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Open Source Computer Vision Library https://opencv.org/
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opencv/samples/semihosting/README.md

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Arm semihosting

This folder contain a toolchain file and a couple of examples for building OpenCV based applications that can run in an Arm semihosting setup.

OpenCV can be compiled to target a semihosting platform as follows:

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 here, under aarch64-none-elf.

The code of the examples in the norm and histogram folders can be executed with qemu in Linux userspace:

    qemu-aarch64 ./bin/example_semihosting_histogram
    qemu-aarch64 ./bin/example_semihosting_norm