Feature/arm64 opencv4.5

CMakeLists.txt

@@ -28,10 +28,14 @@
 ############################################################################
 
 # Validate CMake version.
-cmake_minimum_required(VERSION 3.1 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.12 FATAL_ERROR)
 
 if(COMMAND CMAKE_POLICY)
-  cmake_policy(SET CMP0003 NEW)
+  cmake_policy(SET CMP0075 NEW)
+  if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.28")
+    cmake_policy(SET CMP0153 OLD)
+    cmake_policy(SET CMP0145 OLD)
+  endif()
 endif(COMMAND CMAKE_POLICY)
 
 # Required C++ Standard.

cmake/Architecture.cmake

@@ -43,9 +43,13 @@ macro(dune_test_cpu cpu bits endianess macro header)
 
     if(${output})
       check_cxx_source_compiles("#if defined(__arch64__)\n#else\n#error not defined\n#endif\nint main(void) {return 0; }\n" __ARCH64__)
+      check_cxx_source_compiles("#if defined(__aarch64__)\n#else\n#error not defined\n#endif\nint main(void) {return 0; }\n" __AARCH64__)
       if(__ARCH64__)
         set(gbits 64)
       endif(__ARCH64__)
+      if(__AARCH64__)
+        set(gbits 64)
+      endif(__AARCH64__)
 
       set(DUNE_CPU 1)
       set(DUNE_CPU_${ucpu} 1)
@@ -91,6 +95,7 @@ macro(dune_probe_cpu)
   dune_test_cpu(ARMv4    32     unknown   __ARM_ARCH_4T__ cstdio)
   dune_test_cpu(ARMv5    32     unknown   __ARM_ARCH_5T__ cstdio)
   dune_test_cpu(ARMv7    32     unknown   __ARM_ARCH_7A__ cstdio)
+  dune_test_cpu(ARMv8    64     little    __aarch64__     cstdio)
   dune_test_cpu(ARM      32     unknown  __arm__          cstdio)
   dune_test_cpu(SPARC    32     big      __sparc__        cstdio)
   dune_test_cpu(SPARCv9  64     big      __sparcv9        cstdio)

cmake/Libraries/Exiv2.cmake

@@ -27,8 +27,8 @@
 
 if(EXIV2)
   find_library(EXIV2_LIBRARY NAMES exiv2 PATHS /usr/lib)
-
-  if(${EXIV2_LIBRARY} STRLESS "libexiv2.so")
+  if(${EXIV2_LIBRARY} MATCHES "libexiv2.so")
+    message(STATUS "Found Exiv2 library: ${EXIV2_LIBRARY}")
     # Exiv2 Present
     set(DUNE_SYS_HAS_EXIV2 1 CACHE INTERNAL "Exiv2 library")
     set(DUNE_USING_EXIV2 1 CACHE INTERNAL "Exiv2 library")

cmake/Libraries/JPEG.cmake

@@ -30,20 +30,11 @@
 CHECK_LIBRARY_EXISTS(jpeg jpeg_set_defaults "" HAVE_LIB_JPEG)
 dune_test_header_deps(jpeglib.h "sys/types.h;stdio.h")
 
-check_cxx_source_compiles("
-#include <stdio.h>
-#include <jpeglib.h>
-#if JPEG_LIB_VERSION < 80
-#  error JPEG too old
-#endif
-int main(void) {return 0;}"
-HAVE_LIB_JPEG_80)
-
-if(HAVE_LIB_JPEG AND HAVE_LIB_JPEG_80 AND DUNE_SYS_HAS_JPEGLIB_H)
+if(HAVE_LIB_JPEG AND DUNE_SYS_HAS_JPEGLIB_H)
   dune_add_lib(jpeg)
   set(DUNE_SYS_HAS_JPEG 1 CACHE INTERNAL "JPEG library")
   set(DUNE_USING_JPEG 1 CACHE INTERNAL "JPEG library")
-else(HAVE_LIB_JPEG AND HAVE_LIB_JPEG_80 AND DUNE_SYS_HAS_JPEGLIB_H)
+else(HAVE_LIB_JPEG AND DUNE_SYS_HAS_JPEGLIB_H)
   set(DUNE_SYS_HAS_JPEG 0 CACHE INTERNAL "JPEG library")
   set(DUNE_USING_JPEG 0 CACHE INTERNAL "JPEG library")
-endif(HAVE_LIB_JPEG AND HAVE_LIB_JPEG_80 AND DUNE_SYS_HAS_JPEGLIB_H)
+endif(HAVE_LIB_JPEG AND DUNE_SYS_HAS_JPEGLIB_H)

cmake/Libraries/OpenCV.cmake

@@ -28,14 +28,15 @@
 ############################################################################
 
 if(OPENCV)
-  CHECK_LIBRARY_EXISTS(opencv_core cvGetImage "" HAVE_LIB_OPENCV)
+  #find_package(OpenCV4 REQUIRED)
+  find_library(OPENCV_LIBRARY NAMES opencv_core PATHS /usr/lib)
+  if(${OPENCV_LIBRARY} MATCHES "libopencv_core.so")
+    # OPENCV Present
+    message(STATUS "Found Opencv library: ${OPENCV_LIBRARY}")
+    set(DUNE_SYS_HAS_OPENCV 1 CACHE INTERNAL "Opencv library")
+    set(DUNE_USING_OPENCV 1 CACHE INTERNAL "Opencv library")
 
-  if(HAVE_LIB_OPENCV)
-    # OpenCV Present
-    set(DUNE_SYS_HAS_OPENCV 1 CACHE INTERNAL "OpenCV library")
-    set(DUNE_USING_OPENCV 1 CACHE INTERNAL "OpenCV library")
-
-    # FIND_PACKAGE(OpenCV REQUIRED)
+     # FIND_PACKAGE(OpenCV REQUIRED)
     dune_add_lib(opencv_calib3d)
     dune_add_lib(opencv_core)
     dune_add_lib(opencv_features2d)
@@ -54,19 +55,13 @@ if(OPENCV)
     #dune_add_lib(opencv_contrib)
     #dune_add_lib(opencv_gpu)
     #dune_add_lib(opencv_legacy)
+    dune_add_lib(opencv_imgcodecs)
 
-    # Check Header
-    dune_test_header(opencv2/opencv.hpp)
-
-    dune_test_header(opencv2/imgcodecs.hpp)
-    if(DUNE_SYS_HAS_OPENCV2_IMGCODECS_HPP)
-      dune_add_lib(opencv_imgcodecs)
-    endif(DUNE_SYS_HAS_OPENCV2_IMGCODECS_HPP)
-
-  else(HAVE_LIB_OPENCV)
+  else()
     # OpenCV not found on the system.
     message(SEND_ERROR "OpenCV was not found on the system.")
     set(DUNE_SYS_HAS_OPENCV 0 CACHE INTERNAL "OpenCV library")
     set(DUNE_USING_OPENCV 0 CACHE INTERNAL "OpenCV library")
-  endif(HAVE_LIB_OPENCV)
+  endif()
+
 endif(OPENCV)

cmake/Libraries/PointGrey.cmake

@@ -26,26 +26,21 @@
 ############################################################################
 
 if(POINTGREY)
-  CHECK_LIBRARY_EXISTS(flycapture-c GetInternal "" HAVE_LIB_FLYCAPTURE)
-
-  if(HAVE_LIB_FLYCAPTURE)
-    # FlyCapture Present
+  find_library(POINTGREY_LIBRARY NAMES flycapture PATHS /usr/lib)
+  if(${POINTGREY_LIBRARY} MATCHES "libflycapture.so")
+    message(STATUS "Found Pointgrey library: ${POINTGREY_LIBRARY}")
+    # Flycapture Present
     set(DUNE_SYS_HAS_FLYCAPTURE 1 CACHE INTERNAL "FlyCapture library")
     set(DUNE_USING_FLYCAPTURE 1 CACHE INTERNAL "FlyCapture library")
 
-
     dune_add_lib(flycapture)
     dune_add_lib(flycapture-c)
 
-    # Check Header
-    dune_test_header(flycapture/FlyCapture2.h)
-    dune_test_header(flycapture/FlyCapture2_C.h)
-
-  else(HAVE_LIB_FLYCAPTURE)
-    # FlyCapture not found on the system.
+  else()
+     # FlyCapture not found on the system.
     message(SEND_ERROR "FlyCapture was not found on the system.")
     set(DUNE_SYS_HAS_FLYCAPTURE 0 CACHE INTERNAL "FlyCapture library")
     set(DUNE_USING_FLYCAPTURE 0 CACHE INTERNAL "FlyCapture library")
-  endif(HAVE_LIB_FLYCAPTURE)
+  endif()
 
 endif(POINTGREY)

src/Vision/PointGrey/SaveImage.hpp

@@ -1,9 +1,29 @@
-/*
- * SavImage.hpp
- *
- *  Created on: May 8, 2017
- *      Author: Pedro Gonçalves
- */
+//***************************************************************************
+// Copyright 2007-2022 Universidade do Porto - Faculdade de Engenharia      *
+// Laboratório de Sistemas e Tecnologia Subaquática (LSTS)                  *
+//***************************************************************************
+// This file is part of DUNE: Unified Navigation Environment.               *
+//                                                                          *
+// Commercial Licence Usage                                                 *
+// Licencees holding valid commercial DUNE licences may use this file in    *
+// accordance with the commercial licence agreement provided with the       *
+// Software or, alternatively, in accordance with the terms contained in a  *
+// written agreement between you and Universidade do Porto. For licensing   *
+// terms, conditions, and further information contact [email protected].        *
+//                                                                          *
+// European Union Public Licence - EUPL v.1.1 Usage                         *
+// Alternatively, this file may be used under the terms of the EUPL,        *
+// Version 1.1 only (the "Licence"), appearing in the file LICENCE.md       *
+// included in the packaging of this file. You may not use this work        *
+// except in compliance with the Licence. Unless required by applicable     *
+// law or agreed to in writing, software distributed under the Licence is   *
+// distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF     *
+// ANY KIND, either express or implied. See the Licence for the specific    *
+// language governing permissions and limitations at                        *
+// http://ec.europa.eu/idabc/eupl.html.                                     *
+//***************************************************************************
+// Author: Pedro Gonçalves                                                  *
+//***************************************************************************
 
 #ifndef VISION_POINTGREY_SAVEIMAGE_HPP_INCLUDED_
 #define VISION_POINTGREY_SAVEIMAGE_HPP_INCLUDED_
@@ -78,7 +98,7 @@ namespace Vision
         {
           m_name_thread = name;
           m_new_image = false;
-          m_jpeg_params.push_back(CV_IMWRITE_JPEG_QUALITY);
+          m_jpeg_params.push_back(cv::IMWRITE_JPEG_QUALITY);
           m_jpeg_params.push_back(65);
           m_row_bytes = 0;
           cv::setNumThreads(1);

src/Vision/PointGrey/Task.cmake

@@ -1,21 +1,20 @@
-if(POINTGREY)
-  if(DUNE_SYS_HAS___ARM_ARCH_7A__)
-    if(NOT DUNE_SYS_HAS_OPENCV)
-      set(TASK_ENABLED FALSE)
-    endif(NOT DUNE_SYS_HAS_OPENCV)
+if(DUNE_SYS_HAS___ARM_ARCH_7A__ OR DUNE_SYS_HAS___AARCH64__)
 
-    if(NOT DUNE_SYS_HAS_EXIV2)
-      set(TASK_ENABLED FALSE)
-    endif(NOT DUNE_SYS_HAS_EXIV2)
+  if(NOT DUNE_SYS_HAS_OPENCV)
+    set(TASK_ENABLED FALSE)
+  endif(NOT DUNE_SYS_HAS_OPENCV)
+
+  if(NOT DUNE_SYS_HAS_EXIV2)
+    set(TASK_ENABLED FALSE)
+  endif(NOT DUNE_SYS_HAS_EXIV2)
 
-    if(NOT DUNE_SYS_HAS_FLYCAPTURE)
-      set(TASK_ENABLED FALSE)
-    endif(NOT DUNE_SYS_HAS_FLYCAPTURE)
-  elseif(DUNE_OS_WINDOWS)
+  if(NOT DUNE_SYS_HAS_FLYCAPTURE)
     set(TASK_ENABLED FALSE)
-  endif(DUNE_SYS_HAS___ARM_ARCH_7A__)
-else()
+  endif(NOT DUNE_SYS_HAS_FLYCAPTURE)
+
+else(DUNE_SYS_HAS___ARM_ARCH_7A__ OR DUNE_SYS_HAS___AARCH64__)
   set(TASK_ENABLED FALSE)
-endif(POINTGREY)
 
-set(TASK_LICENSE "Proprietary")
+endif(DUNE_SYS_HAS___ARM_ARCH_7A__ OR DUNE_SYS_HAS___AARCH64__)
+
+set(TASK_LICENSE "Proprietary")