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sfe-SparkFrosfe-SparkFro
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Add OpenCV Makefile and embedded platform definitions
Helps minimize dependnecy on OpenCV fork
1 parent 175b13e commit 1941bce

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-6
lines changed

9 files changed

+98
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lines changed

‎.github/workflows/build.yml

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@@ -17,12 +17,12 @@ jobs:
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sudo apt install cmake python3 build-essential gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib
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- name: Build MPY Cross
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run: make -C micropython/mpy-cross
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- name: Submodules
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- name: MicroPython submodules
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run: make -C micropython/ports/rp2 BOARD=SPARKFUN_XRP_CONTROLLER submodules
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- name: Set Pico SDK path
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run: echo "PICO_SDK_PATH=$GITHUB_WORKSPACE/micropython/lib/pico-sdk" >> "$GITHUB_ENV"
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- name: Build OpenCV
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run: make -C src/opencv PLATFORM=embedded/rp2350 --no-print-directory -j4
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run: make -C src/opencv PLATFORM=rp2350 --no-print-directory -j4
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- name: Build firmware
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run: make BOARD=SPARKFUN_XRP_CONTROLLER -j4
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- name: Upload UF2

‎.gitmodules

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[submodule "src/opencv"]
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path = src/opencv
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[submodule "src/opencv/opencv"]
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path = src/opencv/opencv
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url = https://github.com/sfe-SparkFro/opencv.git
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[submodule "src/ulab"]
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path = src/ulab

‎src/opencv

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This file was deleted.

‎src/opencv/Makefile

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ifndef PLATFORM
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$(error PLATFORM not specified. Use 'make PLATFORM=rp2350' or similar.)
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endif
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TOOLCHAIN_FILE = ../../platforms/${PLATFORM}.toolchain.cmake
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# TODO: For some reason, specifying this in the toolchain file doesn't work
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CMAKE_ARGS += -DBUILD_LIST=core,imgproc,imgcodecs
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# Generic build
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all:
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cd opencv && mkdir -p build && cmake -S . -B build -DPICO_BUILD_DOCS=0 -DCMAKE_TOOLCHAIN_FILE=${TOOLCHAIN_FILE} ${CMAKE_ARGS} && make -C build -f Makefile $(MAKEFLAGS) $(MAKE_ARGS)
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# Clean the OpenCV build
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clean:
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cd opencv && rm -rf build

‎src/opencv/opencv

Submodule opencv added at 3dc189e

‎src/opencv/platforms/common.cmake

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# Derived from:
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# https://github.com/joachimBurket/esp32-opencv/blob/master/esp32/doc/detailed_build_procedure.md
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set(CMAKE_BUILD_TYPE Release)
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set(BUILD_SHARED_LIBS OFF)
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set(CV_DISABLE_OPTIMIZATION OFF)
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set(WITH_IPP OFF)
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set(WITH_TBB OFF)
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set(WITH_OPENMP OFF)
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set(WITH_PTHREADS_PF OFF)
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set(WITH_QUIRC OFF)
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set(WITH_1394 OFF)
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set(WITH_CUDA OFF)
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set(WITH_OPENCL OFF)
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set(WITH_OPENCLAMDFFT OFF)
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set(WITH_OPENCLAMDBLAS OFF)
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set(WITH_VA_INTEL OFF)
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set(WITH_EIGEN OFF)
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set(WITH_GSTREAMER OFF)
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set(WITH_GTK OFF)
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set(WITH_JASPER OFF)
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set(WITH_JPEG OFF)
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set(WITH_OPENJPEG OFF)
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set(WITH_WEBP OFF)
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set(BUILD_ZLIB ON)
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set(BUILD_PNG ON)
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set(WITH_TIFF OFF)
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set(WITH_V4L OFF)
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set(WITH_LAPACK OFF)
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set(WITH_ITT OFF)
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set(WITH_PROTOBUF OFF)
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set(WITH_IMGCODEC_HDR OFF)
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set(WITH_IMGCODEC_SUNRASTER OFF)
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set(WITH_IMGCODEC_PXM OFF)
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set(WITH_IMGCODEC_PFM OFF)
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# TODO: For some reason, specifying this in the toolchain file doesn't work
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# set(BUILD_LIST core,imgproc,imgcodecs)
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set(BUILD_JAVA OFF)
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set(BUILD_opencv_python OFF)
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set(BUILD_opencv_java OFF)
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set(BUILD_opencv_apps OFF)
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set(BUILD_PACKAGE OFF)
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set(BUILD_PERF_TESTS OFF)
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set(BUILD_TESTS OFF)
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set(CV_ENABLE_INTRINSICS OFF)
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set(CV_TRACE OFF)
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set(OPENCV_ENABLE_MEMALIGN OFF)

‎src/opencv/platforms/include/rp2350_unsafe_cv_xadd.h

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#ifndef RP2350_UNSAFE_CV_XADD_H
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#define RP2350_UNSAFE_CV_XADD_H
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// Fix for https://github.com/raspberrypi/pico-sdk/issues/2505
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static inline int unsafe_cv_xadd(int* addr, int delta)
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{
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int tmp = *addr;
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*addr += delta;
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return tmp;
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}
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#define CV_XADD(addr, delta) unsafe_cv_xadd(addr, delta)
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#endif

‎src/opencv/platforms/rp2350.toolchain.cmake

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# Define PICO_SDK_PATH in your environment before running this script
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if(NOT DEFINED ENV{PICO_SDK_PATH})
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message(FATAL_ERROR "PICO_SDK_PATH environment variable is not set. Please define it before running this script.")
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endif()
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# Include the RP2350 toolchain file
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include("$ENV{PICO_SDK_PATH}/cmake/preload/toolchains/pico_arm_cortex_m33_gcc.cmake")
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# Include the common embedded OpenCV settings
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include("${CMAKE_CURRENT_LIST_DIR}/common.cmake")
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# Set RP2350 specific settings
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set(OPENCV_DISABLE_THREAD_SUPPORT ON)
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# Fix for https://github.com/raspberrypi/pico-sdk/issues/2505
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set(CMAKE_C_FLAGS_INIT "${CMAKE_C_FLAGS_INIT} -DOPENCV_INCLUDE_PORT_FILE=\\\"${CMAKE_CURRENT_LIST_DIR}/include/rp2350_unsafe_cv_xadd.h\\\"")
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set(CMAKE_CXX_FLAGS_INIT "${CMAKE_CXX_FLAGS_INIT} -DOPENCV_INCLUDE_PORT_FILE=\\\"${CMAKE_CURRENT_LIST_DIR}/include/rp2350_unsafe_cv_xadd.h\\\"")

‎src/opencv_upy.cmake

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@@ -39,7 +39,7 @@ target_compile_definitions(usermod INTERFACE ULAB_MAX_DIMS=4)
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include(${CMAKE_CURRENT_LIST_DIR}/ulab/code/micropython.cmake)
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# Include OpenCV
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set(OpenCV_DIR ${CMAKE_CURRENT_LIST_DIR}/opencv/build)
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set(OpenCV_DIR ${CMAKE_CURRENT_LIST_DIR}/opencv/opencv/build)
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find_package(OpenCV REQUIRED)
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target_include_directories(usermod INTERFACE ${OpenCV_INCLUDE_DIRS})
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target_link_libraries(usermod INTERFACE ${OpenCV_LIBS})

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