Cross-kompiliert opencv Projekt auf Ubuntu für Raspberry Pi

Bin ich zu kämpfen mit diesem seit 2 Tagen jetzt und erhalten Sie es nicht zu funktionieren.

, Was ich bisher getan habe:

  • gebaut opencv-2.4.8 aus dem Quellcode auf Ubuntu 12.04 LTS
    --> OpenCV-Projekte werden kompiliert und laufen auf ubuntu

  • gebaut opencv-2.4.8 aus der Quelle auf den Raspberry Pi Raspian
    --> OpenCV-Projekte kompilieren und ausführen auf dem Raspberry Pi

  • baute einen cross-compiler für den Raspberry Pi mit crosstools-ng (http://www.bootc.net/archives/2012/05/26/how-to-build-a-cross-compiler-for-your-raspberry-pi/)
    --> c++ - Programme auf Ubuntu mit dem crosscompiler laufen auf dem Raspberry Pi

Was sind meine Probleme:

  • OpenCV-Programme nicht kompilieren, die mit dem cross-compiler 
    • |2|fatal error: opencv2/highgui/highgui.hpp: No such file or directory|

  • Ich glaube, ich brauche, um cross-kompilieren, OpenCV, als auch auf ubuntu. Von meinem cross-compiler habe ich auch eine toolchain
    • # 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)

    mit dieser toolchain habe ich versucht zu cross-kompiliert OpenCV mit diesem Befehl:

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

    Nach dem Befehl make kompiliert bis 27%. Es reagiert mit diesem Fehler

    [ 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

  • Ich habe versucht, kopieren die OpenCV Header und libs kompiliert auf dem Raspberry Pi auf meinem ubuntu-Rechner und verbinden Sie. Ich erhalte jede Menge errors beim kompilieren
    • ||=== 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 ===|

    Also meine Frage ist:

    Wie bekomme ich einen crosscompiler unter ubuntu zum arbeiten mit opencv? Ich möchte nur zum kompilieren unter ubuntu, kopieren Sie das Programm auf dem Pi und starte es dort.

    Vielen Dank

    InformationsquelleAutor eelay | 2014-03-07
    1. 5

      Ich weiß, das ist eine alte Frage, aber für die Platte, die ich war in der Lage, um cross-kompilieren meine OpenCV-Projekt von Ubuntu.

      In meinem Fall habe ich die die pre-built raspberry pi toolchain auf github: https://github.com/raspberrypi/tools auf Ubuntu 12.0.4. Habe ich den Ansatz kopieren der nativen Bibliotheken (mit OpenCV und PiCamera Bibliotheken installiert) von der Ziel-Raspberry-Pi-system an die Ubuntu-Instanz und mit der CMAKE_TOOLCHAIN_FILE Unterstützung, wie Sie erwähnen in Ihrem Beitrag.

      Allerdings gab es bestimmte Fragen, die ich zu überwinden hatte, die ich in diesem post: https://solderspot.wordpress.com/2016/02/04/cross-compiling-for-raspberry-pi-part-ii

      Die wichtigsten Punkte waren:

      1. CMAKE_FIND_ROOT_PATH hatte keine Wirkung. Ich musste CMAKE_SYSROOT.

      2. In meinem CMakeLists.txt die Datei hatte ich noch explizit voranstellen alle Pfade mit dem Pfad zu dem Ordner, wo ich kopiert hatte, über das native Dateisystem.

      3. Außerdem musste ich explizit angeben, die dynamische Bibliothek link-Pfade innerhalb CMAKE_TOOLCHAIN_FILE als der toolchain nicht richtig parser /usr/etc/ld.so.conf-Datei.

      Der einzige aktuelle Problem konnte ich nicht lösen, war noch zu tun, mit der Jessie-release von Raspbian, als OpenCV verwendet gcc/g++ - 4.9-Funktion nicht unterstützt wird, wird durch den gcc/g++ - 4.8-version der toolchain. Es sieht aus wie die toolchain wird ergänzt zu unterstützen 4.9 in der nahen Zukunft.

      Mein letzten CMAKE_TOOLCHAIN_FILE war:

      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)

      Wo ich eine pidev - Ordner in meinem home-Verzeichnis und unter piroot hatte eine Kopie von /usr /opt /etc und /lib von meinem pi-host-und pitools ist ein Klon der toolchain von GitHub I Referenz oben.

      Meine CMakeLists.txt die Datei für mein Projekt war:

      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)

      Hoffe, das hilft.

      • Wo hast du die Kopie der opencv-Bibliotheken von pi? Ich Laufe sudo apt-get install libopencv-dev auf meinem pi und erfolgreich installiert. Aber ich finde keine libopencv*.also, weder in /usr/lib , /lib, /usr/local/lib. Finde ich nur header-Dateien in /usr/include/opencv und /usr/include/opencv2. Allerdings bin ich mir sehr sicher, dass ich kompilieren kann lokal auf dem pi mit opencv, kann Sie einfach nicht finden, wo die libs.
      InformationsquelleAutor solderspot
    2. 2

      Können Sie cross-kompilieren von Qt (c++) mit OpenCV auf dem raspberry pi über folgenden link:
      http://aplacetogeek.wordpress.com/qt-opencv-v4l-cross-compiling-raspberry-pi-beagle-bone/

      Diesen link sollten Sie alle benötigten Informationen, wie Sie Ihr system in der Lage, um cross-kompilieren für den raspberry pi. Wenn Sie sich gesetzt haben, bis alles so, wie der link sagt, ich denke, Sie können auch die Verwendung der opencv-Bibliothek zu cross-kompilieren von c++ ohne Qt, wenn Sie bevorzugen.

      InformationsquelleAutor DeGoosseZ
    3. -1

      Ich habe die obigen Schritte befolgt und ich bin immer die foolowing Fehler :

      make[2]: *** No rule to make target '/opt/vc/lib/libmmal_core.so', needed by 'agv_car'.  Stop.

      hat jemand geschafft, cross-kompilieren ein Projekt, das verwendet opencv und die raspicam Bibliotheken?

      • Postet bitte Eure feedbacks in den Kommentaren, nicht als Antwort.
      InformationsquelleAutor MihaiG
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