Raspberry pi opencv 链接问题的交叉编译

Question

（抱歉英语不好，我是德国人） 各位程序员， 我正在拼命尝试在我的 linux(fedora) x86_x64 笔记本电脑上为 linux(raspian) Raspberry pi 3 交叉编译一个程序（使用 OpenCV）。

我正在关注本教程 (https://solderspot.wordpress.com/2016/02/04/cross-compiling-for-raspberry-pi-part-ii/) 和一个简单的 std::cout

cmake_minimum_required (VERSION 2.8)
project (CVS)
find_package(OpenCV REQUIRED)
SET(COMPILE_DEFINITIONS -Werror)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DHOST_ROBO_DIR=/home/username/Dropbox/Roboter)
include_directories(SYSTEM ${PIROOT}/opt/vc/include ${PIROOT}/opt/vc/include/interface/vcos/pthreads ${PIROOT}/opt/vc/include/interface/vmcs_host/linux )
link_directories( ${PIROOT}/opt/vc/lib )
add_executable (CVS ../source/main.cpp)

问题来自 OpenCV... 如果我使用上面的 CMakeLists.txt，它会生成（出于显而易见的原因）许多“未定义的引用”错误，例如：“对 `cv::waitKey(int)' 的未定义引用”

如果我在 CMakeLists.txt 中添加“target_link_libraries(CVS ${OpenCV_LIBS})”或“target_link_libraries(CVS -lopencv_core)”会产生以下错误： /home/username/pidev/piroot/usr/local/lib/libopencv_core.so：未定义引用 `std::__throw_out_of_range_fmt(char const*, ...)@GLIBCXX_3.4.20'

如果我用“SET(TOOLROOT $ {PITOOLS}/arm-bcm2708/arm-rpi-4.9.3-linux-gnueabihf)" 我收到以下错误：

[username@MSI-Linux msi]$ cmake -DCMAKE_TOOLCHAIN_FILE=~/pidev/pi-toolchain.cmake .
-- The C compiler identification is GNU 4.9.3
-- The CXX compiler identification is GNU 4.9.3
-- Check for working C compiler: /home/username/pidev/pitools/arm-bcm2708/arm-rpi-4.9.3-linux-gnueabihf/bin/arm-linux-gnueabihf-gcc
-- Check for working C compiler: /home/username/pidev/pitools/arm-bcm2708/arm-rpi-4.9.3-linux-gnueabihf/bin/arm-linux-gnueabihf-gcc -- broken
CMake Error at /usr/share/cmake/Modules/CMakeTestCCompiler.cmake:61 (message):
  The C compiler
  "/home/username/pidev/pitools/arm-bcm2708/arm-rpi-4.9.3-linux-gnueabihf/bin/arm-linux-gnueabihf-gcc"
  is not able to compile a simple test program.

  It fails with the following output:

   Change Dir: /home/username/Dropbox/Roboter/raspySync/CVS/cvs5-6/msi/CMakeFiles/CMakeTmp



  Run Build Command:"/usr/bin/gmake" "cmTC_b1abe/fast"

  /usr/bin/gmake -f CMakeFiles/cmTC_b1abe.dir/build.make
  CMakeFiles/cmTC_b1abe.dir/build

  gmake[1]: Verzeichnis
  „/home/username/Dropbox/Roboter/raspySync/CVS/cvs5-6/msi/CMakeFiles/CMakeTmp“
  wird betreten

  Building C object CMakeFiles/cmTC_b1abe.dir/testCCompiler.c.o


  /home/username/pidev/pitools/arm-bcm2708/arm-rpi-4.9.3-linux-gnueabihf/bin/arm-linux-gnueabihf-gcc
  --sysroot=/home/username/pidev/piroot
  -Wl,-rpath-link,/home/username/pidev/piroot/opt/vc/lib
  -Wl,-rpath-link,/home/username/pidev/piroot/lib/arm-linux-gnueabihf
  -Wl,-rpath-link,/home/username/pidev/piroot/usr/lib/arm-linux-gnueabihf
  -Wl,-rpath-link,/home/username/pidev/piroot/usr/local/lib -o
  CMakeFiles/cmTC_b1abe.dir/testCCompiler.c.o -c
  /home/username/Dropbox/Roboter/raspySync/CVS/cvs5-6/msi/CMakeFiles/CMakeTmp/testCCompiler.c


  Linking C executable cmTC_b1abe

  /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_b1abe.dir/link.txt
  --verbose=1


  /home/username/pidev/pitools/arm-bcm2708/arm-rpi-4.9.3-linux-gnueabihf/bin/arm-linux-gnueabihf-gcc
  --sysroot=/home/username/pidev/piroot
  -Wl,-rpath-link,/home/username/pidev/piroot/opt/vc/lib
  -Wl,-rpath-link,/home/username/pidev/piroot/lib/arm-linux-gnueabihf
  -Wl,-rpath-link,/home/username/pidev/piroot/usr/lib/arm-linux-gnueabihf
  -Wl,-rpath-link,/home/username/pidev/piroot/usr/local/lib
  CMakeFiles/cmTC_b1abe.dir/testCCompiler.c.o -o cmTC_b1abe -rdynamic


  /home/username/pidev/pitools/arm-bcm2708/arm-rpi-4.9.3-linux-gnueabihf/bin/../lib/gcc/arm-linux-gnueabihf/4.9.3/../../../../arm-linux-gnueabihf/bin/ld:
  cannot find crt1.o: No such file or directory


  /home/username/pidev/pitools/arm-bcm2708/arm-rpi-4.9.3-linux-gnueabihf/bin/../lib/gcc/arm-linux-gnueabihf/4.9.3/../../../../arm-linux-gnueabihf/bin/ld:
  cannot find crti.o: No such file or directory

  collect2: error: ld returned 1 exit status

  CMakeFiles/cmTC_b1abe.dir/build.make:97: die Regel für Ziel
  „cmTC_b1abe“ scheiterte

  gmake[1]: *** [cmTC_b1abe] Fehler 1

  gmake[1]: Verzeichnis
  „/home/username/Dropbox/Roboter/raspySync/CVS/cvs5-6/msi/CMakeFiles/CMakeTmp“
  wird verlassen

  Makefile:126: die Regel für Ziel „cmTC_b1abe/fast“ scheiterte

  gmake: *** [cmTC_b1abe/fast] Fehler 2





  CMake will not be able to correctly generate this project.
Call Stack (most recent call first):
  CMakeLists.txt:2 (project)


-- Configuring incomplete, errors occurred!
See also "/home/username/Dropbox/Roboter/raspySync/CVS/cvs5-6/msi/CMakeFiles/CMakeOutput.log".
See also "/home/username/Dropbox/Roboter/raspySync/CVS/cvs5-6/msi/CMakeFiles/CMakeError.log".
[username@MSI-Linux msi]$ 

如果有人能回答以下问题之一，我将不胜感激： - 如何交叉编译使用 OpenCV 命令的程序 - 为什么存在“对 `std::__throw_out_of_range_fmt(char const*, ...)@GLIBCXX_3.4.20' 的未定义引用”和“C 编译器...无法编译简单的测试程序”。 - 如果我在程序中添加这样的东西，会是坏的还是非常糟糕的风格：

namespace std
{
void __throw_out_of_range_fmt(char const*, ...) 
{
  std::cout << "throw out of range error\n";
}
}

这是我的 ~/pidev/pi-toolchain.cmake：

SET(CMAKE_SYSTEM_NAME Linux)
SET(CMAKE_SYSTEM_VERSION 1)

SET(DEVROOT $ENV{HOME}/pidev)
SET(PIROOT ${DEVROOT}/piroot)
SET(PITOOLS ${DEVROOT}/pitools)

SET(TOOLROOT ${PITOOLS}/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64)

# specify the cross compiler
SET(CMAKE_C_COMPILER   ${TOOLROOT}/bin/arm-linux-gnueabihf-gcc)
SET(CMAKE_CXX_COMPILER ${TOOLROOT}/bin/arm-linux-gnueabihf-g++)

SET(CMAKE_SYSROOT ${PIROOT})
SET(CMAKE_FIND_ROOT_PATH ${PIROOT})


# search for programs in the build host directories
SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
# for libraries and headers in the target directories
SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

SET(FLAGS "-Wl,-rpath-link,${PIROOT}/opt/vc/lib -Wl,-rpath-link,${PIROOT}/lib/arm-linux-gnueabihf -Wl,-rpath-link,${PIROOT}/usr/lib/arm-linux-gnueabihf -Wl,-rpath-link,${PIROOT}/usr/local/lib")

UNSET(CMAKE_C_FLAGS CACHE)
UNSET(CMAKE_CXX_FLAGS CACHE)

SET(CMAKE_CXX_FLAGS ${FLAGS} CACHE STRING "" FORCE)
SET(CMAKE_C_FLAGS ${FLAGS} CACHE STRING "" FORCE)

Answer 1

“找不到 crt1.o：没有这样的文件或目录”错误是“arm-rpi-4.9.3-linux-gnueabihf”工具链的一个已知问题，请参阅4.9 toolchain issue #50。

“`std::__throw_out_of_range_fmt(char const*, ...)@GLIBCXX_3.4.20'”错误与 gcc 4.8 有关，请参阅 std::__throw_out_of_range_fmt(char const*, …)@GLIBCXX_3.4.20'。我不太清楚为什么会发生这种情况，因为我能够使用“gcc-linaro-arm-linux-gnueabihf-raspbian-x64”-toolchain 构建 opencv。

也许你对我的做法有点运气：How do I cross compile OpenCV for the Raspberry Pi with additional modules (highgui…)

CMakeLists.txt 示例

project(Test)
cmake_minimum_required(VERSION 3.2)

set(CMAKE_CXX_STANDARD 11)

aux_source_directory(. SRC_LIST)
find_package(OpenCV REQUIRED)
add_executable(${PROJECT_NAME} ${SRC_LIST})
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})

像这样调用 cmake：

cmake -D CMAKE_TOOLCHAIN_FILE=$CMAKE_TOOLCHAIN_FILE -D PIROOT=$MOUNT_DIR -D TOOLROOT=$TOOLCHAIN ..