Update build for 2019/3.4.5

README.md

@@ -1,17 +1,16 @@
-OpenCV 3.3.0 build for RoboRIO
+OpenCV 3.4.5 build for RoboRIO
 ==============================
 
 This is a set of scripts that will build OpenCV for the RoboRIO with bindings for:
 
 * C++
-* Python 3.6.0
-* ~~Java~~ (currently broken, but FIRST provides that so I'm not going to fix it)
+* Python 3.7
 
 The result of the compilation process is a zipfile that can be turned into IPK
 files using the [roborio-packages](https://github.com/robotpy/roborio-packages)
 repository.
 
-**NOTE**: For 2017, OpenCV 3.1.0 is well-supported for C++ and Java by WPILib,
+**NOTE**: For 2017+, OpenCV 3.x is well-supported for C++ and Java by WPILib,
 so if you're looking to use those languages you should use their stuff instead.
 
 RoboRIO Installation
@@ -21,14 +20,14 @@ The easiest way to install these packages is to set up the RobotPy opkg feed
 on your RoboRIO. Create a `.conf` file in `/etc/opkg` (e.g. `/etc/opkg/robotpy.conf`)
 containing the following line:
 
-    src/gz robotpy http://www.tortall.net/~robotpy/feeds/2017
+    src/gz robotpy http://www.tortall.net/~robotpy/feeds/2019
 
 Once the feed is added, issue an `opkg update` and then you can install
 packages using the following commands (requires internet access).
 
 For Python3:
 
-    opkg install python36-opencv3
+    opkg install python37-opencv3
 
 For C++:
 
@@ -44,11 +43,11 @@ Offline Installation
 You can use the [RobotPy Installer Script](https://github.com/robotpy/robotpy-wpilib/blob/master/installer/installer.py)
 to do offline opkg installs. First, download the package:
 
-    python3 installer.py download-opkg opencv3
+    python3 installer.py download-opkg python37-opencv3
 
 Then, connect to the network with the RoboRIO, and install it:
 
-    python3 installer.py install-opkg opencv3
+    python3 installer.py install-opkg python37-opencv3
 
 Manual Installation
 -------------------
@@ -71,26 +70,28 @@ Building your own version of OpenCV
 ===================================
 
 You probably just want to use the compiled version on our releases page or from
-our opkg feed. This build has only been tested on Ubuntu 14.04 using the
-included VM configuration.
+our opkg feed. This build has only been tested on Linux using docker as directed
+below.
 
 Build steps
 -----------
 
-First, install [Vagrant](https://www.vagrantup.com/). Then...
+First, install [docker](https://docs.docker.com/). Then run:
 
-    vagrant up
-    vagrant ssh
-    sudo /vagrant/fetch.sh
-    /vagrant/build.sh
+    ./launch.sh
 
-If you're building on your own Linux host, you can probably just execute the
-following:
+This will give you a shell in the docker container. You can then run:
 
-    sudo ./fetch.sh
+    ./fetch.sh
     ./build.sh
 
-But... I'd recommend using the VM instead.
+If you're building on your own Linux host that has cmake and the FRC toolchain
+installed, you can probably just execute the following:
+
+    ./fetch.sh
+    ./build.sh
+
+But... I'd recommend using the docker image instead.
 
 Troubleshooting
 ---------------

build.sh

@@ -1,14 +1,15 @@
 #!/bin/bash -ex
 
-OPENCV_VERSION=3.4.0
-PYTHON_VERSION=3.6
+OPENCV_VERSION=3.4.5
+PYTHON_VERSION=3.7
 
 pushd `dirname $0`
 ROOT=`pwd`
 popd
 
 BUILD=`pwd`/build
 SYSROOT="$BUILD"/sysroot
+CMAKE_TOOLCHAIN_FILE=$(pwd)/toolchain.cmake
 CVDIR="$ROOT"/opencv-${OPENCV_VERSION}
 
 function unpack_download {
@@ -40,7 +41,7 @@ function assert_path {
 #   exit 1
 # fi
 
-sed -i 's/arm-linux-gnueabi/arm-frc-linux-gnueabi/g' "$CVDIR"/platforms/linux/arm-gnueabi.toolchain.cmake
+sed -i 's/arm-linux-gnueabi/arm-frc2019-linux-gnueabi/g' "$CVDIR"/platforms/linux/arm-gnueabi.toolchain.cmake
 
 [ -d build ] || mkdir build
 pushd build
@@ -64,12 +65,15 @@ assert_path -d "$PYTHON3_INCLUDE_PATH"
 assert_path -f "$PYTHON3_LIBRARY"
 assert_path -d "$PYTHON3_NUMPY_INCLUDE_DIRS"
 
-CMAKE_PREFIX_PATH="$SYSROOT"/usr/local frcmake \
-  -DOPENCV_VCSVERSION=${OPENCV_VERSION} -DCMAKE_SYSTEM_PROCESSOR=cortexa9-vfpv3 \
+CMAKE_PREFIX_PATH="$SYSROOT"/usr/local cmake \
+  -DCMAKE_TOOLCHAIN_FILE="${CMAKE_TOOLCHAIN_FILE}" \
+  -DOPENCV_VCSVERSION=${OPENCV_VERSION} \
   -DCMAKE_BUILD_TYPE=Release \
   -DENABLE_NEON=ON -DENABLE_VFPV3=ON \
   -DBUILD_DOCS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF \
   -DWITH_OPENCL=NO \
+  -DOPENCV_SKIP_PYTHON_LOADER=ON \
+  -DOPENCV_PYTHON3_INSTALL_PATH=lib/python3.7/site-packages \
   "-DPYTHON3_INCLUDE_PATH=${PYTHON3_INCLUDE_PATH}" \
   "-DPYTHON3_INCLUDE_DIR=${PYTHON3_INCLUDE_PATH}" \
   "-DPYTHON3_INCLUDE_DIR2=${PYTHON3_INCLUDE_PATH}" \
@@ -84,5 +88,5 @@ fi
 make $MAKEARGS
 
 cpack -G TGZ
-mv OpenCV-${OPENCV_VERSION}-cortexa9-vfpv3.tar.gz ${ROOT}/OpenCV-${OPENCV_VERSION}-cortexa9-vfpv3.tar.gz
+mv OpenCV-${OPENCV_VERSION}-arm.tar.gz ${ROOT}/OpenCV-${OPENCV_VERSION}-cortexa9-vfpv3.tar.gz
 popd

deps

@@ -1,3 +1,3 @@
-https://www.tortall.net/~robotpy/feeds/2018/python36_3.6.4-r0_cortexa9-vfpv3.ipk
-https://www.tortall.net/~robotpy/feeds/2018/python36-dev_3.6.4-r0_cortexa9-vfpv3.ipk
-https://www.tortall.net/~robotpy/feeds/2018/python36-numpy_1.13.1_cortexa9-vfpv3.ipk
+https://www.tortall.net/~robotpy/feeds/2019/python37_3.7.2-r0_cortexa9-vfpv3.ipk
+https://www.tortall.net/~robotpy/feeds/2019/python37-dev_3.7.2-r0_cortexa9-vfpv3.ipk
+https://www.tortall.net/~robotpy/feeds/2019/python37-numpy_1.15.4_cortexa9-vfpv3.ipk

fetch.sh

@@ -1,6 +1,6 @@
 #!/bin/bash -e
 
-OPENCV_VERSION=3.4.0
+OPENCV_VERSION=3.4.5
 
 cd `dirname $0`
 
@@ -13,16 +13,16 @@ function download {
   fi
 }
 
-if ! which apt-add-repository; then
-  apt update
-  apt install -y software-properties-common
-fi
+# if ! which apt-add-repository; then
+#   apt update
+#   apt install -y software-properties-common
+# fi
 
-if ! which frcmake; then
-  apt-add-repository ppa:wpilib/toolchain-beta
-  apt update
-  apt install -y frc-toolchain frcmake
-fi
+# if ! which frcmake; then
+#   apt-add-repository ppa:wpilib/toolchain-beta
+#   apt update
+#   apt install -y frc-toolchain frcmake
+# fi
 
 # Note: Java build seems to be broken (needs JNI?), since FIRST provides java
 #       builds I'm not going to spend the time to fix it
@@ -36,13 +36,13 @@ fi
 #  apt install -y ant
 #fi
 
-if ! which unzip; then
-  apt install -y unzip
-fi
+# if ! which unzip; then
+#   apt install -y unzip
+# fi
 
-if ! which python; then
-  apt install -y python
-fi
+# if ! which python; then
+#   apt install -y python
+# fi
 
 DEPS=`cat deps`
 

launch.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+docker run --hostname roborio-opencv --rm -it -v $(pwd):/build:Z -w /build wpilib/roborio-cross-ubuntu:2019-18.04 /bin/bash

toolchain.cmake

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8)
+set(ARM_PREFIX arm-frc2019-linux-gnueabi)
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSROOT /usr/local/${ARM_PREFIX})
+
+set(CMAKE_C_COMPILER ${ARM_PREFIX}-gcc)
+set(CMAKE_CXX_COMPILER ${ARM_PREFIX}-g++)
+
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
+
+include("${CMAKE_CURRENT_LIST_DIR}/opencv-3.4.5/platforms/linux/arm-gnueabi.toolchain.cmake")