提问人：Jatin Vira Robotics Engineer 提问时间：11/15/2023 最后编辑：Jatin Vira Robotics Engineer 更新时间：11/17/2023 访问量：77
在 x86_64 上与 Docker 交叉编译 Raspberry Pi （aarch64） 的 OpenCV
Cross-compiling OpenCV for Raspberry Pi (aarch64) on x86_64 with Docker
问：
描述：
我正在尝试为我的 Raspberry Pi 交叉编译 OpenCV，它运行具有 aarch64 架构的 Ubuntu 20.04 LTS。我的开发机器x86_64在 Ubuntu 20.04 LTS 上运行，我正在使用 Docker 来管理构建环境。从源代码构建了多个依赖项。
版本信息：
OpenCV 版本：4.5.1
依赖项构建自： 源码：
Eigen， Boost， GRPC， Glog， Gflags， OpenBLAS， Ceres， JPEG， TIFF， WEBP， PNG， Neon， VPX， xVid， x264， FFMPEG
主机软件和 Arch： Ubuntu 20.04 LTS， x86_64
目标软件和 Arch：
Ubuntu 20.04 LTS，
Aarch64
问题：
在 OpenCV 上运行成功，输出日志添加如下：但是，调用时会失败，并显示以下日志：cmakemake
#52 601.4 [ 86%] Building CXX object modules/gapi/CMakeFiles/opencv_gapi.dir/src/backends/cpu/gcpuimgproc.cpp.o
#52 601.4 [ 86%] Building CXX object modules/xfeatures2d/CMakeFiles/opencv_test_xfeatures2d.dir/test/test_main.cpp.o
#52 601.5 [ 86%] Linking CXX shared library ../../lib/libopencv_sfm.so
#52 601.9 /usr/lib/gcc-cross/aarch64-linux-gnu/9/../../../../aarch64-linux-gnu/bin/ld: ../../lib/libcorrespondence.a(nRobustViewMatching.cc.o): in function `libmv::correspondence::nRobustViewMatching::computeData(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)':
#52 601.9 nRobustViewMatching.cc:(.text._ZN5libmv14correspondence19nRobustViewMatching11computeDataERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE+0x54): undefined reference to `cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)'
#52 601.9 collect2: error: ld returned 1 exit status
#52 601.9 make[2]: *** [modules/sfm/CMakeFiles/opencv_sfm.dir/build.make:225: lib/libopencv_sfm.so.4.5.1] Error 1
#52 601.9 make[1]: *** [CMakeFiles/Makefile2:7987: modules/sfm/CMakeFiles/opencv_sfm.dir/all] Error 2
#52 601.9 make[1]: *** Waiting for unfinished jobs....
这似乎是一个链接问题
从源头禁用 Ceres 构建可以解决问题并成功，但 Ceres 是我的构建所需的依赖项make
重现问题：
下面是指向 Dockerfile 的链接，用于运行构建：
https://github.com/JatinVira/Docker_File/blob/main/Dockerfile
这是我使用的 Cmake 工具链文件的链接：https://github.com/JatinVira/Docker_File/blob/main/rpi_aarch64.cmake
Cmake 日志：
这是构建开始前的 Cmake 摘要：
#52 36.90 -- General configuration for OpenCV 4.5.1 =====================================
#52 36.90 -- Version control: 4.5.1
#52 36.90 --
#52 36.90 -- Extra modules:
#52 36.96 -- Location (extra): /root/opencv_build/opencv_contrib/modules
#52 36.96 -- Version control (extra): 4.5.1
#52 36.96 --
#52 36.96 -- Platform:
#52 36.96 -- Timestamp: 2023-11-15T12:37:25Z
#52 36.96 -- Host: Linux 5.15.0-88-generic x86_64
#52 36.96 -- Target: Linux 1 aarch64
#52 36.96 -- CMake: 3.16.3
#52 36.96 -- CMake generator: Unix Makefiles
#52 36.96 -- CMake build tool: /usr/bin/make
#52 36.96 -- Configuration: Release
#52 36.96 --
#52 36.96 -- CPU/HW features:
#52 36.96 -- Baseline: NEON FP16
#52 36.96 -- required: NEON
#52 36.96 -- disabled: VFPV3
#52 36.96 --
#52 36.96 -- C/C++:
#52 36.96 -- Built as dynamic libs?: YES
#52 36.96 -- C++ standard: 11
#52 36.96 -- C++ Compiler: /usr/bin/aarch64-linux-gnu-g++ (ver 9.4.0)
#52 36.96 -- C++ flags (Release): -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi -fPIC -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi -fPIC -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG -DNDEBUG
#52 36.96 -- C++ flags (Debug): -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi -fPIC -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi -fPIC -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -fvisibility-inlines-hidden -g -O0 -DDEBUG -D_DEBUG
#52 36.96 -- C Compiler: /usr/bin/aarch64-linux-gnu-gcc
#52 36.96 -- C flags (Release): -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi -fPIC -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi -fPIC -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -O3 -DNDEBUG -DNDEBUG
#52 36.97 -- C flags (Debug): -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi -fPIC -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi -fPIC -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -g -O0 -DDEBUG -D_DEBUG
#52 36.97 -- Linker flags (Release): -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now -Wl,--gc-sections -Wl,--as-needed
#52 36.97 -- Linker flags (Debug): -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now -Wl,--gc-sections -Wl,--as-needed
#52 36.97 -- ccache: YES
#52 36.97 -- Precompiled headers: NO
#52 36.98 -- Extra dependencies: dl m pthread rt
#52 36.98 -- 3rdparty dependencies:
#52 36.98 --
#52 36.98 -- OpenCV modules:
#52 36.99 -- To be built: alphamat aruco bgsegm bioinspired calib3d ccalib core datasets dnn dnn_objdetect dnn_superres dpm face features2d flann fuzzy gapi hfs highgui img_hash imgcodecs imgproc intensity_transform line_descriptor mcc ml objdetect optflow phase_unwrapping photo plot quality rapid reg rgbd saliency sfm shape stereo stitching structured_light superres surface_matching text tracking ts video videoio videostab xfeatures2d ximgproc xobjdetect xphoto
#52 36.99 -- Disabled: world
#52 36.99 -- Disabled by dependency: -
#52 36.99 -- Unavailable: cnn_3dobj cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev cvv freetype hdf java julia matlab ovis python2 python3 viz xfeatures2d
#52 36.99 -- Applications: tests perf_tests apps
#52 36.99 -- Documentation: NO
#52 36.99 -- Non-free algorithms: NO
#52 36.99 --
#52 36.99 -- GUI:
#52 36.99 -- GTK+: NO
#52 36.99 --
#52 36.99 -- Media I/O:
#52 36.99 -- ZLib: /usr/aarch64-linux-gnu/lib/libz.so (ver 1.2.12)
#52 36.99 -- JPEG: /usr/aarch64-linux-gnu/lib/libjpeg.so (ver 90)
#52 36.99 -- WEBP: /usr/aarch64-linux-gnu/lib/libwebp.so (ver encoder: 0x020f)
#52 36.99 -- PNG: /usr/aarch64-linux-gnu/lib/libpng.so (ver 1.6.37)
#52 36.99 -- TIFF: /usr/aarch64-linux-gnu/lib/libtiff.so (ver 42 / 4.3.0)
#52 36.99 -- JPEG 2000: build (ver 2.3.1)
#52 36.99 -- HDR: YES
#52 36.99 -- SUNRASTER: YES
#52 36.99 -- PXM: YES
#52 36.99 -- PFM: YES
#52 36.99 --
#52 36.99 -- Video I/O:
#52 36.99 -- DC1394: NO
#52 36.99 -- FFMPEG: NO
#52 36.99 -- avcodec: YES (58.91.100)
#52 36.99 -- avformat: YES (58.45.100)
#52 36.99 -- avutil: YES (56.51.100)
#52 36.99 -- swscale: YES (5.7.100)
#52 36.99 -- avresample: NO
#52 36.99 -- GStreamer: NO
#52 36.99 -- v4l/v4l2: YES (linux/videodev2.h)
#52 36.99 --
#52 36.99 -- Parallel framework: pthreads
#52 36.99 --
#52 36.99 -- Trace: YES (with Intel ITT)
#52 36.99 --
#52 36.99 -- Other third-party libraries:
#52 36.99 -- Lapack: YES (/usr/aarch64-linux-gnu/lib/libopenblas.so)
#52 36.99 -- Eigen: YES (ver 3.3.7)
#52 36.99 -- Custom HAL: YES (carotene (ver 0.0.1))
#52 36.99 -- Protobuf: build (3.5.1)
#52 36.99 --
#52 36.99 -- OpenCL: YES (no extra features)
#52 36.99 -- Include path: /root/opencv_build/opencv/3rdparty/include/opencl/1.2
#52 36.99 -- Link libraries: Dynamic load
#52 36.99 --
#52 36.99 -- Python (for build): /usr/bin/python2.7
#52 36.99 --
#52 36.99 -- Install to: /usr/aarch64-linux-gnu
#52 36.99 -- -----------------------------------------------------------------
#52 36.99 --
#52 37.41 -- Configuring done
#52 37.98 -- Generating done
#52 38.01 -- Build files have been written to: /root/opencv_build/opencv/build
参考：
答： 暂无答案
评论
Dockerfile