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

CMakeLists.txt

@@ -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 OR ESP32)
-if(IOS)
   # 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)

esp32/doc/detailed_build_procedure.md

@@ -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
 ```
 
 
@@ -234,57 +234,21 @@ 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`).
+  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>`:
-
-  **FIX:** Modify `modules/core/src/glob.cpp`
-
-  * Add the following code after line 136:
 
   ``` c++
 #if defined(ESP32)
+  #include <sys/unistd.h>
+#include "esp_dirent.h"
   #include <sys/stat.h>
   const char dir_separators[] = "/";
-    
+  #else
-    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.
+  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*
 

esp32/scripts/build_opencv_for_esp32.sh

@@ -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 "================================================================================"

modules/core/src/esp_dirent.h

@@ -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);
+

modules/core/src/glob.cpp

@@ -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>