downloads/raspicam-0.1.3/src/./private/private_impl.h:40:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/mmal/mmal.h:363:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/mmal/mmal_common.h:40:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/vcos.h:116:
/Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/pthreads/vcos_platform.h:297:22: error:
use of undeclared identifier 'CLOCK_REALTIME'
if (clock_gettime(CLOCK_REALTIME, &ts) == -1)
^
/Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/pthreads/vcos_platform.h:307:13: error:
use of undeclared identifier 'sem_timedwait'
ret = sem_timedwait( sem, &ts );
^
/Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/pthreads/vcos_platform.h:327:13: warning:
'sem_init' is deprecated [-Wdeprecated-declarations]
int rc = sem_init(sem, 0, initial_count);
^
/usr/include/sys/semaphore.h:55:5: note: 'sem_init' has been explicitly marked
deprecated here
int sem_init(sem_t *, int, unsigned int) __deprecated;
^
In file included from /Users/andres/Downloads/raspicam-0.1.3/src/raspicam_cv.cpp:39:
In file included from /Users/andres/Downloads/raspicam-0.1.3/src/./private/private_impl.h:40:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/mmal/mmal.h:363:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/mmal/mmal_common.h:40:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/vcos.h:116:
/Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/pthreads/vcos_platform.h:335:13: warning:
'sem_destroy' is deprecated [-Wdeprecated-declarations]
int rc = sem_destroy(sem);
^
/usr/include/sys/semaphore.h:53:5: note: 'sem_destroy' has been explicitly
marked deprecated here
int sem_destroy(sem_t *) __deprecated;
^
In file included from /Users/andres/Downloads/raspicam-0.1.3/src/raspicam_cv.cpp:39:
In file included from /Users/andres/Downloads/raspicam-0.1.3/src/./private/private_impl.h:40:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/mmal/mmal.h:363:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/mmal/mmal_common.h:40:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/vcos.h:116:
/Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/pthreads/vcos_platform.h:520:13: warning:
'sem_init' is deprecated [-Wdeprecated-declarations]
int rc = sem_init(&event->sem, 0, 0);
^
/usr/include/sys/semaphore.h:55:5: note: 'sem_init' has been explicitly marked
deprecated here
int sem_init(sem_t *, int, unsigned int) __deprecated;
^
In file included from /Users/andres/Downloads/raspicam-0.1.3/src/raspicam_cv.cpp:39:
In file included from /Users/andres/Downloads/raspicam-0.1.3/src/./private/private_impl.h:40:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/mmal/mmal.h:363:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/mmal/mmal_common.h:40:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/vcos.h:116:
/Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/pthreads/vcos_platform.h:525:7: warning:
'sem_destroy' is deprecated [-Wdeprecated-declarations]
sem_destroy(&event->sem);
^
/usr/include/sys/semaphore.h:53:5: note: 'sem_destroy' has been explicitly
marked deprecated here
int sem_destroy(sem_t *) __deprecated;
^
In file included from /Users/andres/Downloads/raspicam-0.1.3/src/raspicam_cv.cpp:39:
In file included from /Users/andres/Downloads/raspicam-0.1.3/src/./private/private_impl.h:40:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/mmal/mmal.h:363:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/mmal/mmal_common.h:40:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/vcos.h:116:
/Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/pthreads/vcos_platform.h:541:8: warning:
'sem_getvalue' is deprecated [-Wdeprecated-declarations]
if (sem_getvalue(&event->sem, &value) != 0)
^
/usr/include/sys/semaphore.h:54:5: note: 'sem_getvalue' has been explicitly
marked deprecated here
int sem_getvalue(sem_t * __restrict, int * __restrict) __deprecated;
^
In file included from /Users/andres/Downloads/raspicam-0.1.3/src/raspicam_cv.cpp:39:
In file included from /Users/andres/Downloads/raspicam-0.1.3/src/./private/private_impl.h:40:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/mmal/mmal.h:363:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/mmal/mmal_common.h:40:
In file included from /Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/vcos.h:116:
/Users/andres/Downloads/raspicam-0.1.3/dependencies/vcos/pthreads/vcos_platform.h:582:13: warning:
'sem_destroy' is deprecated [-Wdeprecated-declarations]
int rc = sem_destroy(&event->sem);
^
/usr/include/sys/semaphore.h:53:5: note: 'sem_destroy' has been explicitly
marked deprecated here
int sem_destroy(sem_t *) __deprecated;
^
6 warnings and 2 errors generated.
make[2]: *** [src/CMakeFiles/raspicam_cv.dir/raspicam_cv.cpp.o] Error 1
make[1]: *** [src/CMakeFiles/raspicam_cv.dir/all] Error 2
make: *** [all] Error 2

Answer

The solution I came up with was to use:

#ifdef __ARM__
include <raspicam/raspicam.h>
#endif

and in the main

#ifdef __ARM__
    // pi specific camera initialization code
#elif __APPLE__
    // osx specific camera initialization code
#endif

These preprocessors will be evaluated before the code is compiled. If the source is being compiled on the pi (ARM architecture) the __ARM__ sections will be compiled, otherwise if the source code is being compiled on osx the __APPLE__ sections will be compiled.

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