This code is a simple program to use the Raspberry Pi and Raspberry Pi Camera to do simple object tracking.

The vast majority of this code was originally written by Pierre Raufast and Robidouille:

https://robidouille.wordpress.com/2013/10/19/raspberry-pi-camera-with-opencv/ https://thinkrpi.wordpress.com/2013/05/22/opencv-and-camera-board-csi/

1. Install Raspbian.

   Easiest method is using NOOBS

   • http://www.raspberrypi.org/downloads

On first boot-up, in the configuration tool

• enable camera
• advanced options, enable SSH

Once booted

• login: pi
• password: raspberry
• startx: will bring you to a window manager

2. Update

   sudo apt-get update

3. (optional) Install some helpful tools:

   sudo apt-get install locate sudo updatedb

4. Install cmake and opencv:

   sudo apt-get install cmake libcv-dev libhighgui-dev libopencv-dev libcv2.3

5. Download and install the userland raspberry pi camera code:

   (clone the userland git directory to the desktop, or elsewhere)

   git clone https://github.com/raspberrypi/userland.git
   cd userland
   cmake .
   make

   (this takes about 15 minutes)

   Move to /opt/vc:

   cd .. sudo mv userland /opt/vc

   Alternatively, you will need to change the CMakeLists.txt for RaspiTracker

6. Download and build the RaspiTracker code:

   git clone https://github.com/florisvb/RaspiTracker.git
   cd RaspiTracker
   cmake .
   make

7. Run the code:

   ./raspicambg

1. Changing the resolution (e.g. when switching between the S-Video screen and HDMI monitor: sudo nano /boot/config.txt edit the hdmi resolution, and that's it more info at: http://elinux.org/R-Pi_ConfigurationFile

2. Wiring Pi Permissions Fix: after compiling pi_rotary_encoder run: sudo chown root:root catkin_ws/devel/lib/pi_rotary_encoder/encoder_talker sudo chmod 4755 catkin_ws/devel/lib/pi_rotary_encoder/encoder_talker

3. USB stick: Hard coded to be a patriot USB stick, without putting a patriot USB stick in it won't work