Create Raspbian cross-compiler (#3)

* Create Raspbian cross-compiler

* Update CMakeLists.txt

* Update main.yml

.github/workflows/main.yml

@@ -73,6 +73,11 @@ jobs:
       - run: |
           cmake -B build -DCMAKE_BUILD_TYPE=Release
           cmake --build build
+        if: matrix.artifact-name != 'Raspbian'
+      - run: |
+          cmake -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=../CMake/arm-pi-gnueabihf.toolchain.cmake
+          cmake --build build
+        if: matrix.artifact-name == 'Raspbian'
 
       # Upload client artifact.
       - uses: actions/upload-artifact@master
@@ -86,13 +91,11 @@ jobs:
     steps:
       - uses: actions/download-artifact@v2
 
-      - uses: pyTooling/Actions/releaser@r0
+      - name: Release
+        uses: softprops/action-gh-release@v1
+        if: github.event_name == 'push'
         with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          tag: 'Dev'
-          rm: true
           files: |
             **/*.dll
             **/*.so
-            **/*.dylib
-        if: github.event_name == 'push'
+            **/*.dylib

CMake/arm-pi-gnueabihf.toolchain.cmake

@@ -0,0 +1,80 @@
+# if(COMMAND toolchain_save_config)
+#   return() # prevent recursive call
+# endif()
+
+set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
+set(GNU_MACHINE "arm-raspbian10-linux-gnueabi" CACHE STRING "GNU compiler triple")
+set(SOFTFP no)
+set(FLOAT_ABI_SUFFIX "hf")
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_VERSION 1)
+set(CMAKE_SYSTEM_PROCESSOR arm)
+set(CMAKE_SYSROOT "$ENV{ROOTFS_DIR}")
+
+# include("$ENV{ROOTFS_DIR}/usr/src/opencv-4.5.2/platforms/linux/gnu.toolchain.cmake")
+
+if(NOT DEFINED CMAKE_C_COMPILER)
+  find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
+else()
+  #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_CXX_COMPILER)
+  find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
+else()
+  #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_LINKER)
+  find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
+else()
+  #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
+endif()
+if(NOT DEFINED CMAKE_AR)
+  find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
+else()
+  #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
+endif()
+
+if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
+  set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
+endif()
+
+set(ARM_LINKER_FLAGS "-Wl,-rpath -Wl,$ENV{ROOTFS_DIR}/opt/vc/lib")
+
+if(NOT DEFINED CMAKE_CXX_FLAGS)
+  set(CMAKE_CXX_FLAGS           "" CACHE INTERNAL "")
+  set(CMAKE_C_FLAGS             "" CACHE INTERNAL "")
+  set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
+  set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
+  set(CMAKE_EXE_LINKER_FLAGS    "" CACHE INTERNAL "")
+
+  set(CMAKE_CXX_FLAGS           "-isystem $ENV{ROOTFS_DIR}/usr/include/arm-linux-gnueabihf ${CMAKE_CXX_FLAGS} -Wno-psabi")
+  set(CMAKE_C_FLAGS             "-isystem $ENV{ROOTFS_DIR}/usr/include/arm-linux-gnueabihf ${CMAKE_C_FLAGS} -Wno-psabi")
+  set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} -rdynamic ${CMAKE_SHARED_LINKER_FLAGS}")
+  set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} -rdynamic ${CMAKE_MODULE_LINKER_FLAGS}")
+  set(CMAKE_EXE_LINKER_FLAGS    "${ARM_LINKER_FLAGS} -rdynamic ${CMAKE_EXE_LINKER_FLAGS}")
+else()
+  #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
+endif()
+
+if(USE_NEON)
+  message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
+  set(ENABLE_NEON TRUE)
+elseif(USE_VFPV3)
+  message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
+  set(ENABLE_VFPV3 TRUE)
+endif()
+
+set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
+
+if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
+  set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
+endif()
+
+set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
+    ARM_LINUX_SYSROOT
+    ENABLE_NEON
+    ENABLE_VFPV3
+    CUDA_TOOLKIT_ROOT_DIR
+)
+
+# toolchain_save_config()

CMakeLists.txt

@@ -6,6 +6,7 @@ if(POLICY CMP0077)
 endif()
 option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 option(ASAN "Use AddressSanitizer for debug builds to detect memory issues" OFF)
+option(BUILD_OPENCV_DEMO "Build OpenCV Demo" OFF)
 
 if (ASAN)
     set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} \
@@ -186,14 +187,12 @@ target_link_libraries(apriltag_demo apriltag)
 
 # opencv_demo
 find_package(OpenCV COMPONENTS core imgproc videoio highgui QUIET)
-if(OpenCV_FOUND)
+if(BUILD_OPENCV_DEMO)
     add_executable(opencv_demo example/opencv_demo.cc)
     target_link_libraries(opencv_demo apriltag ${OpenCV_LIBRARIES})
     set_target_properties(opencv_demo PROPERTIES CXX_STANDARD 11)
     install(TARGETS opencv_demo RUNTIME DESTINATION bin)
-else()
-    message(WARNING "OpenCV not found: Not building demo")
-endif(OpenCV_FOUND)
+endif(BUILD_OPENCV_DEMO)
 
 # install example programs
 install(TARGETS apriltag_demo RUNTIME DESTINATION bin)