mirror of https://github.com/opencv/opencv.git
Merge pull request #20392 from fpetrogalli:aarch64-semihosting
AArch64 semihosting
* [ts] Disable filesystem support in the TS module.
Because of this change, all the tests loading data will file, but tat
least the core module can be tested with the following line:
opencv_test_core --gtest_filter=-"*Core_InputOutput*:*Core_globbing.accuracy*"
* [aarch64] Build OpenCV for AArch64 semihosting.
This patch provide a toolchain file that allows to build the library
for semihosting applications [1]. Minimal changes have been applied to
the code to be able to compile with a baremetal toolchain.
[1] https://developer.arm.com/documentation/100863/latest
The option `CV_SEMIHOSTING` is used to guard the bits in the code that
are specific to the target.
To build the code:
cmake ../opencv/ \
-DCMAKE_TOOLCHAIN_FILE=../opencv/platforms/semihosting/aarch64-semihosting.toolchain.cmake \
-DSEMIHOSTING_TOOLCHAIN_PATH=/path/to/baremetal-toolchain/bin/ \
-DBUILD_EXAMPLES=ON -GNinja
A barematel toolchain for targeting aarch64 semihosting can be found
at [2], under `aarch64-none-elf`.
[2] https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads
The folder `samples/semihosting` provides two example semihosting
applications.
The two binaries can be executed on the host platform with:
qemu-aarch64 ./bin/example_semihosting_histogram
qemu-aarch64 ./bin/example_semihosting_norm
Similarly, the test and perf executables of the modules can be run
with:
qemu-aarch64 ./bin/opecv_[test|perf]_<module>
Notice that filesystem support is disabled by the toolchain file,
hence some of the test that depend on filesystem support will fail.
* [semihosting] Remove blank like at the end of file. [NFC]
The spurious blankline was reported by
https://pullrequest.opencv.org/buildbot/builders/precommit_docs/builds/31158.
* [semihosting] Make the raw pixel file generation OS independent.
Use the facilities provided by Cmake to generate the header file
instead of a shell script, so that the build doesn't fail on systems
that do not have a unix shell.
* [semihosting] Rename variable for semihosting compilation.
* [semihosting] Move the cmake configuration to a variable file.
* [semihosting] Make the guard macro private for the core module.
* [semihosting] Remove space. [NFC]
* [semihosting] Improve comment with information about semihosting. [NFC]
* [semihosting] Update license statement on top of sourvce file. [NFC]
* [semihosting] Replace BM_SUFFIX with SEMIHOSTING_SUFFIX. [NFC]
* [semihosting] Remove double space. [NFC]
* [semihosting] Add some text output to the sample applications.
* [semihosting] Remove duplicate entry in cmake configuration. [NFCI]
* [semihosting] Replace `long` with `int` in sample apps. [NFCI]
* [semihosting] Use `configure_file` to create the random pixels. [NFCI]
* [semihosting][bugfix] Fix name of cmakedefine variable.
* [semihosting][samples] Use CV_8UC1 for grayscale images. [NFCI]
* [semihosting] Add readme file.
* [semihosting] Remove blank like at the end of README. [NFC]
This fixes the failure at
https://pullrequest.opencv.org/buildbot/builders/precommit_docs/builds/31272.
pull/20445/head
Francesco Petrogalli
3 years ago
committed by
GitHub
parent
755f4f324b
commit
d29c7e7871
19 changed files with 321 additions and 11 deletions
@ -0,0 +1,10 @@ |
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set(CV_TRACE OFF) |
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|
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# These third parties libraries are incompatible with the semihosting |
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# toolchain. |
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set(WITH_JPEG OFF) |
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set(WITH_OPENEXR OFF) |
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set(WITH_TIFF OFF) |
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|
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# Turn off `libpng` for some linking issues. |
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set(WITH_PNG OFF) |
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@ -0,0 +1,40 @@ |
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# This file is part of OpenCV project. |
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# It is subject to the license terms in the LICENSE file found in the top-level directory |
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# of this distribution and at http://opencv.org/license.html |
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set(CMAKE_SYSTEM_NAME Generic) |
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set(CMAKE_SYSTEM_PROCESSOR AArch64) |
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set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) |
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set(PORT_FILE ${CMAKE_SOURCE_DIR}/platforms/semihosting/include/aarch64_semihosting_port.hpp) |
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set(COMMON_FLAGS "--specs=rdimon.specs -DOPENCV_INCLUDE_PORT_FILE=\\\"${PORT_FILE}\\\"") |
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|
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set(CMAKE_AR ${SEMIHOSTING_TOOLCHAIN_PATH}aarch64-none-elf-ar${CMAKE_EXECUTABLE_SUFFIX}) |
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set(CMAKE_ASM_COMPILER ${SEMIHOSTING_TOOLCHAIN_PATH}aarch64-none-elf-gcc${CMAKE_EXECUTABLE_SUFFIX}) |
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set(CMAKE_C_COMPILER ${SEMIHOSTING_TOOLCHAIN_PATH}aarch64-none-elf-gcc${CMAKE_EXECUTABLE_SUFFIX}) |
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set(CMAKE_CXX_COMPILER ${SEMIHOSTING_TOOLCHAIN_PATH}aarch64-none-elf-g++${CMAKE_EXECUTABLE_SUFFIX}) |
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set(CMAKE_LINKER ${SEMIHOSTING_TOOLCHAIN_PATH}aarch64-none-elf-ld${CMAKE_EXECUTABLE_SUFFIX}) |
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set(CMAKE_OBJCOPY ${SEMIHOSTING_TOOLCHAIN_PATH}aarch64-none-elf-objcopy${CMAKE_EXECUTABLE_SUFFIX} CACHE INTERNAL "") |
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set(CMAKE_RANLIB ${SEMIHOSTING_TOOLCHAIN_PATH}aarch64-none-elf-ranlib${CMAKE_EXECUTABLE_SUFFIX} CACHE INTERNAL "") |
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set(CMAKE_SIZE ${SEMIHOSTING_TOOLCHAIN_PATH}aarch64-none-elf-size${CMAKE_EXECUTABLE_SUFFIX} CACHE INTERNAL "") |
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set(CMAKE_STRIP ${SEMIHOSTING_TOOLCHAIN_PATH}aarch64-none-elf-strip${CMAKE_EXECUTABLE_SUFFIX} CACHE INTERNAL "") |
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set(CMAKE_C_FLAGS ${COMMON_FLAGS} CACHE INTERNAL "") |
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set(CMAKE_CXX_FLAGS ${COMMON_FLAGS} CACHE INTERNAL "") |
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|
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set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) |
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set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) |
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set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) |
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|
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set(OPENCV_SEMIHOSTING ON) |
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set(OPENCV_DISABLE_THREAD_SUPPORT ON) |
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set(OPENCV_DISABLE_FILESYSTEM_SUPPORT ON) |
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set(BUILD_SHARED_LIBS OFF) |
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set(OPENCV_FORCE_3RDPARTY_BUILD OFF) |
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|
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|
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# Enable newlib. |
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add_definitions(-D_GNU_SOURCE) |
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add_definitions(-D_POSIX_PATH_MAX=0) |
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@ -0,0 +1,42 @@ |
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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#ifndef AARCH64_BAREMETAL_PORT_HPP |
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#define AARCH64_BAREMETAL_PORT_HPP |
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#include <malloc.h> // Needed for `memalign`. |
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#include <sys/errno.h> // Needed for `ENOMEM`. |
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// -std=c++11 is missing the following definitions when targeting
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// semihosting on aarch64.
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#if __cplusplus == 201103L |
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#include <cmath> |
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#define M_PI 3.14159265358979323846 |
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#define M_SQRT2 1.41421356237309504880 |
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namespace std { |
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inline double cbrt(double x) { |
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return ::cbrt(x); |
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} |
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inline double copysign(double mag, double sgn) { |
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return ::copysign(mag, sgn); |
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} |
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} //namespace std
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#endif // __cplusplus == 201103L
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extern "C" { |
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// Redirect the implementation of `posix_memalign` to `memalign`
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// as the former is
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// missing at link time. https://pubs.opengroup.org/onlinepubs/9699919799/functions/posix_memalign.html
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__attribute__((weak)) int posix_memalign(void **memptr, size_t alignment, size_t size) { |
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void * ptr = memalign(alignment, size); |
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if (ptr != NULL) { |
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*memptr = ptr; |
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return 0; |
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} |
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return ENOMEM; |
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} |
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} // extern "C"
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#endif |
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@ -0,0 +1,10 @@ |
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# This file is part of OpenCV project. |
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# It is subject to the license terms in the LICENSE file found in the top-level directory |
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# of this distribution and at http://opencv.org/license.html |
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set(SEMIHOSTING_SUFFIX semihosting) |
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add_subdirectory(include) |
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set(RAW_PIXEL_INCLUDE ${CMAKE_CURRENT_BINARY_DIR}/include) |
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add_subdirectory(histogram) |
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add_subdirectory(norm) |
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@ -0,0 +1,27 @@ |
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# Arm semihosting |
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This folder contain a toolchain file and a couple of examples for |
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building OpenCV based applications that can run in an [Arm |
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semihosting](https://developer.arm.com/documentation/100863/latest) |
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setup. |
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OpenCV can be compiled to target a semihosting platform as follows: |
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``` |
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cmake ../opencv/ \ |
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-DCMAKE_TOOLCHAIN_FILE=../opencv/platforms/semihosting/aarch64-semihosting.toolchain.cmake \ |
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-DSEMIHOSTING_TOOLCHAIN_PATH=/path/to/baremetal-toolchain/bin/ \ |
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-DBUILD_EXAMPLES=ON -GNinja |
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``` |
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|
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A barematel toolchain for targeting aarch64 semihosting can be found |
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[here](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads), |
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under `aarch64-none-elf`. |
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The code of the examples in the `norm` and `histogram` folders can be |
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executed with qemu in Linux userspace: |
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``` |
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qemu-aarch64 ./bin/example_semihosting_histogram |
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qemu-aarch64 ./bin/example_semihosting_norm |
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``` |
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@ -0,0 +1,26 @@ |
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# This file is part of OpenCV project. |
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# It is subject to the license terms in the LICENSE file found in the top-level directory |
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# of this distribution and at http://opencv.org/license.html |
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set(PROJECT_NAME histogram) |
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project(${PROJECT_NAME}) |
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ocv_install_example_src(histogram *.cpp *.hpp CMakeLists.txt) |
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set(LOCAL_DEPS |
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opencv_core |
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opencv_imgproc |
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${OPENCV_MODULES_PUBLIC} |
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${OpenCV_LIB_COMPONENTS}) |
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ocv_check_dependencies(${LOCAL_DEPS}) |
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if(NOT OCV_DEPENDENCIES_FOUND) |
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return() |
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endif() |
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ocv_define_sample(histogram histogram.cpp ${SEMIHOSTING_SUFFIX}) |
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ocv_include_modules_recurse(${LOCAL_DEPS}) |
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target_include_directories(${histogram} PRIVATE ${CMAKE_CURRENT_BINARY_DIR}) |
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target_include_directories(${histogram} PRIVATE ${RAW_PIXEL_INCLUDE}) |
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ocv_target_link_libraries(${histogram} PRIVATE ${OPENCV_LINKER_LIBS} |
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${LOCAL_DEPS}) |
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@ -0,0 +1,43 @@ |
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// This file is part of OpenCV project.
|
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html
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#include <opencv2/imgproc.hpp> |
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#include <opencv2/imgcodecs.hpp> |
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#include <cstdint> |
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#include <array> |
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#include <iostream> |
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#include "raw_pixels.hpp" |
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#define IMG_ROWS 100 |
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#define IMG_COLS 100 |
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static_assert(IMG_ROWS * IMG_COLS <= RAW_PIXELS_SIZE, "Incompatible size"); |
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int main(void) |
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{ |
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// Number of experiment runs
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int no_runs = 2; |
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// https://docs.opencv.org/master/d3/d63/classcv_1_1Mat.html
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cv::Mat src_new(IMG_ROWS, IMG_COLS, CV_8UC1, (void *)raw_pixels); |
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// Set parameters
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int imgCount = 1; |
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const int channels[] = {0}; |
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cv::Mat mask = cv::Mat(); |
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cv::Mat hist; |
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int dims = 1; |
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const int hist_sizes[] = {256}; |
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float Range[] = {0,256}; |
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const float *ranges[] = {Range}; |
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// Run calc Hist
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for(int i=0; i < no_runs; i++){ |
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std::cout << "Running iteration # "<< i << std::endl; |
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cv::calcHist(&src_new, imgCount, channels, mask, hist, dims, hist_sizes, ranges); |
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} |
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return 0; |
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} |
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@ -0,0 +1,16 @@ |
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# Populate a C array with random data. |
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set(RAW_PIXELS_SIZE 102400) |
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set(RAW_PIXELS_HEADER ${CMAKE_CURRENT_BINARY_DIR}/raw_pixels.hpp) |
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set(RAW_PIXELS_HEADER_IN ${CMAKE_CURRENT_SOURCE_DIR}/raw_pixels.hpp.in) |
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set(RAW_PIXEL_VALUES "") |
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# Seed the random number generator. |
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string(RANDOM LENGTH 8 ALPHABET 0123456789abcdf RANDOM_SEED 314 number) |
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math(EXPR LOOP_RANGE "${RAW_PIXELS_SIZE} - 1") |
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foreach(i RANGE ${LOOP_RANGE}) |
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string(RANDOM LENGTH 8 ALPHABET 0123456789abcdf number) |
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string(CONCAT RAW_PIXEL_VALUES ${RAW_PIXEL_VALUES} "0x${number}, \\\n") |
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endforeach() |
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configure_file(${RAW_PIXELS_HEADER_IN} ${RAW_PIXELS_HEADER}) |
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@ -0,0 +1,11 @@ |
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#ifndef RAW_PIXELS_HPP |
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#define RAW_PIXELS_HP |
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#include <cstdint> |
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#cmakedefine RAW_PIXEL_VALUES @RAW_PIXEL_VALUES@ |
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#cmakedefine RAW_PIXELS_SIZE @RAW_PIXELS_SIZE@ |
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static std::uint32_t raw_pixels[RAW_PIXELS_SIZE] = { |
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RAW_PIXEL_VALUES |
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}; |
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#endif //RAW_PIXELS_HPP
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@ -0,0 +1,25 @@ |
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# This file is part of OpenCV project. |
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# It is subject to the license terms in the LICENSE file found in the top-level directory |
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# of this distribution and at http://opencv.org/license.html |
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set(PROJECT_NAME norm) |
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project(${PROJECT_NAME}) |
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ocv_install_example_src(norm *.cpp *.hpp CMakeLists.txt) |
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set(LOCAL_DEPS |
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opencv_core |
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${OPENCV_MODULES_PUBLIC} |
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${OpenCV_LIB_COMPONENTS}) |
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ocv_check_dependencies(${LOCAL_DEPS}) |
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if(NOT OCV_DEPENDENCIES_FOUND) |
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return() |
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endif() |
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ocv_define_sample(norm norm.cpp ${SEMIHOSTING_SUFFIX}) |
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ocv_include_modules_recurse(${LOCAL_DEPS}) |
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target_include_directories(${norm} PRIVATE ${CMAKE_CURRENT_BINARY_DIR}) |
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target_include_directories(${norm} PRIVATE ${RAW_PIXEL_INCLUDE}) |
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ocv_target_link_libraries(${norm} PRIVATE ${OPENCV_LINKER_LIBS} |
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${LOCAL_DEPS}) |
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@ -0,0 +1,33 @@ |
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html
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#include <opencv2/core.hpp> |
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#include <opencv2/imgcodecs.hpp> |
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#include <cstdint> |
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#include <array> |
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#include <iostream> |
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#include "raw_pixels.hpp" |
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#define IMG_ROWS 100 |
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#define IMG_COLS 100 |
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static_assert(IMG_ROWS * IMG_COLS <= RAW_PIXELS_SIZE, "Incompatible size"); |
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int main(void) |
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{ |
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// Number of experiment runs
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int no_runs = 2; |
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// https://docs.opencv.org/master/d3/d63/classcv_1_1Mat.html
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cv::Mat src(IMG_ROWS, IMG_COLS, CV_8UC1, (void *)raw_pixels); |
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// Run calc Hist
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for(int i=0; i < no_runs; i++){ |
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std::cout << "Running iteration # "<< i << std::endl; |
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cv::norm(src); |
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} |
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return 0; |
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} |
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