These instructions were written by me (mikko metso, 2014) to take notes on how
I built the face recognition application on my Raspberry Pi B+ with camera
model. Note! This is how I got it all to work, and none is guaranteed to work
on any computer. Just my own notes that I made for myself for possible future
use. The notes could well be cleaned and shortened but just to be sure not to
change anything for the worse I did not want to touch it.

All the credit goes to Pierre Raufast who is the father of all this. Most
of the following instructions are simply copy pasted here from his valuable
web pages. Thank you Pierre. It's a wonderful project.


to add facial recognition
 (http://thinkrpi.wordpress.com/2013/05/22/opencv-and-camera-board-csi/)

-get source code (zip file) here: https://github.com/raspberrypi/userland
-unzip the file and copy the directory under /opt/vc
-go to opt/vc/userland-master/ and type:
 sed -i 's/if (DEFINED CMAKE_TOOLCHAIN_FILE)/if (NOT DEFINED CMAKE_TOOLCHAIN_FILE)/g' makefiles/cmake/arm-linux.cmake
-create a build directory and compile (it takes a while) 
 sudo mkdir build
 cd build
 sudo apt-get install cmake
 sudo cmake -DCMAKE_BUILD_TYPE=Release ..
 sudo make
 sudo make install
-binary should be under /opt/vc/bin
-go to /opt/vc/bin and test one file typing : ./raspistill -t 3000

-create your own project:
 cd
 mkdir camcv
 cd camcv
 cp -r /opt/vc/userland-master/host_applications/linux/apps/raspicam/* .
 mv RaspiStill.c camcv.c
 sudo chmod 777 camcv.c
 remove then content of CMakeLists.txt and replace with :
  cmake_minimum_required(VERSION 2.8)
  project( camcv )
  SET(COMPILE_DEFINITIONS -Werror)
  include_directories(/opt/vc/userland-master/host_applications/linux/libs/bcm_host/include)
  include_directories(/opt/vc/userland-master/host_applications/linux/apps/raspicam/gl_scenes)
  include_directories(/opt/vc/userland-master/interface/vcos)
  include_directories(/opt/vc/userland-master)
  include_directories(/opt/vc/userland-master/interface/vcos/pthreads)
  include_directories(/opt/vc/userland-master/interface/vmcs_host/linux)
  include_directories(/opt/vc/userland-master/interface/khronos/include)
  include_directories(/opt/vc/userland-master/interface/khronos/common)
  include_directories(./gl_scenes)
  include_directories(.)
  add_executable(camcv RaspiCamControl.c RaspiCLI.c RaspiPreview.c camcv.c RaspiTex.c RaspiTexUtil.c gl_scenes/teapot.c gl_scenes/models.c gl_scenes/square.c gl_scenes/mirror.c gl_scenes/yuv.c gl_scenes/sobel.c tga.c)
  target_link_libraries(camcv /opt/vc/lib/libmmal_core.so /opt/vc/lib/libmmal_util.so /opt/vc/lib/libmmal_vc_client.so /opt/vc/lib/libvcos.so /opt/vc/lib/libbcm_host.so /opt/vc/lib/libGLESv2.so /opt/vc/lib/libEGL.so pthread -lm)
 delete CMakeFiles directory if it exits
 Compile & test
  cp gl_scenes/* .
  cp RaspiTex.* gl_scenes/
  cp RaspiTexUtil.* gl_scenes/
  cmake .
  make 
  ./camcv -t 1000

install OpenCV
 Install both dev lib and python lib
  sudo apt-get update
  sudo apt-get install libopencv-dev
  sudo apt-get install python-opencv

 cd ..
 mkdir openCvTest
 cd openCvTest
 pico display_image.cpp
  #include <opencv2/core/core.hpp>
  #include <opencv2/highgui/highgui.hpp>
  #include <iostream>

  using namespace cv;
  using namespace std;

  int main( int argc, char** argv )
  {
    if( argc != 2)
    {
     cout <<" Usage: display_image ImageToLoadAndDisplay" << endl;
     return -1;
    }

    Mat image;
    image = imread(argv[1], CV_LOAD_IMAGE_COLOR);   // Read the file

    if(! image.data )                              // Check for invalid input
    {
        cout <<  "Could not open or find the image" << std::endl ;
        return -1;
    }

    namedWindow( "Display window", WINDOW_AUTOSIZE );// Create a window for display.
    imshow( "Display window", image );                   // Show our image inside it.

    waitKey(0);                                          // Wait for a keystroke in the window
    return 0;
  }
 create compile makefile
 pico CMakeLists.txt
  cmake_minimum_required(VERSION 2.8)
  project( displayimage )
  find_package( OpenCV REQUIRED )
  add_executable( displayimage display_image.cpp )
  target_link_libraries( displayimage ${OpenCV_LIBS} )

 Then compile and execute to make sure it works
  cmake .
  make 
  ./displayimage
 If it works, congratulations, OpenCV 2.3 is installed.

 install face recognition API
  The face recognition API is called libfacerec-0.04.
  Download the zip file from here:
   https://github.com/bytefish/libfacerec/zipball/v0.04
  Unzip it and transfer the whole directory on rpi, for example to /pi/camcv/libfacerec/.
  Go on the directory and just compile it using
   cmake .
   make

 Now, if you want to compile your previous sample with this libfacerec-004 api,
 you will need to modify your CMakeLists.txt file. It just link with the
 libface lib.
 pico CMakeLists.txt
  cmake_minimum_required(VERSION 2.8)
  project( reco)
  find_package( OpenCV REQUIRED )
  add_executable( displayimage display_image.cpp )
  link_directories( /home/pi/camcv/libfacerec )
  target_link_libraries( displayimage /home/pi/camcv/libfacerec/libopencv_facerec.a ${OpenCV_LIBS} )

Link with OpenCV
 cd ..
 rm -r openCvTest
 go back to the original working dir
  cd camcv

 Modify your CMakeFiles.txt to include OpenCV library
  cmake_minimum_required(VERSION 2.8)
  project( camcv )
  SET(COMPILE_DEFINITIONS -Werror)
  #OPENCV
  find_package( OpenCV REQUIRED )
  link_directories( /home/pi/camcv/libfacerec ) 
  include_directories(/opt/vc/userland-master/host_applications/linux/libs/bcm_host/include)
  include_directories(/opt/vc/userland-master/host_applications/linux/apps/raspicam/gl_scenes)
  include_directories(/opt/vc/userland-master/interface/vcos)
  include_directories(/opt/vc/userland-master)
  include_directories(/opt/vc/userland-master/interface/vcos/pthreads)
  include_directories(/opt/vc/userland-master/interface/vmcs_host/linux)
  include_directories(/opt/vc/userland-master/interface/khronos/include)
  include_directories(/opt/vc/userland-master/interface/khronos/common)
  include_directories(./gl_scenes)
  include_directories(.)
  add_executable(camcv RaspiCamControl.c RaspiCLI.c RaspiPreview.c camcv.c RaspiTex.c RaspiTexUtil.c gl_scenes/teapot.c gl_scenes/models.c gl_scenes/square.c gl_scenes/mirror.c gl_scenes/yuv.c gl_scenes/sobel.c tga.c)
  target_link_libraries(camcv /opt/vc/lib/libmmal_core.so /opt/vc/lib/libmmal_util.so /opt/vc/lib/libmmal_vc_client.so /opt/vc/lib/libvcos.so /opt/vc/lib/libbcm_host.so /opt/vc/lib/libGLESv2.so /opt/vc/lib/libEGL.so pthread -lm)
 Recompile.
  make
  ./camcv 

openCV & pi cam: basic use:
 Download the camcv.c file
  http://raufast.org/download/camcv.c
 save older camcv.c only as an original backup:
  mv camcv.c camcvOriginal.c
 replace it with the newly downloaded one
 change
  ' else if (!raspipreview_create(&state.preview_parameters)) ' line in camcv.c to
  ' else if ( (status = raspipreview_create(&state.preview_parameters)) != MMAL_SUCCESS) '
 add execute rights for it
  sudo chmod 777 camcv.c
 replace last line of CMakeLists.txt with this:
  target_link_libraries(camcv /opt/vc/lib/libmmal_core.so /opt/vc/lib/libmmal_util.so /opt/vc/lib/libmmal_vc_client.so /opt/vc/lib/libvcos.so /opt/vc/lib/libbcm_host.so /opt/vc/lib/libGLESv2.so /opt/vc/lib/libEGL.so pthread -lm ${OpenCV_LIBS})
 rm -r CMakeFiles/
 cmake .
 make
 run to test that it works, in x session
  startx
  alt-f2
  lxterminal
  /home/pi/camcv/camcv
  -> a camera module picture should be taken and displayed now by opencv

basic use (camera mode)
 http://raufast.org/download/camcv2.c
 change
  ' else if (!raspipreview_create(&state.preview_parameters)) ' line in camcv2.c to
  ' else if ( (status = raspipreview_create(&state.preview_parameters)) != MMAL_SUCCESS) '
 add execute rights for it
  sudo chmod 777 camcv2.c
 replace CMakeLists.txt with this:
  cmake_minimum_required(VERSION 2.8)
  project( camcv2 )
  SET(COMPILE_DEFINITIONS -Werror)
  #OPENCV
  find_package( OpenCV REQUIRED )
  link_directories( /home/pi/camcv/libfacerec ) 
  include_directories(/opt/vc/userland-master/host_applications/linux/libs/bcm_host/include)
  include_directories(/opt/vc/userland-master/host_applications/linux/apps/raspicam/gl_scenes)
  include_directories(/opt/vc/userland-master/interface/vcos)
  include_directories(/opt/vc/userland-master)
  include_directories(/opt/vc/userland-master/interface/vcos/pthreads)
  include_directories(/opt/vc/userland-master/interface/vmcs_host/linux)
  include_directories(/opt/vc/userland-master/interface/khronos/include)
  include_directories(/opt/vc/userland-master/interface/khronos/common)
  include_directories(./gl_scenes)
  include_directories(.)
  add_executable(camcv2 RaspiCamControl.c RaspiCLI.c RaspiPreview.c camcv2.c RaspiTex.c RaspiTexUtil.c gl_scenes/teapot.c gl_scenes/models.c gl_scenes/square.c gl_scenes/mirror.c gl_scenes/yuv.c gl_scenes/sobel.c tga.c)
  target_link_libraries(camcv2 /opt/vc/lib/libmmal_core.so /opt/vc/lib/libmmal_util.so /opt/vc/lib/libmmal_vc_client.so /opt/vc/lib/libvcos.so /opt/vc/lib/libbcm_host.so /opt/vc/lib/libGLESv2.so /opt/vc/lib/libEGL.so pthread -lm ${OpenCV_LIBS})
 rm -r CMakeFiles/
 cmake .
 make
 run to test that it works, in x session
  startx
  alt-f2
  lxterminal
  /home/pi/camcv/camcv2
   -> (only black pictures, don't seem to work....??)

video:
 download http://raufast.org/download/camcv_vid0.c
 change
  ' else if (!raspipreview_create(&state.preview_parameters)) ' line in camcv_vid0.c to
  ' else if ( (status = raspipreview_create(&state.preview_parameters)) != MMAL_SUCCESS) '
 four times in CMakeLists.txt lines that include 'camcv2', replace the word with "camcv_vid0"
 rm -r CMakeFiles/
 cmake .
 make
 run to test that it works, in x session
  startx
  alt-f2
  lxterminal
  /home/pi/camcv/camcv_vid0

face recognition:
 replace one .hpp file with a better version of it:
  sudo mv /usr/include/opencv2/contrib/contrib.hpp /usr/include/opencv2/contrib/contribOriginal.hpp
  download http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.3.1/OpenCV-2.3.1a.tar.bz2/download
  remote: scp ./OpenCV-2.3.1/modules/contrib/include/opencv2/contrib/contrib.hpp pi@192.168.10.122:~/camcv/
  sudo mv contrib.hpp /usr/include/opencv2/contrib/
 download http://raufast.org/download/camcv_vid1.cpp
 change
  ' else if (!raspipreview_create(&state.preview_parameters)) ' line in camcv_vid1.cpp to
  ' else if ( (status = raspipreview_create(&state.preview_parameters)) != MMAL_SUCCESS) '
 also correct libfacerec location on one of the #include lines of camcv_vid1.cpp
 also in camcv_vid1.cpp, change
  fn_haar = "/usr/share/opencv/haarcascades/lbpcascade_frontalface.xml"; to
  fn_haar = "/usr/share/opencv/lbpcascades/lbpcascade_frontalface.xml";
 four times in CMakeLists.txt lines that include 'camcv_vid0', replace the word with "camcv_vid1"
 add '/home/pi/camcv/libfacerec/libopencv_facerec.a' to the list of target_link_libraries of CMakeLists.txt
 if you want raspberry camera image to be vertically flipped, in RaspiCamControl.c replace:
  params->hflip = params->vflip = 0;
  with
  params->hflip = params->vflip = 1;
 rm -r CMakeFiles/
 cmake .
 make
 download sample files from http://raufast.org/download/100x100.zip
 transfer them to /home/pi/camcv/trains/
 run to test that it works, in x session
  startx
  alt-f2
  lxterminal
  cd camcv
  ./camcv_vid1 csv.txt 1

 to prepare pictures for face recognition training:
  (http://thinkrpi.wordpress.com/2013/04/03/step-5-prepare-photos/)
  Download .cpp source code here. http://raufast.org/download/preparePhoto.cpp
  create CMakeLists.txt:
   pico CMakeLists.txt
    cmake_minimum_required(VERSION 2.8)
    project( prepare )
    find_package( OpenCV REQUIRED )
    add_executable( prepare preparePhoto.cpp )
    target_link_libraries( prepare ${OpenCV_LIBS} )
  compile
   cmake .
   make
  make directory full of pictures, for example with script camCapture.sh:
   #!/bin/bash
   numOfPics=3
   for i in {1..40}
   do
     DATE=$(date +"%y%m%d_%H%M%S")
     #raspistill -vf -hf -o /home/pi/picam/$DATE.jpg
     #raspistill -t 500 -vf -o /home/pi/picam/$DATE.jpg
     raspistill --timeout 100 --vflip --output /home/pi/picam/$DATE.jpg
     echo $i
   done
   echo "done"
  to run the camCapture.sh:
   cd ~/picam/
   ./scripts/camCapture.sh
  run it (prepare) within a directory full of pictures
   format: (note! histogram equalization is better to be off!)
   prepare %of_picture_cropped size_of_train_picture image_name_prefix original_picture_new_size equalize_color
   for example: ./prepare 0.3 100 metso 900 0
    0.3 means 30% = I take 30% more than the distance eye-eye.
    100 means : my output picture will be 100×100 pixels
    hs means :my ouput picture name will start by hs (hs1.jpg, hs2.jpg, hs3.jpg..)
    800 means : original input pictures will be resized to 800 pixels width (ok for RPI performance)
    1 means : do the color histogram equalization (0 = don't)