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CMakeLists.txt
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CMakeLists.txt
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######################################################################################################################
#
# JeVois Smart Embedded Machine Vision Toolkit - Copyright (C) 2016 by Laurent Itti, the University of Southern
# California (USC), and iLab at USC. See http://iLab.usc.edu and http://jevois.org for information about this project.
#
# This file is part of the JeVois Smart Embedded Machine Vision Toolkit. This program is free software; you can
# redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software
# Foundation, version 2. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
# without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public
# License for more details. You should have received a copy of the GNU General Public License along with this program;
# if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#
# Contact information: Laurent Itti - 3641 Watt Way, HNB-07A - Los Angeles, BA 90089-2520 - USA.
# Tel: +1 213 740 3527 - itti@pollux.usc.edu - http://iLab.usc.edu - http://jevois.org
######################################################################################################################
# CMake build rules for JeVois Base library and executables
# You may provide the installed JeVois config root and version as:
# cmake -DJEVOIS_CONFIG=/jevois/config ..
cmake_minimum_required(VERSION 3.6)
# Set vendor name, our modules will be placed in a directory by that name under /jevois/modules:
set(JEVOIS_VENDOR "JeVois")
if (JEVOIS_HARDWARE STREQUAL "PRO")
set(JEVOIS_CONFIG "/jevoispro/config" CACHE STRING "Path to JeVois config to use")
else()
set(JEVOIS_CONFIG "/jevois/config" CACHE STRING "Path to JeVois config to use")
endif()
# Before we get started, include a few contribs that conflict with the contribs of jevois that we will pull in: for
# example, tensorflow contributed by jevois provides cpuinfo but that is not the version we need here to compile NNPACK:
include_directories(Contrib/cpuinfo/include)
include_directories(Contrib/cpuinfo/deps/clog/include)
include_directories("include") # Allow #include <jevoibase/x/y> in our components and modules
include_directories("..") # Allow #include <jevoibase/Contrib/x/y> in our components and modules
# Include our helper functions, config, etc from the JeVois install:
set(CMAKE_MODULE_PATH ${JEVOIS_CONFIG})
include(jevois_config)
include(JeVois)
# Set project name, detects compiler (which has been set by our helper module), include stuff installed by JeVois (e.g.,
# imgui). Then set some complation flags:
project(${JEVOIS}base CXX C ASM) # NNPACK has a few assembly sources, darknet and others are C
jevois_project_set_flags()
set(JVB "${CMAKE_CURRENT_SOURCE_DIR}")
# Setup our library using the source files in src/Components and call it jevoisbase with the current version number:
set(JEVOISBASE_SOVERSION "1.21.0")
jevois_setup_library(src/Components ${JEVOIS}base ${JEVOISBASE_SOVERSION})
# Check that we are not trying to compile a newer jevoisbase against an older jevois-sdk, which would typically fail:
jevois_check_sdk_version(${JEVOISBASE_SOVERSION})
# Setup our modules that are in src/Modules, make them depend on jevoisbase:
jevois_setup_modules(src/Modules ${JEVOIS}base)
# Add includes to our install / distribution package:
add_subdirectory(include)
# Now setup any additional includes and sources that we will add to the jevoisbase library for use by our individual
# modules, typically those are in the Contrib/ drectory:
########################################################################################################################
# Enable address sanitizer (to debug illegal memory accesses and such; should normally be commented out):
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=address")
########################################################################################################################
# OpenGL-ES libraries on platform (and they also exist on host):
target_link_libraries(${JEVOIS}base GLESv2 EGL)
########################################################################################################################
# Add any needed boost libraries that are not already pulled in by libjevois:
target_link_libraries(${JEVOIS}base boost_regex)
########################################################################################################################
# Shortcut for where to install includes and libs that are in our Contribs here
set(INCDEST "${JEVOIS_MODULES_ROOT}/include")
set(LIBDEST "${JEVOIS_MODULES_ROOT}/lib")
########################################################################################################################
# tiny-dnn support:
include_directories(Contrib)
include_directories(Contrib/tiny-dnn)
include_directories(Contrib/pthreadpool/include)
install(DIRECTORY Contrib/pthreadpool/include/ DESTINATION ${INCDEST} COMPONENT bin)
target_sources(${JEVOIS}base PRIVATE Contrib/pthreadpool/src/threadpool-pthreads.c)
add_definitions(-DTBB_SUPPRESS_DEPRECATED_MESSAGES) # avoid message about deprecated code in tbb.h
if (JEVOIS_PRO)
if (JEVOIS_PLATFORM)
add_definitions(-D__ARM_NEON__) # Allow tiny-dnn to detect that we support neon instructions
endif ()
endif ()
########################################################################################################################
# darknet with NNPACK support: (on top of things already pulled in by tiny-dnn)
include_directories(Contrib/NNPACK/include)
install(DIRECTORY Contrib/NNPACK/include/ DESTINATION ${INCDEST}/NNPACK COMPONENT bin)
include_directories(Contrib/NNPACK/src)
include_directories(Contrib/FP16/include)
install(DIRECTORY Contrib/FP16/include/ DESTINATION ${INCDEST}/FP16 COMPONENT bin)
include_directories(Contrib/FXdiv/include)
install(DIRECTORY Contrib/FXdiv/include/ DESTINATION ${INCDEST}/FXdiv COMPONENT bin)
include_directories(Contrib/psimd/include)
install(DIRECTORY Contrib/psimd/include/ DESTINATION ${INCDEST}/psimd COMPONENT bin)
# Library cpuinfo (dependency for NNPACK):
#include_directories(Contrib/cpuinfo/include) # included early above
install(DIRECTORY Contrib/cpuinfo/include/ DESTINATION ${INCDEST}/cpuinfo COMPONENT bin)
#include_directories(Contrib/cpuinfo/deps/clog/include) # included early above
install(DIRECTORY Contrib/cpuinfo/deps/clog/include/ DESTINATION ${INCDEST}/clog COMPONENT bin)
include_directories(Contrib/cpuinfo/src)
set(CPUI "${JVB}/Contrib/cpuinfo/src")
target_sources(${JEVOIS}base PRIVATE ${JVB}/Contrib/cpuinfo/deps/clog/src/clog.c ${CPUI}/init.c ${CPUI}/api.c
${CPUI}/linux/gpu.c ${CPUI}/linux/smallfile.c ${CPUI}/linux/processors.c ${CPUI}/linux/current.c
${CPUI}/linux/multiline.c ${CPUI}/linux/api.h ${CPUI}/linux/cpulist.c)
if (JEVOIS_PLATFORM)
if (JEVOIS_PRO)
target_sources(${JEVOIS}base PRIVATE ${CPUI}/arm/uarch.c ${CPUI}/arm/cache.c ${CPUI}/arm/linux/init.c
${CPUI}/arm/linux/cpuinfo.c ${CPUI}/arm/linux/clusters.c ${CPUI}/arm/linux/chipset.c ${CPUI}/arm/linux/midr.c
${CPUI}/arm/linux/hwcap.c ${CPUI}/arm/linux/aarch64-isa.c)
else ()
target_sources(${JEVOIS}base PRIVATE ${CPUI}/arm/uarch.c ${CPUI}/arm/cache.c ${CPUI}/arm/linux/init.c
${CPUI}/arm/linux/cpuinfo.c ${CPUI}/arm/linux/clusters.c ${CPUI}/arm/linux/chipset.c ${CPUI}/arm/linux/midr.c
${CPUI}/arm/linux/hwcap.c ${CPUI}/arm/linux/aarch32-isa.c)
endif ()
else (JEVOIS_PLATFORM)
target_sources(${JEVOIS}base PRIVATE ${CPUI}/x86/init.c ${CPUI}/x86/info.c ${CPUI}/x86/vendor.c ${CPUI}/x86/uarch.c
${CPUI}/x86/name.c ${CPUI}/x86/topology.c ${CPUI}/x86/isa.c ${CPUI}/x86/cache/init.c ${CPUI}/x86/cache/descriptor.c
${CPUI}/x86/cache/deterministic.c ${CPUI}/x86/linux/init.c ${CPUI}/x86/linux/cpuinfo.c)
endif(JEVOIS_PLATFORM)
# NNPACK: Core
set(NNPS "${JVB}/Contrib/NNPACK/src")
target_sources(${JEVOIS}base PRIVATE ${NNPS}/init.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/convolution-output.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/convolution-input-gradient.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/convolution-kernel-gradient.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/convolution-inference.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/fully-connected-output.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/fully-connected-inference.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/pooling-output.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/softmax-output.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/relu-output.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/relu-input-gradient.c)
if (JEVOIS_PLATFORM)
# Transformations
target_sources(${JEVOIS}base PRIVATE ${NNPS}/psimd/2d-fourier-8x8.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/psimd/2d-fourier-16x16.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/2d-winograd-8x8-3x3.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/2d-winograd-8x8-3x3-fp16.c)
# ReLU and Softmax
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/relu.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/psimd/softmax.c)
# FFT block accumulation
#target_sources(${JEVOIS}base PRIVATE ${NNPS}/psimd/fft-block-mac.c)
# Tuple GEMM
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/h4gemm.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/s4gemm.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/c4gemm.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/s4c2gemm.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/c4gemm-conjb.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/s4c2gemm-conjb.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/c4gemm-conjb-transc.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/s4c2gemm-conjb-transc.c)
# Direct convolution
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/conv1x1.c)
# BLAS microkernels
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/sgemm.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/sdotxf.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/psimd/blas/shdotxf.c)
if (JEVOIS_A33)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/h4gemm-aarch32.S)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/s4gemm-aarch32.S)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/blas/sgemm-aarch32.S)
endif ()
# FFT and Winograd
target_sources(${JEVOIS}base PRIVATE ${NNPS}/psimd/fft-aos.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/psimd/fft-soa.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/psimd/fft-real.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/psimd/fft-dualreal.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/neon/winograd-f6k3.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/psimd/exp.c)
add_definitions(-DARM_NEON)
else (JEVOIS_PLATFORM)
# NOTE: on host we just use scalar as opposed to x86 SIMD extensions
# Transformations
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/2d-fourier-8x8.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/2d-fourier-16x16.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/2d-winograd-8x8-3x3.c)
# ReLU and Softmax
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/relu.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/softmax.c)
# Tuple GEMM
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/blas/s2gemm.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/blas/s2gemm-transc.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/blas/cgemm.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/blas/cgemm-conjb.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/blas/cgemm-conjb-transc.c)
# Direct convolution
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/blas/conv1x1.c)
# BLAS microkernels
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/blas/sgemm.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/blas/sdotxf.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/blas/shdotxf.c)
# FFT and Winograd
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/fft-aos.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/fft-soa.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/fft-real.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/fft-dualreal.c)
target_sources(${JEVOIS}base PRIVATE ${NNPS}/scalar/winograd-f6k3.c)
add_definitions(-DNNP_BACKEND_SCALAR=1)
endif(JEVOIS_PLATFORM)
add_definitions(-DNNPACK)
# Now darknet-nnpack proper:
include_directories(Contrib/darknet-nnpack/include)
install(DIRECTORY Contrib/darknet-nnpack/include/ DESTINATION ${INCDEST}/darknet-nnpack COMPONENT bin)
include_directories(Contrib/darknet-nnpack/3rdparty/stb/include)
install(DIRECTORY Contrib/darknet-nnpack/3rdparty/stb/include/ DESTINATION ${INCDEST}/stb COMPONENT bin)
set(DKNS "${JVB}/Contrib/darknet-nnpack/src")
add_definitions(-DDARKNET_NNPACK)
# Or use the baseline darknet instead (much slower):
#include_directories(Contrib/darknet/include)
#set(DKNS "${JVB}/Contrib/darknet/src")
# Get the list of sources from:
# cd Contrib/darknet-nnpack/src
# find . -name "*.c" |grep -v darknet.c|sed -e 's/\.\//\$\{DKNS\}\//g' | xargs
target_sources(${JEVOIS}base PRIVATE ${DKNS}/go.c ${DKNS}/swag.c ${DKNS}/maxpool_layer.c ${DKNS}/avgpool_layer.c
${DKNS}/nightmare.c ${DKNS}/region_layer.c ${DKNS}/im2col.c ${DKNS}/yolo.c ${DKNS}/parser.c
${DKNS}/dark_cuda.c ${DKNS}/gaussian_yolo_layer.c ${DKNS}/tag.c ${DKNS}/lstm_layer.c ${DKNS}/demo.c
${DKNS}/dice.c ${DKNS}/captcha.c ${DKNS}/softmax_layer.c ${DKNS}/network.c ${DKNS}/cpu_gemm.c
${DKNS}/rnn_layer.c ${DKNS}/dropout_layer.c ${DKNS}/conv_lstm_layer.c ${DKNS}/upsample_layer.c
${DKNS}/option_list.c ${DKNS}/convolutional_layer.c ${DKNS}/gemm.c ${DKNS}/reorg_layer.c
${DKNS}/classifier.c ${DKNS}/matrix.c ${DKNS}/cost_layer.c ${DKNS}/voxel.c ${DKNS}/crnn_layer.c
${DKNS}/deconvolutional_layer.c ${DKNS}/gettimeofday.c ${DKNS}/batchnorm_layer.c ${DKNS}/activations.c
${DKNS}/layer.c ${DKNS}/super.c ${DKNS}/crop_layer.c ${DKNS}/writing.c ${DKNS}/list.c
${DKNS}/reorg_old_layer.c ${DKNS}/route_layer.c ${DKNS}/utils.c ${DKNS}/blas.c ${DKNS}/col2im.c
${DKNS}/normalization_layer.c ${DKNS}/getopt.c ${DKNS}/local_layer.c ${DKNS}/tree.c ${DKNS}/detector.c
${DKNS}/art.c ${DKNS}/rnn.c ${DKNS}/shortcut_layer.c ${DKNS}/box.c ${DKNS}/compare.c ${DKNS}/yolo_layer.c
${DKNS}/image.c ${DKNS}/cifar.c ${DKNS}/activation_layer.c ${DKNS}/gru_layer.c ${DKNS}/detection_layer.c
${DKNS}/data.c ${DKNS}/coco.c ${DKNS}/scale_channels_layer.c ${DKNS}/connected_layer.c ${DKNS}/sam_layer.c
${DKNS}/rnn_vid.c)
########################################################################################################################
# ZBar barcode / QR-code source files:
include_directories(Contrib/ZBar/include Contrib/ZBar/zbar)
install(DIRECTORY Contrib/ZBar/include/ DESTINATION ${INCDEST}/ZBar COMPONENT bin)
install(FILES Contrib/zbar-config.h DESTINATION ${INCDEST}/ZBar/ COMPONENT bin)
set(ZBS "${JVB}/Contrib/ZBar/zbar")
target_sources(${JEVOIS}base PRIVATE ${ZBS}/processor.c ${ZBS}/scanner.c ${ZBS}/symbol.c ${ZBS}/img_scanner.c
${ZBS}/qrcode/rs.c ${ZBS}/qrcode/isaac.c ${ZBS}/qrcode/util.c ${ZBS}/qrcode/qrdectxt.c ${ZBS}/qrcode/bch15_5.c
${ZBS}/qrcode/binarize.c ${ZBS}/qrcode/qrdec.c ${ZBS}/config.c ${ZBS}/error.c ${ZBS}/processor/posix.c
${ZBS}/processor/lock.c ${ZBS}/processor/null.c ${ZBS}/convert.c ${ZBS}/decoder/i25.c ${ZBS}/decoder/qr_finder.c
${ZBS}/decoder/code128.c ${ZBS}/decoder/codabar.c ${ZBS}/decoder/code39.c ${ZBS}/decoder/databar.c
${ZBS}/decoder/ean.c ${ZBS}/decoder/code93.c ${ZBS}/image.c ${ZBS}/refcnt.c ${ZBS}/decoder.c)
# ${ZBS}/decoder/pdf417.c
# FIXME need to debug zbar as it gives some warnings
add_definitions(-Wno-parentheses -w)
########################################################################################################################
# cvEyeTracker eye-tracking
# This uses legacy opencv API which is not supported anymore in opencv 4.x.
#target_sources(${JEVOIS}base PRIVATE ${JVB}/Contrib/cvEyeTracker-1.2.5/ransac_ellipse.cpp
# ${JVB}/Contrib/cvEyeTracker-1.2.5/remove_corneal_reflection.cpp ${JVB}/Contrib/cvEyeTracker-1.2.5/svd.c)
########################################################################################################################
# Neon-accelerated Ne10 support. NOTE: as of JeVois 1.13.0, Ne10 is also installed on platform by default as a library,
# may want to use that in new code:
include_directories(Contrib/Ne10/inc)
install(DIRECTORY Contrib/Ne10/inc/ DESTINATION "${INCDEST}/Ne10" COMPONENT bin)
target_sources(${JEVOIS}base PRIVATE ${JVB}/Contrib/Ne10/modules/imgproc/NE10_boxfilter.c)
if (JEVOIS_PLATFORM)
target_sources(${JEVOIS}base PRIVATE ${JVB}/Contrib/Ne10/modules/imgproc/NE10_boxfilter.neon.c)
endif (JEVOIS_PLATFORM)
########################################################################################################################
# VLfeat support:
include_directories(Contrib/vlfeat/vl)
install(DIRECTORY Contrib/vlfeat/vl DESTINATION ${INCDEST} COMPONENT bin)
# Add VLfeat sources shared among various algorithms:
target_sources(${JEVOIS}base PRIVATE ${JVB}/Contrib/vlfeat/vl/host.c ${JVB}/Contrib/vlfeat/vl/generic.c
${JVB}/Contrib/vlfeat/vl/imopv.c)
# The source code for SSE2 convolution seems to be missing...
add_definitions(-DVL_DISABLE_SSE2)
# Other defs to make VLfeat comile:
add_definitions(-DVL_COMPILER_GNUC -DVL_ARCH_LITTLE_ENDIAN)
# Add VLfeat sources used by DenseSift module:
target_sources(${JEVOIS}base PRIVATE ${JVB}/Contrib/vlfeat/vl/dsift.c ${JVB}/Contrib/vlfeat/vl/sift.c)
########################################################################################################################
# Fast optical flow
include_directories(Contrib/OF_DIS)
install(DIRECTORY Contrib/OF_DIS DESTINATION ${INCDEST} COMPONENT bin)
install(FILES Contrib/intrinsics.h DESTINATION ${INCDEST}/OF_DIS/ COMPONENT bin)
target_sources(${JEVOIS}base PRIVATE ${JVB}/Contrib/OF_DIS/oflow.cpp ${JVB}/Contrib/OF_DIS/refine_variational.cpp
${JVB}/Contrib/OF_DIS/patchgrid.cpp ${JVB}/Contrib/OF_DIS/patch.cpp ${JVB}/Contrib/OF_DIS/FDF1.0.1/image.c
${JVB}/Contrib/OF_DIS/FDF1.0.1/opticalflow_aux.c ${JVB}/Contrib/OF_DIS/FDF1.0.1/solver.c)
# Select mode 1 (optical flow) and 1 channel (grayscale):
add_definitions(-DSELECTMODE=1 -DSELECTCHANNEL=1)
# Fix path assumptions in the optical flow code for Eigen:
if (JEVOIS_PLATFORM)
if (JEVOIS_PRO)
include_directories(${JEVOIS_BUILD_BASE}/usr/include/eigen3)
else (JEVOIS_PRO)
include_directories(${JEVOIS_BUILD_BASE}/host/usr/arm-buildroot-linux-gnueabihf/sysroot/usr/include/eigen3)
endif(JEVOIS_PRO)
else (JEVOIS_PLATFORM)
include_directories(/usr/include/eigen3)
endif (JEVOIS_PLATFORM)
# Enable OpenMP, which can accelerate the fast optical flow code. NOTE: With small images and when running on a fast
# Intel-based host, this actually slows down the code by 10x or so, probably the parallelism overhead is not worth it
# for small images. Yet, we enable it here as it seems to help on the platform:
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fopenmp")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fopenmp")
add_definitions(-DWITH_OPENMP -DUSE_PARALLEL_ON_FLOWAGGR)
########################################################################################################################
# ARtoolkit
# When installing ARtoolkit from scratch (already done in jevoisbase):
# run the configure, enable V4L2 and select as default, disable all others
set(ARTK "${JVB}/Contrib/ARToolKit5arm/lib/SRC")
# In jevoisbase, we compile these files:
# cd Contrib/ARToolKit5arm/lib/SRC
# find . -name *.c | grep -v VideoLinuxV4L|grep -v 1394|grep -v Eden|grep -v Gl|grep -v examples|grep -v GStrea|grep -v calib|grep -v util|sed -e 's/\.\//\$\{ARTK\}\//g' | xargs
target_sources(${JEVOIS}base PRIVATE ${ARTK}/ARMulti/arMultiGetTransMatStereo.c ${ARTK}/ARMulti/arMultiFreeConfig.c
${ARTK}/ARMulti/arMultiGetTransMat.c ${ARTK}/ARMulti/arMultiReadConfigFile.c ${ARTK}/VideoDummy/videoDummy.c
${ARTK}/AR2/coord.c ${ARTK}/AR2/marker.c ${ARTK}/AR2/matching.c ${ARTK}/AR2/tracking.c ${ARTK}/AR2/featureSet.c
${ARTK}/AR2/jpeg.c ${ARTK}/AR2/tracking2d.c ${ARTK}/AR2/selectTemplate.c ${ARTK}/AR2/featureMap.c ${ARTK}/AR2/handle.c
${ARTK}/AR2/imageSet.c ${ARTK}/AR2/matching2.c ${ARTK}/AR2/searchPoint.c ${ARTK}/AR2/template.c ${ARTK}/AR2/surface.c
${ARTK}/VideoImage/videoImage.c ${ARTK}/ARWrapper/trackingSub.c ${ARTK}/Video/video2.c ${ARTK}/Video/videoSaveImage.c
${ARTK}/Video/videoAspectRatio.c ${ARTK}/Video/video.c ${ARTK}/KPM/kpmFopen.c
${ARTK}/KPM/FreakMatcher/unsupported/test/mpreal/dlmalloc.c ${ARTK}/AR/arPattLoad.c ${ARTK}/AR/ar3DUtil.c
${ARTK}/AR/vHouse.c ${ARTK}/AR/paramDecomp.c ${ARTK}/AR/arImageProc.c ${ARTK}/AR/mSelfInv.c ${ARTK}/AR/arGetTransMat.c
${ARTK}/AR/paramDisp.c ${ARTK}/AR/mDisp.c ${ARTK}/AR/mUnit.c ${ARTK}/AR/paramClear.c ${ARTK}/AR/arDetectMarker2.c
${ARTK}/AR/mAlloc.c ${ARTK}/AR/mAllocInv.c ${ARTK}/AR/paramChangeSize.c ${ARTK}/AR/vTridiag.c
${ARTK}/AR/paramDistortion.c ${ARTK}/AR/mAllocTrans.c ${ARTK}/AR/mMul.c ${ARTK}/AR/mAllocMul.c
${ARTK}/AR/arPattAttach.c ${ARTK}/AR/vInnerP.c ${ARTK}/AR/vAlloc.c ${ARTK}/AR/arUtil.c ${ARTK}/AR/mAllocDup.c
${ARTK}/AR/ar3DCreateHandle.c ${ARTK}/AR/vFree.c ${ARTK}/AR/arGetTransMatStereo.c ${ARTK}/AR/mDup.c ${ARTK}/AR/mPCA.c
${ARTK}/AR/paramGetPerspective.c ${ARTK}/AR/vDisp.c ${ARTK}/AR/mDet.c ${ARTK}/AR/mAllocUnit.c ${ARTK}/AR/mTrans.c
${ARTK}/AR/arLabelingSub/arLabelingSubDBZ.c ${ARTK}/AR/arLabelingSub/arLabelingSubEWRCY.c
${ARTK}/AR/arLabelingSub/arLabelingSubEWI3CA.c ${ARTK}/AR/arLabelingSub/arLabelingSubEBI3CA.c
${ARTK}/AR/arLabelingSub/arLabelingSubDBIYC.c ${ARTK}/AR/arLabelingSub/arLabelingSubEWR3C565.c
${ARTK}/AR/arLabelingSub/arLabelingSubEBI3CA5551.c ${ARTK}/AR/arLabelingSub/arLabelingSubEWIA3C.c
${ARTK}/AR/arLabelingSub/arLabelingSubDWIA3C.c ${ARTK}/AR/arLabelingSub/arLabelingSubDBRYC.c
${ARTK}/AR/arLabelingSub/arLabelingSubDWI3C.c ${ARTK}/AR/arLabelingSub/arLabelingSubDBR3CA.c
${ARTK}/AR/arLabelingSub/arLabelingSubDWICY.c ${ARTK}/AR/arLabelingSub/arLabelingSubEWRA3C.c
${ARTK}/AR/arLabelingSub/arLabelingSubEBR3CA4444.c ${ARTK}/AR/arLabelingSub/arLabelingSubEWR3CA5551.c
${ARTK}/AR/arLabelingSub/arLabelingSubDWR3C565.c ${ARTK}/AR/arLabelingSub/arLabelingSubDWRCY.c
${ARTK}/AR/arLabelingSub/arLabelingSubDBIA3C.c ${ARTK}/AR/arLabelingSub/arLabelingSubEBI3C565.c
${ARTK}/AR/arLabelingSub/arLabelingSubEWI3C.c ${ARTK}/AR/arLabelingSub/arLabelingSubEWR3C.c
${ARTK}/AR/arLabelingSub/arLabelingSubDBI3C565.c ${ARTK}/AR/arLabelingSub/arLabelingSubDWI3C565.c
${ARTK}/AR/arLabelingSub/arLabelingSubEWI3CA5551.c ${ARTK}/AR/arLabelingSub/arLabelingSubDBI3CA.c
${ARTK}/AR/arLabelingSub/arLabelingSubDBR3C565.c ${ARTK}/AR/arLabelingSub/arLabelingSubDBRA3C.c
${ARTK}/AR/arLabelingSub/arLabelingSubDWRC.c ${ARTK}/AR/arLabelingSub/arLabelingSubEWRYC.c
${ARTK}/AR/arLabelingSub/arLabelingSubEBR3C565.c ${ARTK}/AR/arLabelingSub/arLabelingSubEBICY.c
${ARTK}/AR/arLabelingSub/arLabelingSubDWI3CA4444.c ${ARTK}/AR/arLabelingSub/arLabelingSubEBI3C.c
${ARTK}/AR/arLabelingSub/arLabelingSubDBRC.c ${ARTK}/AR/arLabelingSub/arLabelingSubDBI3CA5551.c
${ARTK}/AR/arLabelingSub/arLabelingSubEWIYC.c ${ARTK}/AR/arLabelingSub/arLabelingSubDWR3CA4444.c
${ARTK}/AR/arLabelingSub/arLabelingSubEBZ.c ${ARTK}/AR/arLabelingSub/arLabelingSubDWZ.c
${ARTK}/AR/arLabelingSub/arLabelingSubDBR3CA5551.c ${ARTK}/AR/arLabelingSub/arLabelingSubDWR3CA5551.c
${ARTK}/AR/arLabelingSub/arLabelingSubDWIC.c ${ARTK}/AR/arLabelingSub/arLabelingSubEWR3CA.c
${ARTK}/AR/arLabelingSub/arLabelingSubEBRC.c ${ARTK}/AR/arLabelingSub/arLabelingSubDBRCY.c
${ARTK}/AR/arLabelingSub/arLabelingSubDWIYC.c ${ARTK}/AR/arLabelingSub/arLabelingSubEWRC.c
${ARTK}/AR/arLabelingSub/arLabelingSubEBIA3C.c ${ARTK}/AR/arLabelingSub/arLabelingSubEBR3CA.c
${ARTK}/AR/arLabelingSub/arLabelingSubDWRA3C.c ${ARTK}/AR/arLabelingSub/arLabelingSubEWI3C565.c
${ARTK}/AR/arLabelingSub/arLabelingSubDBR3CA4444.c ${ARTK}/AR/arLabelingSub/arLabelingSubEBR3C.c
${ARTK}/AR/arLabelingSub/arLabelingSubEWZ.c ${ARTK}/AR/arLabelingSub/arLabelingSubDBI3CA4444.c
${ARTK}/AR/arLabelingSub/arLabelingSubEWR3CA4444.c ${ARTK}/AR/arLabelingSub/arLabelingSubEWICY.c
${ARTK}/AR/arLabelingSub/arLabelingSubEBR3CA5551.c ${ARTK}/AR/arLabelingSub/arLabelingSubEBI3CA4444.c
${ARTK}/AR/arLabelingSub/arLabelingSubDBIC.c ${ARTK}/AR/arLabelingSub/arLabelingSubEBIYC.c
${ARTK}/AR/arLabelingSub/arLabelingSubEBRYC.c ${ARTK}/AR/arLabelingSub/arLabelingSubDWR3C.c
${ARTK}/AR/arLabelingSub/arLabelingSubDWR3CA.c ${ARTK}/AR/arLabelingSub/arLabelingSubDWI3CA5551.c
${ARTK}/AR/arLabelingSub/arLabelingSubEWI3CA4444.c ${ARTK}/AR/arLabelingSub/arLabelingSubDWRYC.c
${ARTK}/AR/arLabelingSub/arLabelingSubEBRA3C.c ${ARTK}/AR/arLabelingSub/arLabelingSubEWIC.c
${ARTK}/AR/arLabelingSub/arLabelingSubDBR3C.c ${ARTK}/AR/arLabelingSub/arLabelingSubDBI3C.c
${ARTK}/AR/arLabelingSub/arLabelingSubDBICY.c ${ARTK}/AR/arLabelingSub/arLabelingSubEBIC.c
${ARTK}/AR/arLabelingSub/arLabelingSubEBRCY.c ${ARTK}/AR/arLabelingSub/arLabelingSubDWI3CA.c ${ARTK}/AR/mFree.c
${ARTK}/AR/arPattSave.c ${ARTK}/AR/arLabeling.c ${ARTK}/AR/paramLT.c ${ARTK}/AR/arPattCreateHandle.c
${ARTK}/AR/arFilterTransMat.c ${ARTK}/AR/arGetMarkerInfo.c ${ARTK}/AR/arCreateHandle.c ${ARTK}/AR/arPattGetID.c
${ARTK}/AR/arGetLine.c ${ARTK}/AR/mInv.c ${ARTK}/AR/paramFile.c ${ARTK}/AR/arDetectMarker.c ${ARTK}/Util/thread_sub.c
${ARTK}/Util/profile.c ${ARTK}/ARICP/icpStereoPointRobust.c ${ARTK}/ARICP/icpStereoPoint.c ${ARTK}/ARICP/icpPoint.c
${ARTK}/ARICP/icpStereoHandle.c ${ARTK}/ARICP/icpCalibStereo.c ${ARTK}/ARICP/icpUtil.c ${ARTK}/ARICP/icpHandle.c
${ARTK}/ARICP/icpCore.c ${ARTK}/ARICP/icpPointRobust.c)
include_directories(Contrib/ARToolKit5arm/include)
install(DIRECTORY Contrib/ARToolKit5arm DESTINATION ${INCDEST} COMPONENT bin)
########################################################################################################################
# Link to OpenCV libraries for superpixels, aruco, and others:
# From this: ls /usr/share/jevois-opencv-4.*/lib/|grep ".so$"|sed -e s/.so//|sed -e s/^lib//|xargs
set(OPENCV_LIBS_FOR_JEVOISBASE -lopencv_alphamat -lopencv_aruco -lopencv_bgsegm -lopencv_bioinspired -lopencv_calib3d
-lopencv_ccalib -lopencv_core -lopencv_datasets -lopencv_dnn_objdetect -lopencv_dnn -lopencv_dnn_superres -lopencv_dpm
-lopencv_face -lopencv_features2d -lopencv_flann -lopencv_fuzzy -lopencv_gapi -lopencv_hfs -lopencv_imgcodecs
-lopencv_img_hash -lopencv_imgproc -lopencv_intensity_transform -lopencv_line_descriptor -lopencv_mcc -lopencv_ml
-lopencv_objdetect -lopencv_optflow -lopencv_phase_unwrapping -lopencv_photo -lopencv_plot -lopencv_quality
-lopencv_rapid -lopencv_reg -lopencv_saliency -lopencv_shape -lopencv_stereo -lopencv_stitching
-lopencv_structured_light -lopencv_superres -lopencv_surface_matching -lopencv_text -lopencv_tracking -lopencv_videoio
-lopencv_video -lopencv_videostab -lopencv_wechat_qrcode -lopencv_xfeatures2d -lopencv_ximgproc -lopencv_xobjdetect
-lopencv_xphoto)
# removed: opencv_highgui (not needed), opencv_rgbd (not needed),
# opencv_freetype (would need to enable freetype and harfbuzz on a33 platform)
target_link_libraries(${JEVOIS}base ${JEVOIS_OPENCV_LIBS} ${OPENCV_LIBS_FOR_JEVOISBASE})
#message(STATUS "OpenCV libs: ${OPENCV_LIBS_FOR_JEVOISBASE}")
########################################################################################################################
# Install shared resources (cascade classifiers, neural network weights, etc):
install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/share-${JEVOIS}/"
DESTINATION "${JEVOIS_MODULES_ROOT}/share" COMPONENT bin)
########################################################################################################################
# Documentation:
add_custom_target(doc COMMAND doxygen "${CMAKE_CURRENT_SOURCE_DIR}/doc/doxygen.cfg"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
# This is to install the doc of jevois and jevoisbase to jevois.org, only works in ilab:
if ($ENV{JEVOIS_ILAB})
add_custom_target(docweb
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/scripts/docinstall.sh
DEPENDS doc
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
endif ($ENV{JEVOIS_ILAB})
# Documentation files for our install / distribution package
set(DOC_FILES README INSTALL COPYING)
if (JEVOIS_PLATFORM)
set(DOC_PATH "share/doc/${JEVOIS}base-platform")
else (JEVOIS_PLATFORM)
set(DOC_PATH "share/doc/${JEVOIS}base-host")
endif (JEVOIS_PLATFORM)
install(FILES ${DOC_FILES} DESTINATION ${DOC_PATH} COMPONENT bin)
########################################################################################################################
# Debian packaging:
# Create packages (Debian, RPM): in hbuild/ or pbuild/, just type 'sudo cpack' to create the package.
# To list the files created in a package, run: dpkg --contents <package.deb>
set(CPACK_PACKAGE_DESCRIPTION "JeVois Smart Machine Vision Base Modules (${JEVOIS})")
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "JeVois Smart Embedded Machine Vision Toolkit, Base Modules (${JEVOIS})")
set(CPACK_PACKAGE_CONTACT "Laurent Itti <jevois.org@gmail.com>")
set(CPACK_DEBIAN_PACKAGE_MAINTAINER ${CPACK_PACKAGE_CONTACT})
set(CPACK_DEBIAN_PACKAGE_SECTION "universe")
set(CPACK_PACKAGE_VENDOR "iLab at the University of Southern California")
set(CPACK_PACKAGE_VERSION_MAJOR "${JEVOIS_VERSION_MAJOR}") # Note: jevoisbase version tracks jevois version
set(CPACK_PACKAGE_VERSION_MINOR "${JEVOIS_VERSION_MINOR}")
set(CPACK_PACKAGE_VERSION_PATCH "${JEVOIS_VERSION_PATCH}")
set(JEVOIS_PACKAGE_RELEASE "1") # packager revision number
if (JEVOIS_PLATFORM)
set(JEVOIS_DEPEND "${JEVOIS}-platform (>=${JEVOIS_VERSION_MAJOR}.${JEVOIS_VERSION_MINOR}.${JEVOIS_VERSION_PATCH})")
else (JEVOIS_PLATFORM)
set(JEVOIS_DEPEND "${JEVOIS}-host (>=${JEVOIS_VERSION_MAJOR}.${JEVOIS_VERSION_MINOR}.${JEVOIS_VERSION_PATCH})")
endif (JEVOIS_PLATFORM)
set(CPACK_DEBIAN_PACKAGE_DEPENDS "${JEVOIS_DEPEND}, libgles2-mesa-dev, curl, libdmtx-dev, python3-scipy, libusb-dev")
# Use helper from JeVois.cmake for all other settings:
jevois_setup_cpack(${JEVOIS}base)