{"id":5374,"date":"2015-02-15T20:03:54","date_gmt":"2015-02-15T18:03:54","guid":{"rendered":"http:\/\/rainbowbreeze.it\/?p=5374"},"modified":"2015-02-15T23:47:28","modified_gmt":"2015-02-15T21:47:28","slug":"raspberry-pi-rpi-camera-and-roomba-a-first-person-experience-of-the-housecleaning","status":"publish","type":"post","link":"https:\/\/rainbowbreeze.it\/wordpress\/raspberry-pi-rpi-camera-and-roomba-a-first-person-experience-of-the-housecleaning\/","title":{"rendered":"Raspberry Pi, RPi Camera and Roomba: a first-person experience of the housecleaning"},"content":{"rendered":"

\"Raspberry<\/a>Today’s challenge<\/h4>\n

Have a first-person view of the Roomba cleaning, using a RasperryPi, a RPi Camera and some additional stuff.<\/p>\n

 <\/p>\n

Raspberry basic configuration<\/h4>\n

Hardware side, I used the most standard available components: a Raspberry Pi model B<\/a>, the RPi Camera<\/a> module and a Edimax EW-7811Un 150Mbps Wi-Fi USB<\/a> card.<\/p>\n

Regarding the OS,\u00a0there are a lot of distributions available for the Raspberry Pi, but I went for\u00a0a plan\u00a0Raspbian<\/a>: wide\u00a0support, flexibility, de-facto standard.\u00a0I installed it using the NOOBS setup<\/a>, following detailed instruction to load<\/a>\u00a0NOOBS image on a sd-card under by Ubuntu pc. Then, started the RasPi, selected Raspbian from the distro installation menu, waited a little bit for the installation to complete.
\nIn the raspi-config app, I enabled the camera and enabled SSH server. Then the usual sudo apt-get update && sudo apt-get -y dist-upgrade && sudo rpi-update && sudo reboot<\/em> combo, to update everything. The RasPi is ready to rock :)<\/p>\n

 <\/p>\n

WiFi setup<\/h4>\n

Configure the WiFi is easy with the right card (this is an evergreen truth in Linux world). Because the Edimax\u00a0is supported natively, the only thing I did was:<\/p>\n

sudo nano \/etc\/network\/interfaces\r\n<\/pre>\n
and added these lines at the end of file (change them for a different WiFi encryption model). Alternative<\/a> steps<\/a>\u00a0are available too.<\/p>\n
allow-hotplug wlan0\r\niface wlan0 inet dhcp\r\nwpa-ssid \"YOUR_NETWORK_SSID\"\r\nwpa-psk \"YOUR_WIFI_PASSWORD\"\r\n<\/pre>\n
Reboot and voil\u00e0, now the ethernet cable can be unplugged and the RasPi made another step toward movement freedom.<\/p>\n
 <\/p>\n
Camera software and configuration<\/h4>\n
There are different options available. Out-of-the-box, Raspian can both capture still images from camera or recording videos using raspistill<\/a> and raspivid<\/a>\u00a0commands, respectively.<\/p>\n
Another option is to use\u00a0motion<\/a>\u00a0as backend to expose the camera video stream.\u00a0The only problem is that stock version doesn’t (still) support\u00a0RasPi camera device file, so a big thanks to dozencrows for the fixes has as done<\/a>. There is a detailed forum post<\/a>\u00a0with the final files<\/a> to replace on the RasPi, plus a couple<\/a> of tutorials<\/a>\u00a0explaining detailed steps to have a working setup, included the sudo apt-get install\u00a0libjpeg62<\/em> part.
\nWith a working motion installation, different frontends\u00a0can be used to see the camera stream, like the motion server itself,\u00a0motionEye<\/a>\u00a0etc, and the\u00a0RasPi can even be seen as a normal IP camera from lot of software, included Synology Surveillance Station<\/a>.
\nToo lazy to do everything by hand? A\u00a0complete distro, MotionPie<\/a>, is an out-of-the-box solution in active development. Flashing the\u00a0image on a sd-card and reboot the RaspPi is the only requirement, wifi configuration apart.<\/p>\n
I found also another project,\u00a0RaspberrIPCam<\/a>, a fork of raspivid that offers a working website for accessing the camera stream, Synology Surveillance Station integration and more. Step-by-step guide here<\/a>.<\/p>\n
But, personally and because of the challenge, I chose another way: the project RPi Cam Web Interface<\/a>.<\/p>\n
 <\/p>\n
RPi Cam Web Interface<\/h4>\n
This solution<\/a> works in a pretty clever way: instead of using motion infrastructure, it relies on the raspimjpeg<\/strong> command, that is able to capture single frames from the camera stream and its configuration can be changed\u00a0on the fly writing commands to\u00a0a Unix pipe. Then motion is configured to point to raspimjpeg output, so it can do all its motion detection magic without a real access to the camera. And Apache serves a micro-site\u00a0where camera stream is shown and some php scripts glue all together and provide additional features\u00a0like an easy access to\u00a0captured video files, changing camera parameters,\u00a0controlling the entire RasPi from the web interface (included a restart \/ reboot) and much more.<\/p>\n
To install RPi Cam Web Interface, I execute<\/p>\n
cd\r\ngit clone https:\/\/github.com\/silvanmelchior\/RPi_Cam_Web_Interface.git\r\ncd RPi_Cam_Web_Interface\r\nchmod u+x RPi_Cam_Web_Interface_Installer.sh\r\n.\/RPi_Cam_Web_Interface_Installer.sh\r\n<\/pre>\n
and started the whole app (only the first time), using<\/p>\n
.\/RPi_Cam_Web_Interface_Installer.sh start\r\n<\/pre>\n
The install script allows to customize the Apache directory where all the files are stored changing the rpicamdir<\/em> variable value in the script itself. Doing so, it’s possible to avoid conflicts with other apps that serve additional pages and sites on the same RasPi. Additional info are available reading the bash\u00a0file<\/a>. Use the source, Luke!<\/p>\n
To access the website, opening\u00a0http:\/\/raspi_address\/<\/em> from any browser is enough.<\/p>\n
To disable the red light from the camera module, I run<\/p>\n
sudo nano\u00a0\/boot\/config.txt\r\n<\/pre>\n
and added the following line at the end of file<\/p>\n
disable_camera_led=1\r\n<\/pre>\n
 <\/p>\n
Roomba setup<\/h4>\n
Thank to the WiFi, the RasPi could freely connect to the network, and an USB power bank provided the necessary power for the experiment. Scotch tape to assemble everything and here the final result. Pretty cool, isn’t it?
\nhttps:\/\/www.youtube.com\/watch?v=HULc997mtaE
\n(tinyCam Monitor is responsible for casting the camera stream on the TV, thanks to a Chromecast)<\/em><\/p>\n
 <\/p>\n
Notes on RPi_Cam_Web_Interface<\/h4>\n
Some salient parts\u00a0of\u00a0RPi_Cam_Web_Interface architecture, mainly to help my memory over time.<\/p>\n
motion is configured<\/a> to read images from local server, using netcam_url http:\/\/localhost\/cam_pic.php<\/em>, and this php script<\/a>\u00a0returns the content of\u00a0\/dev\/shm\/mjpeg\/cam.jpg<\/em> file, where\u00a0raspimjpeg<\/a>\u00a0writes the camera preview thanks to the setting\u00a0preview_path \/dev\/shm\/mjpeg\/cam.jpg<\/em>.
\nWhen motion detects something, it executes<\/a> the command on_event_start echo ‘ca 1’ > \/var\/www\/FIFO<\/em>, and the corresponding on_event_end echo ‘ca 0’ > \/var\/www\/FIFO<\/em> when the event ends. \/var\/www\/FIFO<\/em> is the Unix pipe file used to control raspimjpeg \u00a0via the\u00a0control_file \/var\/www\/FIFO<\/em> option<\/a>. Doing so,\u00a0raspimjpeg creates\u00a0the video file returned in the web page with all the captured files.
\nAll motion web-service options\u00a0and recording capabilities are switched off in the config file.<\/p>\n
When installing<\/a>, a link to the camera preview file is created under Apache site directory using the command\u00a0sudo ln -sf \/run\/shm\/mjpeg\/cam.jpg \/var\/www\/$rpicamdir<\/span>\/cam.jpg<\/em>. In this way, http:\/\/raspberry_ip\/cam.jpg<\/em> returns the latest image from the camera, and Android app like tinyCam monitor<\/a> can points to this address to show camera stream, image by image.<\/p>\n
To create Python app that uses the camera, picamera<\/a> interface can be used.<\/p>\n
 <\/p>\n
 <\/p>\n","protected":false},"excerpt":{"rendered":"
Today’s challenge Have a first-person view of the Roomba cleaning, using a RasperryPi, a RPi Camera and some additional stuff.   Raspberry basic configuration Hardware side, I used the most standard available components: a Raspberry Pi model B, the RPi Camera module and a Edimax EW-7811Un 150Mbps Wi-Fi USB card. Regarding the OS,\u00a0there are a … Continue reading Raspberry Pi, RPi Camera and Roomba: a first-person experience of the housecleaning<\/span> →<\/span><\/a><\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"activitypub_content_warning":"","activitypub_content_visibility":"","activitypub_max_image_attachments":3,"activitypub_interaction_policy_quote":"anyone","activitypub_status":"","footnotes":""},"categories":[3],"tags":[421],"class_list":["post-5374","post","type-post","status-publish","format-standard","hentry","category-tech","tag-raspberry-pi"],"yoast_head":"\nRaspberry Pi, RPi Camera and Roomba: a first-person experience of the housecleaning - Rainbowbreeze<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/rainbowbreeze.it\/raspberry-pi-rpi-camera-and-roomba-a-first-person-experience-of-the-housecleaning\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Raspberry Pi, RPi Camera and Roomba: a first-person experience of the housecleaning - Rainbowbreeze\" \/>\n<meta property=\"og:description\" content=\"Today’s challenge Have a first-person view of the Roomba cleaning, using a RasperryPi, a RPi Camera and some additional stuff.   Raspberry basic configuration Hardware side, I used the most standard available components: a Raspberry Pi model B, the RPi Camera module and a Edimax EW-7811Un 150Mbps Wi-Fi USB card. 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