在Ubuntu上為Raspberry Pi交叉編譯opencv項目

Question

我現在正在努力奮斗2天並且不能讓它發揮作用。

到目前為止我做了什么：

• 在Ubuntu 12.04 LTS上從源代碼構建opencv 2.4.8 - >在ubuntu上編譯和運行OpenCV項目

• 在Raspberry Pi Raspian上從源代碼構建opencv 2.4.8 - >在Raspberry Pi上編譯和運行OpenCV項目

• 使用crosstools-ng為Raspberry Pi構建了一個交叉編譯器（ http://www.bootc.net/archives/2012/05/26/how-to-build-a-cross-compiler-for-your-raspberry-pi / ） - >在Ubuntu上構建的c ++程序，在Raspberry Pi上運行交叉編譯器

---

我有什么問題：

OpenCV程序不使用交叉編譯器進行編譯

|2|fatal error: opencv2/highgui/highgui.hpp: No such file or directory|

我想我需要在ubuntu上交叉編譯OpenCV。 從我的交叉編譯器我也有一個工具鏈

# 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)

使用此工具鏈，我嘗試使用此命令交叉編譯OpenCV：

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

在make命令之后，它編譯為27％。 它停止了這個錯誤

[ 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

我試圖將在Raspberry Pi上編譯的OpenCV頭文件和庫復制到我的ubuntu計算機並鏈接它們。 編譯時我遇到了很多錯誤

||=== 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 ===|

---

所以我的問題是：

如何在ubuntu上使用交叉編譯器來使用opencv？ 我只想在ubuntu上編譯，在Pi上復制程序並在那里運行它。

非常感謝

Answer 1

我意識到這是一個老問題但是為了記錄我能夠從Ubuntu交叉編譯我的OpenCV項目。

在我的例子中，我在github上使用了預構建的raspberry pi工具鏈： https ： //github.com/raspberrypi/tools在Ubuntu 12.0.4上。 我采用了將原生庫（安裝了OpenCV和PiCamera庫）從目標Raspberry Pi系統復制到Ubuntu實例並使用您在帖子中提到的CMAKE_TOOLCHAIN_FILE支持的方法。

但是，我必須克服一些問題，我將在這篇文章中介紹： https ： //solderspot.wordpress.com/2016/02/04/cross-compiling-for-raspberry-pi-part-ii

關鍵點是：

1. CMAKE_FIND_ROOT_PATH沒有效果。 我不得不使用CMAKE_SYSROOT。

2. 在我的CMakeLists.txt文件中，我仍然必須使用我在本機文件系統上復制的文件夾的路徑顯式地添加任何路徑。

3. 我還需要在CMAKE_TOOLCHAIN_FILE中明確指定動態庫鏈接路徑，因為工具鏈無法正確解析/usr/etc/ld.so.conf文件。

我無法解決的唯一當前問題是與Jessie發布的Raspbian有關，因為OpenCV使用了gcc / g ++ 4.9版本的工具鏈不支持的gcc / g ++ 4.9功能。 看起來工具鏈將在不久的將來得到增強以支持4.9。

我的最終CMAKE_TOOLCHAIN_FILE是：

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)

我在我的主目錄中有一個pidev文件夾，並且在piroot下面有一個來自我的pi主機的/ usr / opt / etc和/ lib的副本，而pitools是GitHub的工具鏈的克隆，我在上面引用。

我的項目的CMakeLists.txt文件是：

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)

希望這可以幫助。

Answer 2

您可以通過以下鏈接將Qt（c ++）與OpenCV交叉編譯到raspberry pi： http ： //aplacetogeek.wordpress.com/qt-opencv-v4l-cross-compiling-raspberry-pi-beagle-bone/

此鏈接應該為您提供有關如何使您的系統能夠為raspberry pi交叉編譯所需的所有信息。 當您按照鏈接所說的方式設置所有內容時，我認為如果您願意，我也可以使用opencv庫來交叉編譯c ++而不使用Qt。