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https://github.com/jwinarske/rpi-vision

OpenVX stack for RPI. Builds OpenCV 4.3.0, OpenVX-impl, and all OpenVX samples.
https://github.com/jwinarske/rpi-vision

cmake opencv openvx raspberry-pi rpi4

Last synced: 2 months ago
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OpenVX stack for RPI. Builds OpenCV 4.3.0, OpenVX-impl, and all OpenVX samples.

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README 

          
# rpi-vision



OpenVX baseline stack targeting embedded Linux.



Builds OpenCV 4.3.0, OpenVX 1.3 sample impl, and OpenVX samples.  Clang toolchain file for RPI3/4 provided.



Use to run opencv examples, opencv test cases, vx tests, or as a template for your RPI Vision project.



## Cross-compile for RPI3 on Linux host



    export MACHINE=raspberrypi3

    export LLVM_ROOT=/path/to/clang/arm/toolchain/root

    export TARGET_SYSROOT=/path/to/target/sysroot



    git clone https://github.com/jwinarske/rpi-vision

    cd rpi-vision

    mkdir build && cd build

    cmake .. -DCMAKE_TOOLCHAIN_FILE=`pwd`/../cmake/clang.toolchain.cmake -GNinja

    ninja -j 



## Compiling on target



Building on target with GCC will not be as performant as when cross compiling with Clang.  This is primarily due to CPU tuning flags.  The binaries will work, albeit much less performant.  If you want optimized tuning when building with GCC on target then you will want to implement a toolchain file that properly implements desired tuning.  Building with Yocto will automatically use optimized CPU tuning.



### Compile on target



    sudo apt get-install cmake

    git clone https://github.com/jwinarske/rpi-vision

    cd rpi-vision

    mkdir build && cd build

    cmake .. -DOPENVX_EXPERIMENTAL_USE_VENUM=ON

    make -j



## Debian Packaging



### Generate Package



    ninja package



### Display contents of package



    dpkg -c rpi-vision-Release-0.0.1.0-Linux-armhf.deb



### Copy Package to Target



    scp rpi-vision-Release-0.1.0-Linux-armhf.deb pi@192.168.1.100:/home/pi



### Install Package on Target



    sudo apt install ./rpi-vision-Release-0.1.0-Linux-armhf.deb



### Remove Package on Target



    sudo apt purge rpi-vision -y



## Target Sysroot



The easiest approach is to mount a fixed up rootfs on your host machine, and point TARGET_SYSROOT to it.  This is after you install the required packages, copy sysroot, and fixup the symlinks.



## Measured Build Times



Config|48 core @ 1Gbps Internet (Ninja)|16 core @ 48Mbps Internet (Ninja)|RPI3 @ 1Gbps Internet (Uniproc Make)

-|-|-|-

|real|5m41.664s|9m57.577s|402m3.774s

|user|17m0.860s|27m4.504s|388m5.277s

|sys|0m18.386s|0m30.169s|14m30.165s



## Enviromental variables



#### MACHINE



*Required with clang.toolchain.cmake*



Available values



    raspberrypi2

    raspberrypi3

    raspberrypi-cm3

    raspberrypi4



#### LLVM_ROOT



*Required with clang.toolchain.cmake*



Point to base folder of your cross compiling capable LLVM toolchain



#### TARGET_SYSROOT



*Required with clang.toolchain.cmake*



Point to base folder of your target sysroot



#### TARGET_SYSROOT_TRIPLE



Defaults to `arm-linux-gnueabihf` if not set.  CMake variable of same name can be overriden if clang.toolchain.cmake is not used.



#### PKG_CONFIG_PATH, PKG_CONFIG_LIBDIR



These are used by OpenCV to find gtk-2.0, gtk-ext1, and openGL libraries in the target sysroot.



## CMake Variables



### CMAKE_BUILD_TYPE



Defaults to `Release` if not set otherwise



### CMAKE_INSTALL_PREFIX



Use to set install prefix.  With Linux the default value is `/usr/local`



### OPENCV_GIT_TAG



Defaults to `4.3.0`



### OPENVX_IMPL_GIT_TAG



Defaults to `openvx_1.3`



### OPENVX_SAMPLES_GIT_TAG



Defaults to `master`



### BUILD_OPENVX_TUTORIAL



Builds the openvx_tutorial repo.  Defaults to ON



### BUILD_OPENCV_V4L2



Builds the opencv_v4l2 repo.  Defaults to ON



### BUILD_OPENCV_WITH_NONFREE



Build OpenCV with Non-Free Support.  Defaults to ON



### BUILD_OPENCV_WITH_QT



Build OpenCV with QT.  Defaults to OFF



### BUILD_OPENCV_WITH_GTK



Build OpenCV with GTK.  Defaults to ON



### BUILD_OPENCV_WITH_GTK_2_X



Build OpenCV with GTK_2_X.  Defaults to ON



### BUILD_OPENCV_WITH_OPENGL



Build OpenCV with OpenGL.  Defaults to ON



### BUILD_OPENCV_WITH_OPENVX



Build OpenCV with OpenVX.  Defaults to ON



### BUILD_OPENCV_WITH_TENGINE



Build OpenCV with TEngine.  Defaults to OFF



*Note: this requires a change to the TENGINE repo.  Toolchain tuning should be isolated to a toolchain file.*



File to change:  `build/opencv-prefix/src/opencv-build/3rdparty/libtengine/Tengine-/CMakeLists.txt`



Comment out as below.



    if(CONFIG_ARCH_ARM32)

        add_definitions(-DCONFIG_ARCH_ARM32=1)

    #    if(NOT ANDROID)

    #           add_definitions(-march=armv7-a -mfpu=neon -mfp16-format=ieee -mfpu=neon-fp16)

    #           set(ARCH_TYPE,"Arm32")

    #    endif()

    endif()



### BUILD_OPENCV_WITH_VULKAN



Build OpenCV with Vulkan Support.  Defaults to OFF



### BUILD_OPENCV_WITH_TESTS



Build OpenCV with Tests.  Defaults to OFF



### BUILD_OPENCV_WITH_EXAMPLES



Build OpenCV with Examples.  Defaults to OFF



### BUILD_OPENCV_WITH_PYTHON_EXAMPLES



Install Python Examples with OpenCV build.  Defaults to OFF



### BUILD_OPENCV_WITH_CPU_VFPV3



Builds OpenCV with -mfpu=vfpv3.  Defaults to OFF



*Use with GCC or when using a Generic Triple with Clang*



### BUILD_OPENCV_WITH_CPU_NEON



Builds OpenCV with -mfpu=neon.  Defaults to OFF



*Use with GCC or when using a Generic Triple with Clang*



### OPENVX_EXPERIMENTAL_USE_VENUM



You may need to set this when *not* using clang.toolchain.cmake.



## OpenVX Conformance



### Run test



    ssh pi@192.168.1.100

    mkdir test_data

    exit

    cd build

    scp -rp openvx-impl-prefix/src/openvx-impl/cts/test_data/* pi@192.168.1.100:/home/pi/test_data

    ssh pi@192.168.1.100

    cd test_data

    vx_test_conformance > log 2>&1



## OpenCV Tests



Enable OpenCV tests by setting BUILD_OPENCV_WITH_TESTS=ON



OpenCV tests were implemented with CTest, and paths are setup to run form the build folder.  When cross compiling there is a minor change to run them.



### Running tests



    export LD_LIBRARY_PATH=/usr/local/lib/tls/v7l/neon/vfp

    opencv_perf_core

    opencv_perf_calib3d

    opencv_perf_core

    opencv_perf_dnn

    opencv_perf_features2d

    opencv_perf_gapi

    opencv_perf_imgcodecs

    opencv_perf_imgproc

    opencv_perf_objdetect

    opencv_perf_photo

    opencv_perf_stitching

    opencv_perf_video

    opencv_perf_videoio



### Results



    =================================

    OpenVX Conformance report summary

    =================================

    

    To be conformant to the OpenVX baseline, 5563 required test(s) must pass. 5563 tests passed, 0 tests failed. PASSED.

    To be conformant to the Vision conformance profile, 5909 required test(s) must pass. 5909 tests passed, 0 tests failed. PASSED.

    To be conformant to the enhanced vision conformance profile, 1221 required test(s) must pass. 1221 tests passed, 0 tests failed. PASSED.

    Note: The 8190 disabled tests are optional and are not considered for conformance.

    

    #REPORT: 20200717095309 ALL 16271 8190 6784 6784 6784 0 (version 1.3)



### Performance



The lowest latency I have seen with OpenCV and the Raspberry PI HQ camera is the access pattern used by "opencv-v4l2-gl-display".