Merge pull request #25832 from chachoi-world:4.x

Add support for QNX #25832

Build and test instruction for QNX:
https://github.com/chachoi-world/qnx-ports/blob/main/opencv/README.md

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake

CMakeLists.txt

@@ -773,7 +773,7 @@ if(UNIX OR MINGW)
     elseif(EMSCRIPTEN)
       # no need to link to system libs with emscripten
     elseif(QNXNTO)
-      set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} m)
+      set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} m regex)
     elseif(MINGW)
       set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} pthread)
     else()

cmake/OpenCVFindLibsGrfmt.cmake

@@ -24,7 +24,13 @@ else()
     set(_zlib_ORIG_CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_FIND_LIBRARY_SUFFIXES})
     set(CMAKE_FIND_LIBRARY_SUFFIXES .so)
   endif()
-  find_package(ZLIB "${MIN_VER_ZLIB}")
+  if(QNX)
+    set(ZLIB_FOUND TRUE)
+    set(ZLIB_LIBRARY z)
+    set(ZLIB_LIBRARIES z)
+  else()
+    find_package(ZLIB "${MIN_VER_ZLIB}")
+  endif()
   if(ANDROID)
     set(CMAKE_FIND_LIBRARY_SUFFIXES ${_zlib_ORIG_CMAKE_FIND_LIBRARY_SUFFIXES})
     unset(_zlib_ORIG_CMAKE_FIND_LIBRARY_SUFFIXES)
@@ -67,7 +73,13 @@ if(WITH_JPEG)
     ocv_clear_vars(JPEG_FOUND)
   else()
     ocv_clear_internal_cache_vars(JPEG_LIBRARY JPEG_INCLUDE_DIR)
-    include(FindJPEG)
+    if(QNX)
+      set(JPEG_LIBRARY jpeg)
+      set(JPEG_LIBRARIES jpeg)
+      set(JPEG_FOUND TRUE)
+    else()
+      include(FindJPEG)
+    endif()
   endif()
 
   if(NOT JPEG_FOUND)
@@ -113,7 +125,13 @@ if(WITH_TIFF)
     ocv_clear_vars(TIFF_FOUND)
   else()
     ocv_clear_internal_cache_vars(TIFF_LIBRARY TIFF_INCLUDE_DIR)
-    include(FindTIFF)
+    if(QNX)
+      set(TIFF_LIBRARY tiff)
+      set(TIFF_LIBRARIES tiff)
+      set(TIFF_FOUND TRUE)
+    else()
+      include(FindTIFF)
+    endif()
     if(TIFF_FOUND)
       ocv_parse_header("${TIFF_INCLUDE_DIR}/tiff.h" TIFF_VERSION_LINES TIFF_VERSION_CLASSIC TIFF_VERSION_BIG TIFF_VERSION TIFF_BIGTIFF_VERSION)
     endif()

cmake/OpenCVInstallLayout.cmake

@@ -56,6 +56,24 @@ elseif(WIN32 AND CMAKE_HOST_SYSTEM_NAME MATCHES Windows)
   ocv_update(OPENCV_JNI_INSTALL_PATH           "java${_jni_suffix}")
   ocv_update(OPENCV_JNI_BIN_INSTALL_PATH       "${OPENCV_JNI_INSTALL_PATH}")
 
+elseif(QNX)
+  ocv_update(OPENCV_BIN_INSTALL_PATH         "${CPUVARDIR}/usr/bin")
+  ocv_update(OPENCV_TEST_INSTALL_PATH        "${OPENCV_BIN_INSTALL_PATH}")
+  ocv_update(OPENCV_SAMPLES_BIN_INSTALL_PATH "${OPENCV_BIN_INSTALL_PATH}")
+  ocv_update(OPENCV_LIB_INSTALL_PATH         "${CPUVARDIR}/usr/lib")
+  ocv_update(OPENCV_LIB_ARCHIVE_INSTALL_PATH "${OPENCV_LIB_INSTALL_PATH}")
+  ocv_update(OPENCV_3P_LIB_INSTALL_PATH      "${CPUVARDIR}/usr/lib")
+  ocv_update(OPENCV_CONFIG_INSTALL_PATH      "${CPUVARDIR}/usr/share/OpenCV")
+  ocv_update(OPENCV_INCLUDE_INSTALL_PATH     "usr/include/OpenCV/opencv4")
+  ocv_update(OPENCV_OTHER_INSTALL_PATH       "usr/share/OpenCV")
+  ocv_update(OPENCV_SAMPLES_SRC_INSTALL_PATH "samples/native")
+  ocv_update(OPENCV_LICENSES_INSTALL_PATH    "${OPENCV_OTHER_INSTALL_PATH}/licenses")
+  ocv_update(OPENCV_TEST_DATA_INSTALL_PATH   "${OPENCV_OTHER_INSTALL_PATH}/testdata")
+  ocv_update(OPENCV_DOC_INSTALL_PATH         "doc")
+  ocv_update(OPENCV_JAR_INSTALL_PATH         "${CMAKE_INSTALL_DATAROOTDIR}/java/opencv4")
+  ocv_update(OPENCV_JNI_INSTALL_PATH         "${OPENCV_JAR_INSTALL_PATH}")
+  ocv_update(OPENCV_JNI_BIN_INSTALL_PATH     "${OPENCV_JNI_INSTALL_PATH}")
+
 else() # UNIX
 
   include(GNUInstallDirs)

cmake/OpenCVUtils.cmake

@@ -309,7 +309,11 @@ function(ocv_include_directories)
            dir MATCHES "/usr/include$")
       # workaround for GCC 6.x bug
     else()
-      include_directories(AFTER SYSTEM "${dir}")
+      if(${CMAKE_SYSTEM_NAME} MATCHES QNX)
+        include_directories(AFTER "${dir}")
+      else()
+        include_directories(AFTER SYSTEM "${dir}")
+      endif()
     endif()
   endforeach()
   include_directories(BEFORE ${__add_before})

modules/core/include/opencv2/core/utils/filesystem.private.hpp

@@ -13,7 +13,7 @@
      /* not supported */
 #  elif defined __ANDROID__ || defined __linux__ || defined _WIN32 || \
         defined __FreeBSD__ || defined __bsdi__ || defined __HAIKU__ || \
-        defined __GNU__
+        defined __GNU__ || defined __QNX__
 #      define OPENCV_HAVE_FILESYSTEM_SUPPORT 1
 #  elif defined(__APPLE__)
 #    include <TargetConditionals.h>

modules/core/src/parallel.cpp

@@ -72,6 +72,10 @@
     #endif
 #endif
 
+#if defined (__QNX__)
+    #include <sys/syspage.h>
+#endif
+
 #ifndef OPENCV_DISABLE_THREAD_SUPPORT
     #include <thread>
 #endif
@@ -1011,7 +1015,9 @@ int getNumberOfCPUs_()
 
     static unsigned cpu_count_sysconf = (unsigned)sysconf( _SC_NPROCESSORS_ONLN );
     ncpus = minNonZero(ncpus, cpu_count_sysconf);
-
+#elif defined (__QNX__)
+    static unsigned cpu_count_sysconf = _syspage_ptr->num_cpu;
+    ncpus = minNonZero(ncpus, cpu_count_sysconf);
 #endif
 
     return ncpus != 0 ? ncpus : 1;

modules/core/src/system.cpp

@@ -46,6 +46,15 @@
 #include <iostream>
 #include <ostream>
 
+#ifdef __QNX__
+    #include <unistd.h>
+    #include <sys/neutrino.h>
+    #include <sys/syspage.h>
+#ifdef __aarch64__
+    #include <aarch64/syspage.h>
+#endif
+#endif
+
 #include <opencv2/core/utils/configuration.private.hpp>
 #include <opencv2/core/utils/trace.private.hpp>
 

modules/core/src/utils/filesystem.cpp

@@ -34,7 +34,7 @@
 #include <errno.h>
 #include <io.h>
 #include <stdio.h>
-#elif defined __linux__ || defined __APPLE__ || defined __HAIKU__ || defined __FreeBSD__ || defined __GNU__ || defined __EMSCRIPTEN__
+#elif defined __linux__ || defined __APPLE__ || defined __HAIKU__ || defined __FreeBSD__ || defined __GNU__ || defined __EMSCRIPTEN__ || defined __QNX__
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <fcntl.h>
@@ -194,7 +194,7 @@ cv::String getcwd()
     sz = GetCurrentDirectoryA((DWORD)buf.size(), buf.data());
     return cv::String(buf.data(), (size_t)sz);
 #endif
-#elif defined __linux__ || defined __APPLE__ || defined __HAIKU__ || defined __FreeBSD__ || defined __EMSCRIPTEN__
+#elif defined __linux__ || defined __APPLE__ || defined __HAIKU__ || defined __FreeBSD__ || defined __EMSCRIPTEN__ || defined __QNX__
     for(;;)
     {
         char* p = ::getcwd(buf.data(), buf.size());
@@ -228,7 +228,7 @@ bool createDirectory(const cv::String& path)
 #else
     int result = _mkdir(path.c_str());
 #endif
-#elif defined __linux__ || defined __APPLE__ || defined __HAIKU__ || defined __FreeBSD__ || defined __EMSCRIPTEN__
+#elif defined __linux__ || defined __APPLE__ || defined __HAIKU__ || defined __FreeBSD__ || defined __EMSCRIPTEN__ || defined __QNX__
     int result = mkdir(path.c_str(), 0777);
 #else
     int result = -1;
@@ -343,7 +343,7 @@ private:
     Impl& operator=(const Impl&); // disabled
 };
 
-#elif defined __linux__ || defined __APPLE__ || defined __HAIKU__ || defined __FreeBSD__ || defined __GNU__ || defined __EMSCRIPTEN__
+#elif defined __linux__ || defined __APPLE__ || defined __HAIKU__ || defined __FreeBSD__ || defined __GNU__ || defined __EMSCRIPTEN__ || defined __QNX__
 
 struct FileLock::Impl
 {

modules/ts/src/ts.cpp

@@ -1035,7 +1035,8 @@ static std::string findData(const std::string& relative_path, bool required, boo
         }
     }
 #ifdef OPENCV_TEST_DATA_INSTALL_PATH
-    datapath = path_join("./", OPENCV_TEST_DATA_INSTALL_PATH);
+    datapath = OPENCV_TEST_DATA_INSTALL_PATH;
+
     if (isDirectory(datapath))
     {
         for(size_t i = search_subdir.size(); i > 0; i--)