opencv3.3.0 on raspberry pi3
===

plateform: raspberry pi3 model B
storage: 32GB SD card
OS: ubuntuMATE for pi3

check have enough space
`df -h`
like mine 3.8G Available
**/dev/root** should have more than 2GB
if no see [here](http://pklab.net/?id=392&lang=EN) to enlarge space

my environment base on duckietown-bunny image
here
https://hackmd.io/p/SJbHPc-p#/2

#### dependency

`sudo apt-get install python3.5-dev`

sudo apt-get install \
  pkg-config \
  libjpeg-dev \
  libtiff5-dev \
  libjasper-dev \
  libpng12-dev \
  libavcodec-dev \
  libavformat-dev \
  libswscale-dev \
  libeigen3-dev \
  libxvidcore-dev \
  libx264-dev \
  libgtk2.0-dev \
  libatlas-base-dev gfortran

vl4
Check prerequisites (with sudo raspi-config):
in terminal type `sudo raspi-config`


* Enable the camera
* Set large memory for gpu_mem (In Advance Options > Memmory Split set 128 min)

*install stuff for v4l*
`sudo apt-get -y install libv4l-dev v4l-utils`

*Enable the kernel module:*
`sudo modprobe bcm2835-v4l2`

*test module*
`v4l2-ctl --list-devices`

you would see
I'm using ps3eye webcam

#### build opencv3.3.0 from source

dowload .zip source [here](https://github.com/opencv/opencv/releases/tag/3.3.0)

I put opencv-3.3.0.zip.zip under /home/user/
`unzip opencv-3.3.0.zip`

cd opencv-3.3.0

mkdir build 

cd build

config cmake with NEON,TBB, v4l enable

cmake -D CMAKE_BUILD_TYPE=RELEASE \
        -D CMAKE_INSTALL_PREFIX=/usr/local \
        -D BUILD_WITH_DEBUG_INFO=OFF \
        -D BUILD_DOCS=OFF \
        -D BUILD_EXAMPLES=OFF \
        -D BUILD_TESTS=OFF \
        -D BUILD_opencv_ts=OFF \
        -D BUILD_PERF_TESTS=OFF \
        -D INSTALL_C_EXAMPLES=OFF \
        -D INSTALL_PYTHON_EXAMPLES=ON \
        -D ENABLE_NEON=ON \
        -D WITH_TBB=ON \
        -D WITH_LIBV4L=ON \
        -D PYTHON_EXECUTABLE=/usr/bin/python3.5\
        ..

check no error with generation complete

then

`make -j4`
this step took about 40mins
(future may cross compile)

after make without error
`sudo make install`

opencv stuff would move to these path

/usr/local/lib/libcv*
/usr/local/lib/python3.5/dist-packages/cv*
/usr/local/include/opencv2/
/usr/local/bin/opencv_*
/usr/local/share/OpenCV/


#### config pkg-config
>mostly we utilize pkg-config to compile openCV code

>configure OpenCV. open the opencv.conf file with the command

sudo vim /etc/ld.so.conf.d/opencv.conf

>/usr/local/lib


This set the .so (dynamic link library) searching path.
it will search opencv___.so from the path
Remember we alread copy .so to /usr/local/lib when typing ***sudo make install*** in previous stage.

`sudo ldconfig`
now, edit ~/.bashrc
this would auto load terminal environment for pkg-config

sudo vim ~/.bashrc

add at the bottom

export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PYTHONPATH=/usr/local/bin/python3.5:$PYTHONPATH


Horay! we've got opencv-3.3.0 on pi3!

---

### Test

$ python3
>>> import cv2
>>> print (cv2.__version__)
3.3.0
>>>

---

#### compile ssd_mobileNet

Inside `~/opencv-3.3.0/samples/`
have dnn sample

copy it to ~/

`cd ~/opencv-3.3.0/samples/ `
`cp -r dnn ~/`

`cd dnn`

*now build the examble with pkg-config*

g++ ssd_mobilenet_object_detection.cpp `pkg-config --cflags opencv`  `pkg-config --libs opencv` -o ssd_mobilenet_object_detection


Now download data set(opencv-dl-data) and put your executable into correspondent folder

data set:
.caffemodel, .prototxt
https://drive.google.com/open?id=0BwY-lpO6tzxHVUZqN1pXc0xZdDQ

we are in dnn folder



inside ~/dnn/opencv-dl-data/ssd_mobilenet_object_detection/

connect your webcam to pi3 first run it
`./ssd_mobilenet_object_detection -video=/dev/video0 -model=MobileNetSSD_train.caffemodel -proto=MobileNetSSD_300x300.prototxt`

**Have fun!**


protobuf use for serialization
means to put parameter original store in hard disk in to memory

reference:
https://hackmd.io/s/S1gWq7BwW#
http://pklab.net/?id=392&lang=EN
sudo apt-get install ros-kinetic-perception
cv_bridge depends on opencv-3.2.0

https://github.com/ros-perception/vision_opencv/issues/162

make opencv run fast
https://www.slideshare.net/embeddedvision/making-opencv-code-run-fast-a-presentation-from-intel

[opencv3.3.0 with deep learning](
https://hackmd.io/s/S1gWq7BwW#)

issue
https://hackmd.io/s/H1tfSqYv-#

opencv2.x opencv3.x mix
https://hackmd.io/EwVgxgnApghjYFoBsATMMEBYkEYMA5MQUEAGGUsYJAZimADMB2EIA===

###### tags: `opencv3.3.0` `pi3`