- Start
- Setup XCS and RPi
- Setup RPi Network and SSH
- Setup RPi Peripherals
- Setup Cross-compile environment
- Cross-compile and Install Userland
- Cross-compile and Install OpenCV
- Cross-compile and Install ROS
- > Compile and Install OpenCV
- Compile and Install ROS
- Remote ROS (RPi node and XCS master)
- ROS package development (RPi/XCS)
- Compile and Install WiringPi
TO BE UPDATED. GUIDE MIGHT STILL WORK.
In addition to installing OpenCV on the RPi, we might need it too in the VM for some projects.
This guide describes the steps for compiling and installing OpenCV in the VM.
The described steps are similair to 06-xc-opencv.md and are take from the official install page.
Some packages might already be installed, but in general these are needed:
XCS~$ sudo apt-get install build-essential
XCS~$ sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
XCS~$ sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
-
Download and unzip the
OpenCVsources.XCS~$ cd ~/src XCS~$ wget https://github.com/opencv/opencv/archive/3.2.0.zip XCS~$ unzip 3.2.0.zip XCS~$ rm 3.2.0.zip XCS~$ wget https://github.com/opencv/opencv_contrib/archive/3.2.0.zip XCS~$ unzip 3.2.0.zip XCS~$ rm 3.2.0.zipWhen using the downloads from 06-xc-opencv.md, make sure you revert
OpenCVMinDepVersions.cmakeinto its original state. -
Create build-directory
XCS~$ mkdir -p ~/build/opencv XCS~$ cd ~/build/opencv -
Compile
XCS~$ cmake \ -D BUILD_TESTS=NO \ -D BUILD_PERF_TESTS=NO \ -D BUILD_PYTHON_SUPPORT=ON \ -D OPENCV_EXTRA_MODULES_PATH=/home/pi/src/opencv_contrib-3.2.0/modules \ /home/pi/src/opencv-3.2.0 ... -- General configuration for OpenCV 3.2.0 ===================================== -- Version control: unknown -- -- Extra modules: -- Location (extra): /home/pi/src/opencv_contrib-3.2.0/modules -- Version control (extra): unknown -- -- Platform: -- Timestamp: 2017-03-23T08:26:57Z -- Host: Linux 4.4.0-64-generic x86_64 -- CMake: 3.5.1 -- CMake generator: Unix Makefiles -- CMake build tool: /usr/bin/make -- Configuration: Release -- -- C/C++: -- Built as dynamic libs?: YES -- C++ Compiler: /usr/bin/c++ (ver 5.4.0) -- C++ flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -mno-avx -msse3 -mno-ssse3 -mno-sse4.1 -mno-sse4.2 -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG -DNDEBUG -- C++ flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -mno-avx -msse3 -mno-ssse3 -mno-sse4.1 -mno-sse4.2 -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -g -O0 -DDEBUG -D_DEBUG -- C Compiler: /usr/bin/cc -- C flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -mno-avx -msse3 -mno-ssse3 -mno-sse4.1 -mno-sse4.2 -ffunction-sections -fvisibility=hidden -O3 -DNDEBUG -DNDEBUG -- C flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -mno-avx -msse3 -mno-ssse3 -mno-sse4.1 -mno-sse4.2 -ffunction-sections -fvisibility=hidden -g -O0 -DDEBUG -D_DEBUG -- Linker flags (Release): -- Linker flags (Debug): -- ccache: NO -- Precompiled headers: YES -- Extra dependencies: /usr/lib/x86_64-linux-gnu/libpng.so /usr/lib/x86_64-linux-gnu/libz.so /usr/lib/x86_64-linux-gnu/libtiff.so /usr/lib/x86_64-linux-gnu/libjasper.so /usr/lib/x86_64-linux-gnu/libjpeg.so gtk-x11-2.0 gdk-x11-2.0 pangocairo-1.0 atk-1.0 cairo gdk_pixbuf-2.0 gio-2.0 pangoft2-1.0 pango-1.0 gobject-2.0 glib-2.0 fontconfig freetype gthread-2.0 dc1394 avcodec-ffmpeg avformat-ffmpeg avutil-ffmpeg swscale-ffmpeg dl m pthread rt -- 3rdparty dependencies: libwebp IlmImf libprotobuf -- -- OpenCV modules: -- To be built: core flann imgproc ml photo reg surface_matching video dnn freetype fuzzy imgcodecs shape videoio highgui objdetect plot superres xobjdetect xphoto bgsegm bioinspired dpm face features2d line_descriptor saliency text calib3d ccalib datasets rgbd stereo tracking videostab xfeatures2d ximgproc aruco optflow phase_unwrapping stitching structured_light python2 -- Disabled: world contrib_world -- Disabled by dependency: - -- Unavailable: cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev java python3 ts viz cnn_3dobj cvv hdf matlab sfm -- -- GUI: -- QT: NO -- GTK+ 2.x: YES (ver 2.24.30) -- GThread : YES (ver 2.48.2) -- GtkGlExt: NO -- OpenGL support: NO -- VTK support: NO -- -- Media I/O: -- ZLib: /usr/lib/x86_64-linux-gnu/libz.so (ver 1.2.8) -- JPEG: /usr/lib/x86_64-linux-gnu/libjpeg.so (ver ) -- WEBP: build (ver 0.3.1) -- PNG: /usr/lib/x86_64-linux-gnu/libpng.so (ver 1.2.54) -- TIFF: /usr/lib/x86_64-linux-gnu/libtiff.so (ver 42 - 4.0.6) -- JPEG 2000: /usr/lib/x86_64-linux-gnu/libjasper.so (ver 1.900.1) -- OpenEXR: build (ver 1.7.1) -- GDAL: NO -- GDCM: NO -- -- Video I/O: -- DC1394 1.x: NO -- DC1394 2.x: YES (ver 2.2.4) -- FFMPEG: YES -- avcodec: YES (ver 56.60.100) -- avformat: YES (ver 56.40.101) -- avutil: YES (ver 54.31.100) -- swscale: YES (ver 3.1.101) -- avresample: NO -- GStreamer: NO -- OpenNI: NO -- OpenNI PrimeSensor Modules: NO -- OpenNI2: NO -- PvAPI: NO -- GigEVisionSDK: NO -- Aravis SDK: NO -- UniCap: NO -- UniCap ucil: NO -- V4L/V4L2: NO/YES -- XIMEA: NO -- Xine: NO -- gPhoto2: NO -- -- Parallel framework: pthreads -- -- Other third-party libraries: -- Use IPP: 9.0.1 [9.0.1] -- at: /home/pi/build/opencv/3rdparty/ippicv/ippicv_lnx -- Use IPP Async: NO -- Use VA: NO -- Use Intel VA-API/OpenCL: NO -- Use Lapack: NO -- Use Eigen: YES (ver 3.2.92) -- Use Cuda: NO -- Use OpenCL: YES -- Use OpenVX: NO -- Use custom HAL: NO -- -- OpenCL: <Dynamic loading of OpenCL library> -- Include path: /home/pi/src/opencv-3.2.0/3rdparty/include/opencl/1.2 -- Use AMDFFT: NO -- Use AMDBLAS: NO -- -- Python 2: -- Interpreter: /usr/bin/python2.7 (ver 2.7.12) -- Libraries: /usr/lib/x86_64-linux-gnu/libpython2.7.so (ver 2.7.12) -- numpy: /usr/lib/python2.7/dist-packages/numpy/core/include (ver 1.11.0) -- packages path: lib/python2.7/dist-packages -- -- Python 3: -- Interpreter: /usr/bin/python3 (ver 3.5.2) -- -- Python (for build): /usr/bin/python2.7 -- -- Java: -- ant: NO -- JNI: NO -- Java wrappers: NO -- Java tests: NO -- -- Matlab: Matlab not found or implicitly disabled -- -- Documentation: -- Doxygen: NO -- -- Tests and samples: -- Tests: NO -- Performance tests: NO -- C/C++ Examples: NO -- -- Install path: /usr/local -- -- cvconfig.h is in: /home/pi/build/opencv -- ----------------------------------------------------------------- -- -- Configuring done -- Generating done -- Build files have been written to: /home/pi/build/opencv -
Build and install
make -j 4 sudo make install
Testing the compiled OpenCV-libraries
Prerequisites:
- OpenCV installed in VM
Steps:
-
Build the code without the rpi-generic-toolchain toolchain
XCS~$ mkdir -p ~/rpi/build/hello/ocv XCS~$ cd ~/rpi/build/hello/ocv XCS~$ cmake rpicross_notes/hello/ocv XCS~$ make -
grab image and run.
XCS~$ ./hellocv ~/rpi/build/rpicross_notes/hello/ocv/testimg.jpgAs a result, a window should be opened displaying the image.
Depending on the size of the image, this may take a while. Make sure you are connected to the VM with X-server (
ssh -X) enabled.
Code for this test is taken from http://docs.opencv.org/3.2.0/db/deb/tutorial_display_image.html