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在Ubuntu上针对Raspberry Pi交叉编译opencv项目

分类: 技术问答 • 2022-03-17 13:13:55

在Ubuntu上针对Raspberry Pi交叉编译opencv项目

问题描述：

我已经为此苦苦挣扎了两天，却没有让它正常工作.

I'm struggling with this for 2 days now and don't get it to work.

我到目前为止所做的事情:

  • 在Ubuntu 12.04 LTS上从源代码构建了opencv 2.4.8 -> OpenCV项目在ubuntu上编译并运行

  • built opencv 2.4.8 from source on Ubuntu 12.04 LTS --> OpenCV projects compile and run on ubuntu

从Raspberry Pi Raspian上的源代码构建opencv 2.4.8 -> OpenCV项目在Raspberry Pi上编译并运行

built opencv 2.4.8 from source on the Raspberry Pi Raspian --> OpenCV projects compile and run on the Raspberry Pi

使用crosstools-ng(

built a cross compiler for the Raspberry Pi with crosstools-ng (http://www.bootc.net/archives/2012/05/26/how-to-build-a-cross-compiler-for-your-raspberry-pi/) --> c++ programs built on Ubuntu with the crosscompiler run on the Raspberry Pi

我有什么问题:

  • OpenCV程序无法使用交叉编译器进行编译
    • |2|fatal error: opencv2/highgui/highgui.hpp: No such file or directory|

  • 我想我也需要在ubuntu上交叉编译OpenCV.在我的交叉编译器中，我还有一个工具链
    • # this one is important
SET(CMAKE_SYSTEM_NAME Linux)
#this one not so much
SET(CMAKE_SYSTEM_VERSION 1)

# specify the cross compiler
SET(CMAKE_C_COMPILER
/home/christian/Programming/x-tools/arm-unknown-linux-gnueabi/bin/arm-unknown-linux-gnueabi-gcc)

SET(CMAKE_CXX_COMPILER
/home/christian/Programming/x-tools/arm-unknown-linux-gnueabi/bin/arm-unknown-linux-gnueabi-g++)

# where is the target environment
SET(CMAKE_FIND_ROOT_PATH
/home/christian/Programming/x-tools/arm-unknown-linux-gnueabi)

# search for programs in the build host directories
SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
# for libraries and headers in the target directories
SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

    使用此工具链，我尝试使用以下命令交叉编译OpenCV:

    with this toolchain I tried to cross compile OpenCV with this command:

    cmake -DCMAKE_TOOLCHAIN_FILE=../Toolchain-RaspberryPi.cmake ../

    在make命令之后，它将编译到27％.在那里，此错误停止了

    After the make command it compiles until 27%. There it stops with this error

    [ 27%] Building CXX object modules/highgui/CMakeFiles/opencv_highgui.dir/src/cap_ffmpeg.cpp.o
In file included from /home/christian/Downloads/opencv-2.4.8/modules/highgui/src/cap_ffmpeg_impl.hpp:60:0,
                 from /home/christian/Downloads/opencv-2.4.8/modules/highgui/src/cap_ffmpeg.cpp:45:
/home/christian/Downloads/opencv-2.4.8/modules/highgui/src/ffmpeg_codecs.hpp:81:36: fatal error: libavformat/avformat.h: No such file or directory
   #include <libavformat/avformat.h>
                                    ^
compilation terminated.
make[2]: *** [modules/highgui/CMakeFiles/opencv_highgui.dir/src/cap_ffmpeg.cpp.o] Error 1
make[1]: *** [modules/highgui/CMakeFiles/opencv_highgui.dir/all] Error 2
make: *** [all] Error 2

  • 我试图将在Raspberry Pi上编译的OpenCV标头和库复制到我的ubuntu计算机上并链接它们.编译时出现很多错误
    • ||=== RPi_Cross_CV, Debug ===|
||warning: libz.so.1, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_core.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libjpeg.so.8, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libpng12.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libtiff.so.4, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libjasper.so.1, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libgtk-x11-2.0.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libgdk-x11-2.0.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libatk-1.0.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libgio-2.0.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libpangoft2-1.0.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libpangocairo-1.0.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libgdk_pixbuf-2.0.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libcairo.so.2, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libpango-1.0.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libfreetype.so.6, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libfontconfig.so.1, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libgobject-2.0.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libglib-2.0.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libgthread-2.0.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libgstbase-0.10.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libgstreamer-0.10.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libgmodule-2.0.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libxml2.so.2, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libdc1394.so.22, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libv4l1.so.0, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libavcodec.so.53, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libavformat.so.53, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libavutil.so.51, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
||warning: libswscale.so.2, needed by ../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8, not found (try using -rpath or -rpath-link)|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `TIFFSetWarningHandler@LIBTIFF_3.9'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `png_read_info@PNG12_0'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `g_time_val_add'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `jas_image_writecmpt'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `gtk_widget_queue_draw'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `av_guess_codec@LIBAVFORMAT_53'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `av_rescale_q@LIBAVUTIL_51'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `jpeg_std_error@LIBJPEG_8.0'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `jas_cmprof_destroy'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `png_get_tRNS@PNG12_0'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `g_return_if_fail_warning'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `dc1394_camera_enumerate'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `dc1394_capture_stop'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `compress'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `dc1394_get_image_size_from_video_mode'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `g_timeout_add'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `png_set_packing@PNG12_0'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `v4l2_munmap'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `dc1394_feature_whitebalance_get_value'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `gtk_type_new'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `jas_image_destroy'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `avcodec_close@LIBAVCODEC_53'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `sws_getCachedContext@LIBSWSCALE_2'|
../../../../Programming/x-tools/usr-local/lib/libopencv_core.so.2.4.8||undefined reference to `gzeof'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `gtk_style_attach'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `gtk_widget_get_type'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `gtk_window_resize'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `g_cond_broadcast'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `dc1394_video_get_supported_framerates'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `jpeg_read_header@LIBJPEG_8.0'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `avio_open@LIBAVFORMAT_53'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `TIFFReadEncodedTile@LIBTIFF_3.9'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `uncompress'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `g_type_check_instance_cast'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `g_usleep'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `avcodec_find_decoder@LIBAVCODEC_53'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `g_get_current_time'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `jpeg_set_defaults@LIBJPEG_8.0'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `dc1394_video_get_mode'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `jpeg_start_compress@LIBJPEG_8.0'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `av_free_packet@LIBAVCODEC_53'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `gtk_window_set_geometry_hints'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `gtk_signal_connect_full'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `gdk_draw_rgb_image'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `gtk_widget_queue_resize'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `dc1394_video_set_mode'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `jas_stream_close'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `jpeg_set_quality@LIBJPEG_8.0'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `jas_image_readcmpt'|
../../../../Programming/x-tools/usr-local/lib/libopencv_highgui.so.2.4.8||undefined reference to `gtk_disable_setlocale'|
||More errors follow but not being shown.|
||Edit the max errors limit in compiler options...|
||=== Build finished: 50 errors, 29 warnings ===|

    所以我的问题是:

    如何在ubuntu上使用交叉编译器来与opencv一起使用?我只想在ubuntu上编译，在Pi上复制程序并在其中运行.

    How can I get a crosscompiler on ubuntu to work with opencv? I just want to compile on ubuntu, copy the program on the Pi and run it there.

    非常感谢

    答

    我意识到这是一个老问题，但据记录，我能够从Ubuntu交叉编译我的OpenCV项目.

    I realize this is an old question but for the record I was able to cross compile my OpenCV project from Ubuntu.

    在我的情况下，我在github上使用了预先构建的树莓派工具链: https://github.com/Ubuntu 12.0.4上的raspberrypi/tools .我采取了将本地库(已安装OpenCV和PiCamera库)从目标Raspberry Pi系统复制到Ubuntu实例，并使用CMAKE_TOOLCHAIN_FILE支持的方法，如您在帖子中提到的那样.

    In my case I used the the pre-built raspberry pi toolchain on github: https://github.com/raspberrypi/tools on Ubuntu 12.0.4. I took the approach of copying the native libraries (with OpenCV and PiCamera libraries installed) from the target Raspberry Pi system to the Ubuntu instance and using the CMAKE_TOOLCHAIN_FILE support like you mention in your post.

    但是，我必须克服某些问题，我将在本文中介绍:

    However, there were certain issues I had to overcome, which I cover in this post: https://solderspot.wordpress.com/2016/02/04/cross-compiling-for-raspberry-pi-part-ii

    关键点是:

    1. CMAKE_FIND_ROOT_PATH无效.我不得不使用CMAKE_SYSROOT.

    1. CMAKE_FIND_ROOT_PATH had not effect. I had to use CMAKE_SYSROOT.

    在我的CMakeLists.txt文件中，我仍然必须明确地在所有路径的前面加上我在本机文件系统上复制的文件夹的路径.

    In my CMakeLists.txt file I still had to explicitly prepend any paths with the path to the folder where I had copied over the native file system.

    我还需要从CMAKE_TOOLCHAIN_FILE内部显式指定动态库链接路径，因为工具链无法正确解析/usr/etc/ld.so.conf文件.

    I also needed to explicitly specify the dynamic library link paths from within CMAKE_TOOLCHAIN_FILE as the toolchain does not correctly parser the /usr/etc/ld.so.conf file.

    我目前无法解决的唯一问题是有关Raspbian的Jessie版本，因为OpenCV使用了gcc/g ++ 4.9版本的功能，而该功能不受gcc/g ++ 4.8版本的工具链支持.看起来该工具链将在不久的将来得到增强以支持4.9.

    The only current issue I could not solve yet was to do with the Jessie release of Raspbian, as OpenCV uses an gcc/g++ 4.9 feature that is not supported by the gcc/g++ 4.8 version of the toolchain. It looks like the toolchain will be augmented to support 4.9 in the near future.

    我最后的CMAKE_TOOLCHAIN_FILE是:

    My final CMAKE_TOOLCHAIN_FILE was:

    SET(CMAKE_SYSTEM_NAME Linux)
SET(CMAKE_SYSTEM_VERSION 1)

SET(DEVROOT $ENV{HOME}/pidev)
SET(PIROOT ${DEVROOT}/piroot)
SET(PITOOLS ${DEVROOT}/pitools)

SET(TOOLROOT ${PITOOLS}/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64)

# specify the cross compiler
SET(CMAKE_C_COMPILER   ${TOOLROOT}/bin/arm-linux-gnueabihf-gcc)
SET(CMAKE_CXX_COMPILER ${TOOLROOT}/bin/arm-linux-gnueabihf-g++)

SET(FLAGS "-Wl,-rpath-link,${PIROOT}/opt/vc/lib -Wl,-rpath-link,${PIROOT}/lib/arm-linux-gnueabihf -Wl,-rpath-link,${PIROOT}/usr/lib/arm-linux-gnueabihf -Wl,-rpath-link,${PIROOT}/usr/local/lib")

UNSET(CMAKE_C_FLAGS CACHE)
UNSET(CMAKE_CXX_FLAGS CACHE)

SET(CMAKE_CXX_FLAGS ${FLAGS} CACHE STRING "" FORCE)
SET(CMAKE_C_FLAGS ${FLAGS} CACHE STRING "" FORCE)

SET(CMAKE_SYSROOT ${PIROOT})
SET(CMAKE_FIND_ROOT_PATH ${PIROOT})


# search for programs in the build host directories
SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
# for libraries and headers in the target directories
SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

    我的主目录中有一个 pidev 文件夹，而在 piroot 下有一个来自pi主机的/usr/opt/etc和/lib副本，并且 pitools 是我上面引用的GitHub工具链的克隆.

    Where I had a pidev folder in my home directory and under that piroot had a copy of /usr /opt /etc and /lib from my pi host, and pitools is a clone of the toolchain from GitHub I reference above.

    我的项目的CMakeLists.txt文件为:

    My CMakeLists.txt file for my project was:

    cmake_minimum_required(VERSION 2.8)
project( PiCamCVTest )
SET(COMPILE_DEFINITIONS -Werror)

include_directories(SYSTEM ${PIROOT}/opt/vc/include ${PIROOT}/opt/vc/include/interface/vcos/pthreads ${PIROOT}/opt/vc/include/interface/vmcs_host/linux )
link_directories( ${PIROOT}/opt/vc/lib )
add_executable(PiCamCVTest main.cpp camera.cpp cameracontrol.cpp graphics.cpp)

target_link_libraries(PiCamCVTest libmmal_core.so libmmal_util.so libmmal_vc_client.so libvcos.so librt.so libbcm_host.so GLESv2 EGL libopencv_core.so libopencv_imgproc.so)

    希望这会有所帮助.

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