initial commit

.gitignore

@@ -0,0 +1,5 @@
+sysroot/
+tools/
+librealsense/
+sysroot-relativelinks.py
+toolchain.cmake

build.sh

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+#!/bin/bash
+TOOLCHAIN_URL="https://developer.arm.com/-/media/Files/downloads/gnu-a/10.2-2020.11/binrel/gcc-arm-10.2-2020.11-x86_64-aarch64-none-linux-gnu.tar.xz?revision=972019b5-912f-4ae6-864a-f61f570e2e7e&la=en&hash=B8618949E6095C87E4C9FFA1648CAA67D4997D88"
+LIBREALSENSE_GIT="https://github.com/IntelRealSense/librealsense.git"
+SYSROOT_TOOL_URL="https://raw.githubusercontent.com/riscv/riscv-poky/master/scripts/sysroot-relativelinks.py"
+CURDIR=$(pwd)
+PI_USER_HOST="naresh@192.168.0.110"
+
+# Download the toolchain
+mkdir -p ./tools
+cd ./tools
+if [ ! -f ./toolchain.tar.xz ]
+then
+    wget -O toolchain.tar.xz $TOOLCHAIN_URL
+    tar xf ./toolchain.tar.xz
+fi
+
+TOOLCHAIN_DIR=$(find . -maxdepth 1 -type d -name "gcc*")
+if [ $(echo $TOOLCHAIN_DIR | wc -l) != 1 ] && [ -d $TOOLCHAIN_DIR ]
+then
+    echo "An error has occured."
+    exit
+fi
+TOOLCHAIN_DIR=$(readlink -f $TOOLCHAIN_DIR)
+
+# Retrieve libraries from live PI
+cd $CURDIR
+rsync -avz --rsync-path="sudo rsync" $PI_USER_HOST:/lib sysroot/
+rsync -avz --rsync-path="sudo rsync" $PI_USER_HOST:/usr/include sysroot/usr/
+rsync -avz --rsync-path="sudo rsync" $PI_USER_HOST:/usr/lib sysroot/usr/
+#rsync -avz --rsync-path="sudo rsync" $PI_USER_HOST:/opt/vc sysroot/opt/
+
+SYSROOT=$(readlink -f ./sysroot)
+
+if [ ! -f ./sysroot-relativelinks.py ]
+then
+    wget $SYSROOT_TOOL_URL
+    chmod +x ./sysroot-relativelinks.py 
+fi
+./sysroot-relativelinks.py ./sysroot
+
+# Press toolchain template
+sed "s/TEMPLATESYSROOT/$(echo $SYSROOT | sed 's_/_\\/_g')/" ./toolchain.cmake.template > ./toolchain.cmake
+sed -i "s/TEMPLATETOOLCHAIN/$(echo $TOOLCHAIN_DIR | sed 's_/_\\/_g')/" ./toolchain.cmake
+
+# Clone librealsense
+cd $CURDIR
+if [ ! -d ./librealsense ]
+then
+    git clone $LIBREALSENSE_GIT ./librealsense
+fi
+cd ./librealsense
+rm -rf ./build
+mkdir -p ./build
+cd ./build
+cmake ../ -DBUILD_EXAMPLES=false \
+    -DBUILD_GRAPHICAL_EXAMPLES=false \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DBUILD_PYTHON_BINDINGS:bool=true \
+    -DPython_INCLUDE_DIR="${SYSROOT}/usr/include/python3.8"  \
+    -DPython_LIBRARY="${SYSROOT}/usr/lib/aarch64-linux-gnu/libpython3.8.so" \
+    -DLIBUSB_LIB="${SYSROOT}/usr/lib/aarch64-linux-gnu/libusb-1.0.so.0.2.0" \
+    -DCMAKE_TOOLCHAIN_FILE=${CURDIR}/toolchain.cmake
+make -j14
+tar cvzf $CURDIR/librealsensecompiled.tar.gz $(find . -name "*.so*")

toolchain.cmake.template

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+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR arm)
+
+set(CMAKE_SYSROOT TEMPLATESYSROOT)
+
+set(tools TEMPLATETOOLCHAIN)
+set(CMAKE_C_COMPILER ${tools}/bin/aarch64-none-linux-gnu-gcc)
+set(CMAKE_CXX_COMPILER ${tools}/bin/aarch64-none-linux-gnu-g++)
+
+include_directories(SYSTEM TEMPLATESYSROOT/usr/include/aarch64-linux-gnu)
+
+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)
+
+set(CMAKE_THREAD_LIBS_INIT "-lpthread")
+