Fixes for QNX 6.6 Neitrino support.

CMakeLists.txt

@@ -440,6 +440,8 @@ if(UNIX)
       set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} dl m log)
     elseif(${CMAKE_SYSTEM_NAME} MATCHES "FreeBSD|NetBSD|DragonFly")
       set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} m pthread)
+    elseif(${CMAKE_SYSTEM_NAME} MATCHES "QNX")
+      set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} m)
     else()
       set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} dl m pthread rt)
     endif()

apps/traincascade/imagestorage.h

@@ -1,10 +1,11 @@
 #ifndef _OPENCV_IMAGESTORAGE_H_
 #define _OPENCV_IMAGESTORAGE_H_
 
+#include <stdio.h>
+#include <string>
+#include <vector>
 #include "highgui.h"
 
-
-
 class CvCascadeImageReader
 {
 public:

cmake/OpenCVCompilerOptions.cmake

@@ -254,7 +254,7 @@ if(MSVC)
 endif()
 
 # Extra link libs if the user selects building static libs:
-if(NOT BUILD_SHARED_LIBS AND CMAKE_COMPILER_IS_GNUCXX AND NOT ANDROID)
+if(NOT BUILD_SHARED_LIBS AND ((CMAKE_COMPILER_IS_GNUCXX AND NOT ANDROID) OR QNX))
   # Android does not need these settings because they are already set by toolchain file
   set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} stdc++)
   set(OPENCV_EXTRA_FLAGS "-fPIC ${OPENCV_EXTRA_FLAGS}")

modules/contrib/src/inputoutput.cpp

@@ -77,9 +77,28 @@ namespace cv
                 return list;
             }
 
+            #ifdef __QNX__
+            // you have to ask QNX to please include more file information
+            // and not to report duplicate names as a result of file system unions
+            if ( -1 == dircntl(dp, D_SETFLAG, D_FLAG_STAT|D_FLAG_FILTER) )
+                return list;
+            #endif
+
             while ((dirp = readdir(dp)) != NULL)
             {
+            #ifdef __QNX__
+                // QNX looks at the world a little differently
+                dirent_extra *extra;
+                dirent_extra_stat *extra_stat;
+                for (extra = _DEXTRA_FIRST(dirp),
+                     extra_stat = reinterpret_cast<dirent_extra_stat *>(extra);
+                     _DEXTRA_VALID(extra, dirp);
+                     extra = _DEXTRA_NEXT(extra),
+                     extra_stat = reinterpret_cast<dirent_extra_stat *>(extra))
+                if ((extra->d_type != _DTYPE_NONE) && S_ISREG(extra_stat->d_stat.st_mode))
+            #else
                 if (dirp->d_type == DT_REG)
+            #endif
                 {
                    if (exten.compare("*") == 0)
                        list.push_back(static_cast<std::string>(dirp->d_name));
@@ -167,9 +186,29 @@ namespace cv
                 return list;
             }
 
+        #ifdef __QNX__
+           // you have to ask QNX to please include more file information
+           // and not to report duplicate names as a result of file system unions
+           if ( -1 == dircntl(dp, D_SETFLAG, D_FLAG_STAT|D_FLAG_FILTER) )
+               return list;
+        #endif
+
             while ((dirp = readdir(dp)) != NULL)
             {
+            #ifdef __QNX__
+                // QNX looks at the world a little differently
+                dirent_extra *extra;
+                dirent_extra_stat *extra_stat;
+                for (extra = _DEXTRA_FIRST(dirp),
+                     extra_stat = reinterpret_cast<dirent_extra_stat *>(extra);
+                     _DEXTRA_VALID(extra, dirp);
+                     extra = _DEXTRA_NEXT(extra),
+                     extra_stat = reinterpret_cast<dirent_extra_stat *>(extra))
+                if ((extra->d_type != _DTYPE_NONE) &&
+                    S_ISDIR(extra_stat->d_stat.st_mode) &&
+            #else
                 if (dirp->d_type == DT_DIR &&
+            #endif
                     strcmp(dirp->d_name, ".") != 0 &&
                     strcmp(dirp->d_name, "..") != 0 )
                 {

modules/core/include/opencv2/core/operations.hpp

@@ -3750,8 +3750,15 @@ template<typename _Tp> inline ptrdiff_t operator - (const SeqIterator<_Tp>& a,
                                                     const SeqIterator<_Tp>& b)
 {
     ptrdiff_t delta = a.index - b.index, n = a.seq->total;
+#if defined(__QNX__)
+    // No long std::abs(long) in QNX
+    long absdelta = (delta < 0) ? -delta : delta;
+    if( absdelta > n )
+#else
     if( std::abs(static_cast<long>(delta)) > n )
+#endif
         delta += delta < 0 ? n : -n;
+
     return delta;
 }
 

modules/core/src/system.cpp

@@ -157,7 +157,7 @@ std::wstring GetTempFileNameWinRT(std::wstring prefix)
 
 #include <stdarg.h>
 
-#if defined __linux__ || defined __APPLE__ || defined __EMSCRIPTEN__
+#if defined __linux__ || defined __APPLE__ || defined __EMSCRIPTEN__ || defined __QNX__
 #include <unistd.h>
 #include <stdio.h>
 #include <sys/types.h>

modules/highgui/src/grfmt_tiff.cpp

@@ -45,9 +45,16 @@
     (see otherlibs/_graphics/readme.txt for copyright notice)
 \****************************************************************************************/
 
+#include <stdarg.h>
+
 #include "precomp.hpp"
 #include "grfmt_tiff.hpp"
 
+#ifdef HAVE_TIFF
+# include "tiff.h"
+# include "tiffio.h"
+#endif
+
 namespace cv
 {
 static const char fmtSignTiffII[] = "II\x2a\x00";
@@ -55,9 +62,6 @@ static const char fmtSignTiffMM[] = "MM\x00\x2a";
 
 #ifdef HAVE_TIFF
 
-#include "tiff.h"
-#include "tiffio.h"
-
 static int grfmt_tiff_err_handler_init = 0;
 static void GrFmtSilentTIFFErrorHandler( const char*, const char*, va_list ) {}
 

modules/objdetect/src/linemod.cpp

@@ -604,7 +604,12 @@ void ColorGradient::write(FileStorage& fs) const
 
 static void accumBilateral(long delta, long i, long j, long * A, long * b, int threshold)
 {
+#ifdef __QNX__
+  long absdelta = (delta > 0) ? delta : -delta;
+  long f = absdelta < threshold ? 1 : 0;
+#else
    long f = std::abs(delta) < threshold ? 1 : 0;
+#endif
 
   const long fi = f * i;
   const long fj = f * j;

modules/ts/src/ts.cpp

@@ -60,6 +60,8 @@
 
 #else
 #include <unistd.h>
+#include <signal.h>
+#include <setjmp.h>
 #endif
 
 namespace cvtest
@@ -110,9 +112,6 @@ static void SEHTranslator( unsigned int /*u*/, EXCEPTION_POINTERS* pExp )
 
 #else
 
-#include <signal.h>
-#include <setjmp.h>
-
 static const int tsSigId[] = { SIGSEGV, SIGBUS, SIGFPE, SIGILL, SIGABRT, -1 };
 
 static jmp_buf tsJmpMark;

platforms/qnx/arm-unknown-nto-qnx6.6.0eabi.toolchain.cmake

@@ -0,0 +1,114 @@
+set(TOOLCHAIN QNX)
+set(CMAKE_SYSTEM_NAME QNX)
+set(CMAKE_SYSTEM_VERSION 6.6.0)
+set(CMAKE_SYSTEM_PROCESSOR armv7)
+set(TARGET_OS QNX)
+set(TARGET_ARCH ARMV7L)
+set(TARGET_COMPILER GCC)
+
+set(CMAKE_DL_LIBS "")
+set(CMAKE_SHARED_LIBRARY_PREFIX "lib")
+set(CMAKE_SHARED_LIBRARY_SUFFIX ".so")
+set(CMAKE_STATIC_LIBRARY_PREFIX "lib")
+set(CMAKE_STATIC_LIBRARY_SUFFIX ".a")
+
+if("$ENV{QNX_HOST}" STREQUAL "")
+    message(FATAL_ERROR "QNX_HOST environment variable not found. Please set the variable to your host's build tools")
+endif()
+if("$ENV{QNX_TARGET}" STREQUAL "")
+    message(FATAL_ERROR "QNX_TARGET environment variable not found. Please set the variable to the qnx target location")
+endif()
+
+if(CMAKE_HOST_WIN32)
+    set(HOST_EXECUTABLE_SUFFIX ".exe")
+    #convert windows paths to cmake paths
+    file(TO_CMAKE_PATH "$ENV{QNX_HOST}" QNX_HOST)
+    file(TO_CMAKE_PATH "$ENV{QNX_TARGET}" QNX_TARGET)
+else()
+    set(QNX_HOST "$ENV{QNX_HOST}")
+    set(QNX_TARGET "$ENV{QNX_TARGET}")
+endif()
+
+message(STATUS "using QNX_HOST ${QNX_HOST}")
+message(STATUS "using QNX_TARGET ${QNX_TARGET}")
+
+set(CMAKE_C_COMPILER   "${QNX_HOST}/usr/bin/nto${CMAKE_SYSTEM_PROCESSOR}-gcc${HOST_EXECUTABLE_SUFFIX}"     CACHE PATH "QNX C compiler")
+set(CMAKE_CXX_COMPILER "${QNX_HOST}/usr/bin/nto${CMAKE_SYSTEM_PROCESSOR}-g++${HOST_EXECUTABLE_SUFFIX}"     CACHE PATH "QNX CXX compiler")
+set(CMAKE_ASM_COMPILER "${QNX_HOST}/usr/bin/nto${CMAKE_SYSTEM_PROCESSOR}-as${HOST_EXECUTABLE_SUFFIX}"      CACHE PATH "QNX CXX compiler assembler")
+set(CMAKE_LINKER       "${QNX_HOST}/usr/bin/nto${CMAKE_SYSTEM_PROCESSOR}-ld${HOST_EXECUTABLE_SUFFIX}"      CACHE PATH "QNX Linker Program")
+set(CMAKE_MAKE_PROGRAM "${QNX_HOST}/usr/bin/make${HOST_EXECUTABLE_SUFFIX}"                                 CACHE PATH "QNX Make Program")
+set(CMAKE_AR           "${QNX_HOST}/usr/bin/nto${CMAKE_SYSTEM_PROCESSOR}-ar${HOST_EXECUTABLE_SUFFIX}"      CACHE PATH "QNX ar Program")
+set(CMAKE_NM           "${QNX_HOST}/usr/bin/nto${CMAKE_SYSTEM_PROCESSOR}-nm${HOST_EXECUTABLE_SUFFIX}"      CACHE PATH "QNX nm Program")
+set(CMAKE_OBJCOPY      "${QNX_HOST}/usr/bin/nto${CMAKE_SYSTEM_PROCESSOR}-objcopy${HOST_EXECUTABLE_SUFFIX}" CACHE PATH "QNX objcopy Program")
+set(CMAKE_OBJDUMP      "${QNX_HOST}/usr/bin/nto${CMAKE_SYSTEM_PROCESSOR}-objdump${HOST_EXECUTABLE_SUFFIX}" CACHE PATH "QNX objdump Program")
+set(CMAKE_RANLIB       "${QNX_HOST}/usr/bin/nto${CMAKE_SYSTEM_PROCESSOR}-ranlib${HOST_EXECUTABLE_SUFFIX}"  CACHE PATH "QNX ranlib Program")
+set(CMAKE_SH           "${QNX_HOST}/usr/bin/sh${HOST_EXECUTABLE_SUFFIX}"                                   CACHE PATH "QNX shell Program")
+set(CMAKE_STRIP        "${QNX_HOST}/usr/bin/nto${CMAKE_SYSTEM_PROCESSOR}-strip${HOST_EXECUTABLE_SUFFIX}"   CACHE PATH "QNX Strip Program")
+
+set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS} -g -D_DEBUG")
+set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS} -O3 -DNDEBUG")
+
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -g -D_DEBUG -ftree-vectorize")
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -DNDEBUG -ftree-vectorize")
+
+#set successful exit value on target system
+set(THREADS_PTHREAD_ARG 0)
+
+add_definitions("-DTARGET_OS=QNX")
+add_definitions("-DTARGET_ARCH=ARM")
+add_definitions("-DOS_QNX")
+add_definitions("-DARCH_ARM")
+
+# necessary for gmock
+add_definitions("-DGTEST_HAS_PTHREAD=1")
+
+add_definitions(-D __GLIBCXX__="1")
+
+set(CMAKE_FIND_ROOT_PATH ${QNX_TARGET})
+
+set(CMAKE_SKIP_RPATH TRUE CACHE BOOL "If set, runtime paths are not added when using shared libraries.")
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY)
+
+# macro to find programs on the host OS
+macro( find_host_program )
+ set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER )
+ set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER )
+ set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE NEVER )
+ if( CMAKE_HOST_WIN32 )
+  set( WIN32 1 )
+  set( UNIX )
+ elseif( CMAKE_HOST_APPLE )
+  set( APPLE 1 )
+  set( UNIX )
+ endif()
+ find_program( ${ARGN} )
+ set( WIN32 )
+ set( APPLE )
+ set( UNIX 1 )
+ set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY )
+ set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY )
+ set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY )
+endmacro()
+
+# macro to find packages on the host OS
+macro( find_host_package )
+ set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER )
+ set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER )
+ set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE NEVER )
+ if( CMAKE_HOST_WIN32 )
+  set( WIN32 1 )
+  set( UNIX )
+ elseif( CMAKE_HOST_APPLE )
+  set( APPLE 1 )
+  set( UNIX )
+ endif()
+ find_package( ${ARGN} )
+ set( WIN32 )
+ set( APPLE )
+ set( UNIX 1 )
+ set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY )
+ set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY )
+ set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY )
+endmacro()