【OpenCV(3)】linux arm aarch 是 opencv 交叉编译与使用
文章目录
- 1、直接找github 别人编译好的
- 2、自主编译
-
- 参考
- 3使用
- CMake
-
- 检查
- 参考
1、直接找github 别人编译好的
测试很多，找到一个可用的。
https://github.com/dog-qiuqiu/libopencv
它用了超级模块！
OpenCV的world模块也称为超级模块（super-module），它结合了用户选择的所有其它模块。在编译OpenCV库时，有需要勾选BUILD_opencv_world模块，其作用是将所有模块的库文件合并成一个大的库文件，方便在链接时候的操作。
这样就不用自主编译了。但是已经自主编译了一个，还是记录下吧。
2、自主编译
找了很多github的编译好的文件，都没法用。还是自己编译吧。
opencv的交叉编译工具链在…/opencv3.4.16/platforms/linux 路径下，linux文件夹下是一些.cmake文件，对应不同的移植对象，本人需要在NVIDIA的Xavier部署模型，所以选择aarch64-gnu.toolchain.cmake 工具链。在opencv3.4.16目录下，编写build.sh文件，然后执行./build.sh --mlu-arch=SD5223C --cpu-arch=aarch64。 具体的buld.sh 这样写
这个脚本只有2个地方需要修改：
- 如果你的交叉编译器的地址修改，第53行
TOOLCHAIN_ROOT="/tmp/aarch64--glibc--stable-2020.08-1"。 TARGET_C_COMPILER和TARGET_CXX_COMPILER地址，需要注意。其他地方都很好理解。如果不理解，请在评论区讨论。
TARGET_C_COMPILER=${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-gcc
TARGET_CXX_COMPILER=${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-g++
#!/bin/bash
################################################################################
if [ $NEUWARE_HOME ] ;then
echo "NEUWARE_HOME: ${NEUWARE_HOME} has been set."
else
export NEUWARE_HOME="/usr/local/neuware"
echo "set NEUWARE_HOME: ${NEUWARE_HOME} by default."
fi
BUILD_DIR="build"
rm -rf "$BUILD_DIR"
mkdir -p "$BUILD_DIR"
BUILD_MODE="release"
MLU_ARCH=""
TARGET_CPU_ARCH="x86_64-linux-gnu"
TARGET_C_COMPILER="$(which gcc)"
TARGET_CXX_COMPILER="$(which g++)"
if [ $# != 0 ]; then
while [ $# != 0 ]; do
case "$1" in
--cpu-arch=*)
TMP_STRING=$1
TARGET_CPU_ARCH=${TMP_STRING#*=};
TARGET_CPU_ARCH=${TARGET_CPU_ARCH}-linux-gnu;
shift
;;
--mlu-arch=*)
TMP_MLU_ARCH=${1}
MLU_ARCH=${TMP_MLU_ARCH#*=}
shift
;;
-d | --debug)
BUILD_MODE="debug"
echo "-- Using debug mode."
shift
;;
-v | --verbose)
BUILD_VERBOSE="VERBOSE=1"
shift
;;
esac
done
fi
## TOOLCHAIN_ROOT not exist, use default env
if [ ! "${TOOLCHAIN_ROOT}" ]; then
if [ "$TARGET_CPU_ARCH" == "aarch64-linux-gnu" ]; then
if [ "$MLU_ARCH" == "SD5223" ]; then
#TOOLCHAIN_ROOT="/tools/gcc/gcc-9/gcc-stable-9.3.0-2020.08-x86_64_aarch4-linux-gnu"
TOOLCHAIN_ROOT="/tools/gcc/gcc-9/gcc-stable-9.3.0-2020.08-x86_64_aarch4-linux-gnu"
else
TOOLCHAIN_ROOT="/tmp/gcc-linaro-6.2.1-2016.11-x86_64_aarch64-linux-gnu"
fi
echo "Using default TOOLCHAIN_ROOT=${TOOLCHAIN_ROOT}"
if [ -f ${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-gcc ]; then
TARGET_C_COMPILER=${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-gcc
TARGET_CXX_COMPILER=${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-g++
else
TARGET_C_COMPILER=${TOOLCHAIN_ROOT}/bin/aarch64-linux-gcc
TARGET_CXX_COMPILER=${TOOLCHAIN_ROOT}/bin/aarch64-linux-g++
fi
fi
else
echo "Using TOOLCHAIN_ROOT=${TOOLCHAIN_ROOT}"
if [ "$TARGET_CPU_ARCH" == "aarch64-linux-gnu" ]; then
if [ -f ${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-gcc ]; then
TARGET_C_COMPILER=${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-gcc
TARGET_CXX_COMPILER=${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-g++
else
TARGET_C_COMPILER=${TOOLCHAIN_ROOT}/bin/aarch64-linux-gcc
TARGET_CXX_COMPILER=${TOOLCHAIN_ROOT}/bin/aarch64-linux-g++
fi
fi
fi
if [[ -f /proc/cpuinfo ]]; then
MJOBS=$(grep -c processor /proc/cpuinfo)
else
MJOBS=4
fi
pushd ${BUILD_DIR}
cmake -DCMAKE_BUILD_TYPE="${BUILD_MODE}" \
-DTOOLCHAIN_ROOT="${TOOLCHAIN_ROOT}" \
-DTARGET_CPU_ARCH="${TARGET_CPU_ARCH}" \
-DCMAKE_C_COMPILER="${TARGET_C_COMPILER}" \
-DCMAKE_CXX_COMPILER="${TARGET_CXX_COMPILER}" \
-DMLU_ARCH="${MLU_ARCH}" \
-DCMAKE_INSTALL_PREFIX=../aarch_64_install \
-DCMAKE_TOOLCHAIN_FILE=../platforms/linux/aarch64-gnu.toolchain.cmake \
..
make -j$MJOBS ${BUILD_VERBOSE}
popd
这个脚本还是很好用的，如果理解里面的知识点的话！！
make install
编译结束后进入aarch_64_install文件夹，里面生成bin，include，lib，share四个文件夹。
参考
https://zhuanlan.zhihu.com/p/381760569
3使用
可以直接通过指定export OPENCV_DIR=xxx指定依赖的opencv，默认需要的组织目录(aarch64架构下建议使用该种形式)：
|-- ${OPENCV_DIR}
| |-- include
| | |-- opencv2
| |-- lib
| | |-- libxxx
CMake
# cmake file for samples
cmake_minimum_required(VERSION 2.8)
project(SAMPLES)
set(CMAKE_CXX_STANDARD 11)
set(EXECUTABLE_OUTPUT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/bin")
set(TOOLCHAIN_ROOT ${TOOLCHAIN_ROOT})
set(TARGET_CPU_ARCH ${TARGET_CPU_ARCH})
if(${TARGET_CPU_ARCH} MATCHES "aarch64-linux-gnu")
include_directories(${TOOLCHAIN_ROOT}/aarch64-linux-gnu/include/c++/6.2.1/)
include_directories(${TOOLCHAIN_ROOT}/aarch64-linux-gnu/include/c++/6.2.1/aarch64-linux-gnu/)
include_directories(${TOOLCHAIN_ROOT}/aarch64-linux-gnu/)
endif()
################################################################################
# opencv lib
################################################################################
if(NOT HAVE_OPENCV)
if("$ENV{OPENCV_DIR}" STREQUAL "")
find_package(OpenCV REQUIRED)
set(HAVE_OPENCV true)
message("find_package(OpenCV REQUIRED) required.")
else()
message("find_package(OpenCV REQUIRED) No!")
include_directories("$ENV{OPENCV_DIR}/include")
link_directories("$ENV{OPENCV_DIR}/lib")
set(OpenCV_LIBS opencv_core opencv_imgproc opencv_highgui opencv_imgcodecs)
set(HAVE_OPENCV true)
endif()
endif()
if(NOT HAVE_OPENCV)
message(FATAL_ERROR "Cannot find opencv which is required.")
else()
#message(${OpenCV_INCLUDE_DIRS})
message("ok required.")
endif()
include_directories( ${OpenCV_INCLUDE_DIRS} )
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fPIC -Wall -Werror -pthread")
message(STATUS "Project: ${PROJECT_SOURCE_DIR}" )
message(STATUS "Project SOURCE dir: ${SAMPLES_SOURCE_DIR}" )
message(STATUS "Project BINARY dir: ${PROJECT_BINARY_DIR}" )
function(gensample sample_file)
set(sample_root_name ${CMAKE_CURRENT_SOURCE_DIR}/${sample_file}.cpp)
add_executable(sample_${sample_file} ${sample_root_name} )
target_link_libraries(sample_${sample_file} ${OpenCV_LIBS})
endfunction()
################################################################################
# Build Samples
################################################################################
set(MLU_ARCH)
if ("${MLU_ARCH}" MATCHES "SD5223")
gensample(OpenCVTest)
else()
gensample(OpenCVTest)
endif()
#include sh脚本
#!/bin/bash
################################################################################
export OPENCV_DIR=/mnt/ef2301-sdk-0.10.0/board/develop_workspace/inference/OpenCV3.0.0-master/arm-obj_rel
if [ $NEUWARE_HOME ] ;then
echo "NEUWARE_HOME: ${NEUWARE_HOME} has been set."
else
export NEUWARE_HOME="/usr/local/neuware"
echo "set NEUWARE_HOME: ${NEUWARE_HOME} by default."
fi
BUILD_DIR="build"
rm -rf "$BUILD_DIR"
mkdir -p "$BUILD_DIR"
BUILD_MODE="release"
MLU_ARCH=""
TARGET_CPU_ARCH="x86_64-linux-gnu"
TARGET_C_COMPILER="$(which gcc)"
TARGET_CXX_COMPILER="$(which g++)"
if [ $# != 0 ]; then
while [ $# != 0 ]; do
case "$1" in
--cpu-arch=*)
TMP_STRING=$1
TARGET_CPU_ARCH=${TMP_STRING#*=};
TARGET_CPU_ARCH=${TARGET_CPU_ARCH}-linux-gnu;
shift
;;
--mlu-arch=*)
TMP_MLU_ARCH=${1}
MLU_ARCH=${TMP_MLU_ARCH#*=}
shift
;;
-d | --debug)
BUILD_MODE="debug"
echo "-- Using debug mode."
shift
;;
-v | --verbose)
BUILD_VERBOSE="VERBOSE=1"
shift
;;
esac
done
fi
## TOOLCHAIN_ROOT not exist, use default env
if [ ! "${TOOLCHAIN_ROOT}" ]; then
if [ "$TARGET_CPU_ARCH" == "aarch64-linux-gnu" ]; then
if [ "$MLU_ARCH" == "SD5223" ]; then
#TOOLCHAIN_ROOT="/tools/gcc/gcc-9/gcc-stable-9.3.0-2020.08-x86_64_aarch4-linux-gnu"
TOOLCHAIN_ROOT="/tools/gcc/gcc-9/gcc-stable-9.3.0-2020.08-x86_64_aarch4-linux-gnu"
else
TOOLCHAIN_ROOT="/tmp/gcc-linaro-6.2.1-2016.11-x86_64_aarch64-linux-gnu"
fi
echo "Using default TOOLCHAIN_ROOT=${TOOLCHAIN_ROOT}"
if [ -f ${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-gcc ]; then
TARGET_C_COMPILER=${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-gcc
TARGET_CXX_COMPILER=${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-g++
else
TARGET_C_COMPILER=${TOOLCHAIN_ROOT}/bin/aarch64-linux-gcc
TARGET_CXX_COMPILER=${TOOLCHAIN_ROOT}/bin/aarch64-linux-g++
fi
fi
else
echo "Using TOOLCHAIN_ROOT=${TOOLCHAIN_ROOT}"
if [ "$TARGET_CPU_ARCH" == "aarch64-linux-gnu" ]; then
if [ -f ${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-gcc ]; then
TARGET_C_COMPILER=${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-gcc
TARGET_CXX_COMPILER=${TOOLCHAIN_ROOT}/bin/${TARGET_CPU_ARCH}-g++
else
TARGET_C_COMPILER=${TOOLCHAIN_ROOT}/bin/aarch64-linux-gcc
TARGET_CXX_COMPILER=${TOOLCHAIN_ROOT}/bin/aarch64-linux-g++
fi
fi
fi
if [[ -f /proc/cpuinfo ]]; then
MJOBS=$(grep -c processor /proc/cpuinfo)
else
MJOBS=4
fi
pushd ${BUILD_DIR}
cmake -DCMAKE_BUILD_TYPE="${BUILD_MODE}" \
-DTOOLCHAIN_ROOT="${TOOLCHAIN_ROOT}" \
-DTARGET_CPU_ARCH="${TARGET_CPU_ARCH}" \
-DCMAKE_C_COMPILER="${TARGET_C_COMPILER}" \
-DCMAKE_CXX_COMPILER="${TARGET_CXX_COMPILER}" \
-DMLU_ARCH="${MLU_ARCH}" \
..
make -j$MJOBS ${BUILD_VERBOSE}
popd
检查
利用file draw_image检查可执行文件格式是否支持arrch64
draw_image: ELF 64-bit LSB shared object, ARM aarch64, version 1 (GNU/Linux), dynamically linked, interpreter /lib/ld-linux-aarch64.so.1, for GNU/Linux 3.7.0, BuildID[sha1]=42f4ae7c66a0875bc0d49e4195ff35aa08f15cbe, not stripped
出现如上结果说明可执行文件支持ARM arrch64。
移植ARM端执行
将 aarch_64_install文件夹下的include和lib里的文件分别拷贝到ARM板的/usr/include 和/usr/lib下 然后打开终端执行可执行文件即可。
参考
https://blog.csdn.net/linxizi0622/article/details/128702048