robot/esp32-opencv
1
0
Fork 0
mirror of https://gitcode.com/gh_mirrors/es/esp32-opencv.git synced 2025-08-06 18:24:38 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' of github.com:joachimBurket/esp32-opencv

Browse Source
This commit is contained in:
Joachim
2020-06-30 21:14:52 +02:00
parent 9662fb136f 7ac7e155d7
commit 96f52595b0
5 changed files with 77 additions and 93 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
CMakeLists.txt
View File

@ -660,8 +660,7 @@ include(cmake/OpenCVModule.cmake)
# Detect endianness of build platform
# ----------------------------------------------------------------------------
# if not working while compiling for esp32, change the next line in 'if(IOS OR ESP32)'
if(IOS)
if(IOS OR ESP32)
# test_big_endian needs try_compile, which doesn't work for iOS
# http://public.kitware.com/Bug/view.php?id=12288
set(WORDS_BIGENDIAN 0)

72
esp32/doc/detailed_build_procedure.md
View File

@ -107,7 +107,7 @@ When the `cmake` command works, the following summary is given:
-- C/C++:
-- Built as dynamic libs?: NO
-- C++ standard: 11
-- C++ Compiler: /home/joachim/.espressif/tools/xtensa-esp32-elf/esp-2019r2-8.2.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-g++ (ver 8.2.0)
-- C++ Compiler: ~/.espressif/tools/xtensa-esp32-elf/esp-2019r2-8.2.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-g++ (ver 8.2.0)
-- C++ flags (Release): -mlongcalls -Wno-frame-address -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 -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG -DNDEBUG
-- C++ flags (Debug): -mlongcalls -Wno-frame-address -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 -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -fvisibility-inlines-hidden -g -O0 -DDEBUG -D_DEBUG
-- C Compiler: /home/joachim/.espressif/tools/xtensa-esp32-elf/esp-2019r2-8.2.0/xtensa-esp32-elf/bin/xtensa-esp32-elf-gcc
@ -152,14 +152,14 @@ When the `cmake` command works, the following summary is given:
-- Other third-party libraries:
-- Custom HAL: NO
--
-- Python (for build): /home/joachim/.espressif/python_env/idf4.2_py2.7_env/bin/python2.7
-- Python (for build): ~/.espressif/python_env/idf4.2_py2.7_env/bin/python2.7
--
-- Install to: /home/joachim/Documents/HES/02_MSE/22_master_thesis/esp32-opencv/build/install
-- Install to: ~/esp32-opencv/build/install
-- -----------------------------------------------------------------
--
-- Configuring done
-- Generating done
-- Build files have been written to: /home/joachim/Documents/HES/02_MSE/22_master_thesis/esp32-opencv/build
-- Build files have been written to: ~/esp32-opencv/build
```
@ -234,58 +234,22 @@ After these fixes, the command `make` is run, with some new errors:
* When there is an `#if defined(ANDROID)`, add ` || defined(ESP32)` after, so that `malloc.h` is included and `memalign` is used
* *#error "<dirent.h> not supported"*
* *glob.cpp: #error "<dirent.h> not supported"*
The ESP32 doesn't support directories (which are emulated with the filenames, like `mydir/mysubdir/myfile.c`).
**FIX:** Modify `modules/core/src/glob.cpp`
* Add the following code after line 136:
```c++
#if defined(ESP32)
#include <sys/stat.h>
const char dir_separators[] = "/";
namespace {
struct dirent {
const char *d_name;
};
struct DIR {
dirent ent;
DIR() { }
~DIR()
{
if (ent.d_name)
delete[] ent.d_name;
}
};
DIR* opendir(const char* path)
{
DIR* dir = new DIR;
dir->ent.d_name = 0;
// TODO implement (point the first file starting with 'path' in its name)
return dir;
}
dirent* readdir(DIR* dir)
{
// TODO: implement (point to the next file with 'path' in its name)
return &(dir->ent);
}
void closedir(DIR* dir)
{
delete dir;
}
}
```
The function are not implemented yet. Must be implemented if files reading/writing in SPIFFS needed.
The `glob.cpp` file includes the file `xtensa-esp32-elf/sys-include/dirent.h`, which includes `xtensa-esp32-elf/sys-include/sys/dirent.h`, which causes this error. This is because the filesystem related functions are defined in the ESP-IDF repository (in `components/vfs/`). The `vfs/include/sys/dirent.h` header must therefore be included in `glob.cpp:135` instead of `<dirent.h>`:
``` c++
#if defined(ESP32)
#include <sys/unistd.h>
#include "esp_dirent.h"
#include <sys/stat.h>
const char dir_separators[] = "/";
#else
/* ... */
```
This `esp_dirent.h` file is the `vfs/include/sys/dirent.h` copied into `modules/core/src/` in OpenCV sources.
* *system.cpp:1002:20: error: 'mkstemp' was not declared in this scope*
**FIX:**

2
esp32/scripts/build_opencv_for_esp32.sh
View File

@ -67,7 +67,7 @@ cp $SCRIPTDIR/resources/alloc_fix.cpp ./3rdparty/ade/ade-0.1.1f/sources/ade/sour
echo "================================================================================"
echo "Compiling with make -j"
echo "================================================================================"
make -j
make -j3
### installing in output directory ###
echo "================================================================================"

55
modules/core/src/esp_dirent.h Normal file
View File

@ -0,0 +1,55 @@
// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#include <stddef.h>
#include <stdint.h>
/**
* This header file provides POSIX-compatible definitions of directory
* access functions and related data types.
* See http://pubs.opengroup.org/onlinepubs/7908799/xsh/dirent.h.html
* for reference.
*/
/**
* @brief Opaque directory structure
*/
typedef struct {
uint16_t dd_vfs_idx; /*!< VFS index, not to be used by applications */
uint16_t dd_rsv; /*!< field reserved for future extension */
/* remaining fields are defined by VFS implementation */
} DIR;
/**
* @brief Directory entry structure
*/
struct dirent {
int d_ino; /*!< file number */
uint8_t d_type; /*!< not defined in POSIX, but present in BSD and Linux */
#define DT_UNKNOWN 0
#define DT_REG 1
#define DT_DIR 2
char d_name[256]; /*!< zero-terminated file name */
};
DIR* opendir(const char* name);
struct dirent* readdir(DIR* pdir);
long telldir(DIR* pdir);
void seekdir(DIR* pdir, long loc);
void rewinddir(DIR* pdir);
int closedir(DIR* pdir);
int readdir_r(DIR* pdir, struct dirent* entry, struct dirent** out_dirent);

38
modules/core/src/glob.cpp
View File

@ -133,44 +133,10 @@ namespace
}
#else
#if defined(ESP32)
#include <sys/unistd.h>
#include "esp_dirent.h"
#include <sys/stat.h>
const char dir_separators[] = "/";
namespace {
struct dirent {
const char *d_name;
};
struct DIR {
dirent ent;
DIR() { }
~DIR()
{
if (ent.d_name)
delete[] ent.d_name;
}
};
DIR* opendir(const char* path)
{
DIR* dir = new DIR;
dir->ent.d_name = 0;
// TODO implement (point the first file starting with 'path' in its name)
return dir;
}
dirent* readdir(DIR* dir)
{
// TODO: implement (point to the next file with 'path' in its name)
return &(dir->ent);
}
void closedir(DIR* dir)
{
delete dir;
}
}
#else
# include <dirent.h>
# include <sys/stat.h>