Thanks.
I am having a more serious and urgent problem (I think it is related to cmake) when cross compiling.
The problem is I think I am using only the library from RASPBIAN_ROOTFS, where I resync usr and lib from pi4,
but what I get seems that the compiler is going to by host to find this library, such as opencv and stdio.h.
But the output of the opencv version is actually the version installed in rpi. Anyone can help me? I am quite new to cmake.
This is my toolchain.cmake and CMakeLists
1. toolchain.cmake:
set(RASPBERRY_VERSION $ENV{RASPBERRY_VERSION})
message(STATUS "RASPBERRY_VERSION = ${RASPBERRY_VERSION}")
# RASPBIAN_ROOTFS should point to the local directory which contains all the libraries and includes from the target raspi.
# Get them with:
# rsync -vR --progress -rl --delete-after --safe-links
pi@192.168.1.PI:/{lib,usr,opt/vc/lib} $HOME/raspberrypi/rootfs
# Then RASPBIAN_ROOTFS=$HOME/raspberrypi/rootfs
if("$ENV{RASPBIAN_ROOTFS}" STREQUAL "")
message(FATAL_ERROR "Define the RASPBIAN_ROOTFS environment variable to point to the raspbian rootfs.")
else()
set(SYSROOT_PATH "$ENV{RASPBIAN_ROOTFS}")
endif()
set(TOOLCHAIN_HOST "arm-linux-gnueabihf")
message(STATUS "Using sysroot path: ${SYSROOT_PATH}")
set(TOOLCHAIN_CC "${TOOLCHAIN_HOST}-gcc")
set(TOOLCHAIN_CXX "${TOOLCHAIN_HOST}-g++")
set(TOOLCHAIN_LD "${TOOLCHAIN_HOST}-ld")
set(TOOLCHAIN_AR "${TOOLCHAIN_HOST}-ar")
set(TOOLCHAIN_RANLIB "${TOOLCHAIN_HOST}-ranlib")
set(TOOLCHAIN_STRIP "${TOOLCHAIN_HOST}-strip")
set(TOOLCHAIN_NM "${TOOLCHAIN_HOST}-nm")
set(CMAKE_CROSSCOMPILING TRUE)
set(CMAKE_SYSROOT "${SYSROOT_PATH}")
# Define name of the target system
set(CMAKE_SYSTEM_NAME "Linux")
set(CMAKE_SYSTEM_PROCESSOR "armv8")
# 3B+: ARM Cortex-A53 64位 (ARMv8) 1.4GHz (4 cores)
# 4B: ARM Cortex-A72 (ARMv8) 1.5GHz (4 cores)
# Define the compiler
set(CMAKE_C_COMPILER ${TOOLCHAIN_CC})
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_CXX})
# List of library dirs where LD has to look. Pass them directly through gcc. LD_LIBRARY_PATH is not evaluated by arm-*-ld
set(LIB_DIRS
"/opt/cross-pi-gcc/arm-linux-gnueabihf/lib"
"/opt/cross-pi-gcc/lib"
"${SYSROOT_PATH}/opt/vc/lib"
"${SYSROOT_PATH}/lib/${TOOLCHAIN_HOST}"
"${SYSROOT_PATH}/usr/local/lib"
"${SYSROOT_PATH}/usr/lib/${TOOLCHAIN_HOST}"
"${SYSROOT_PATH}/usr/lib"
"${SYSROOT_PATH}/usr/lib/${TOOLCHAIN_HOST}/blas"
"${SYSROOT_PATH}/usr/lib/${TOOLCHAIN_HOST}/lapack"
)
# You can additionally check the linker paths if you add the flags ' -Xlinker --verbose'
set(COMMON_FLAGS "-I${SYSROOT_PATH}/usr/include")
FOREACH(LIB ${LIB_DIRS})
set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}")
ENDFOREACH()
set(CMAKE_PREFIX_PATH "${CMAKE_PREFIX_PATH};${SYSROOT_PATH}/usr/lib/${TOOLCHAIN_HOST}")
SET (CMAKE_C_COMPILER_WORKS 1)
SET (CMAKE_CXX_COMPILER_WORKS 1)
# 3B+: ARM Cortex-A53 64位 (Armv8-A) 1.4GHz (4 cores)
# 4B: ARM Cortex-A72 (Armv8-A) 1.5GHz (4 cores)
# -march=armv8-a
# -mcpu=cortex-a72
# -mcpu=cortex-a53
# if(RASPBERRY_VERSION VERSION_GREATER 3)
# set(CMAKE_C_FLAGS " -mcpu=cortex-a72 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}" CACHE STRING "Flags for Raspberry PI 4")
# set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" CACHE STRING "Flags for Raspberry PI 4")
# else()
# set(CMAKE_C_FLAGS " -mcpu=cortex-a53 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}" CACHE STRING "Flags for Raspberry PI 3")
# set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" CACHE STRING "Flags for Raspberry PI 3")
# endif()
if(RASPBERRY_VERSION VERSION_GREATER 3)
set(CMAKE_C_FLAGS " -march=armv8-a -mfloat-abi=hard -mfpu=neon-fp-armv8 ${COMMON_FLAGS}" CACHE STRING "Flags for Raspberry PI 4")
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" CACHE STRING "Flags for Raspberry PI 4")
else()
set(CMAKE_C_FLAGS " -march=armv8-a -mfloat-abi=hard -mfpu=neon-fp-armv8 ${COMMON_FLAGS}" CACHE STRING "Flags for Raspberry PI 3")
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" CACHE STRING "Flags for Raspberry PI 3")
endif()
set(CMAKE_FIND_ROOT_PATH "${CMAKE_INSTALL_PREFIX};${CMAKE_PREFIX_PATH};${CMAKE_SYSROOT}")
# 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)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
2). CMakeLists
cmake_minimum_required(VERSION 2.8)
# set(CMAKE_TRY_COMPILE_TARGET_TYPE "STATIC_LIBRARY")
project(ORB_SLAM3)
IF(NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE Release)
ENDIF()
MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")
# set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
# set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=armv8-a -mfloat-abi=hard -mfpu=neon-fp-armv8")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=armv8-a -mfloat-abi=hard -mfpu=neon-fp-armv8")
# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(OpenCV 3)
if(NOT OpenCV_FOUND)
find_package(OpenCV 2.4.3 QUIET)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
endif()
endif()
MESSAGE("OPENCV VERSION: ${OpenCV_VERSION}")
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${PROJECT_SOURCE_DIR}/include/CameraModels
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Atlas.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
src/ImuTypes.cc
src/G2oTypes.cc
src/CameraModels/Pinhole.cpp
src/CameraModels/KannalaBrandt8.cpp
src/OptimizableTypes.cpp
src/MLPnPsolver.cpp
include/System.h
include/Tracking.h
include/LocalMapping.h
include/LoopClosing.h
include/ORBextractor.h
include/ORBmatcher.h
include/FrameDrawer.h
include/Converter.h
include/MapPoint.h
include/KeyFrame.h
include/Atlas.h
include/Map.h
include/MapDrawer.h
include/Optimizer.h
include/PnPsolver.h
include/Frame.h
include/KeyFrameDatabase.h
include/Sim3Solver.h
include/Initializer.h
include/Viewer.h
include/ImuTypes.h
include/G2oTypes.h
include/CameraModels/GeometricCamera.h
include/CameraModels/Pinhole.h
include/CameraModels/KannalaBrandt8.h
include/OptimizableTypes.h
include/MLPnPsolver.h
include/TwoViewReconstruction.h
src/TwoViewReconstruction.cc)
add_subdirectory(Thirdparty/g2o)
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
-lboost_serialization
-lcrypto
)
# Build examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})
add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})
add_executable(stereo_tum_vi
Examples/Stereo/stereo_tum_vi.cc)
target_link_libraries(stereo_tum_vi ${PROJECT_NAME})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})
add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})
add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})
add_executable(mono_tum_vi
Examples/Monocular/mono_tum_vi.cc)
target_link_libraries(mono_tum_vi ${PROJECT_NAME})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial)
add_executable(mono_inertial_euroc
Examples/Monocular-Inertial/mono_inertial_euroc.cc)
target_link_libraries(mono_inertial_euroc ${PROJECT_NAME})
add_executable(mono_inertial_tum_vi
Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial)
add_executable(stereo_inertial_euroc
Examples/Stereo-Inertial/stereo_inertial_euroc.cc)
target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})
add_executable(stereo_inertial_tum_vi
Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})
