standalone

.gitignore

@@ -2,4 +2,5 @@ sysroot/
 tools/
 librealsense/
 sysroot-relativelinks.py
-toolchain.cmake
+toolchain.cmake
+output

build.sh

@@ -29,6 +29,7 @@ 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 ]
@@ -59,6 +60,21 @@ cmake ../ -DBUILD_EXAMPLES=false \
     -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
+    -DCMAKE_TOOLCHAIN_FILE=${CURDIR}/toolchain.cmake 
 make -j14
-tar cvzf $CURDIR/librealsensecompiled.tar.gz $(find . -name "*.so*")
+
+# Collect built binaries and tar up
+mkdir -p $CURDIR/output
+make DESTDIR=$CURDIR/output install
+
+cd $CURDIR/output
+tar cvzf ./librealsense2_pyrealsense2_aarch64.tar.gz ./*
+
+cd $CURDIR
+read -p "Remove generated build files (incl. toolchain, librealsense source and Raspi libraries)? " -n 1 -r
+echo    # (optional) move to a new line
+if [[ $REPLY =~ ^[Yy]$ ]]
+then
+    rm -rf ./sysroot ./tools ./librealsense ./output
+fi
+

toolchain.cmake.template

@@ -1,13 +1,15 @@
 set(CMAKE_SYSTEM_NAME Linux)
-set(CMAKE_SYSTEM_PROCESSOR arm)
+set(CMAKE_SYSTEM_PROCESSOR aarch64)
+set(CMAKE_CROSSCOMPILING TRUE)
 
-set(CMAKE_SYSROOT TEMPLATESYSROOT)
+set(CMAKE_FIND_ROOT_PATH 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++)
+set(CMAKE_LIBRARY_ARCHITECTURE aarch64-linux-gnu)
 
-include_directories(SYSTEM TEMPLATESYSROOT/usr/include/aarch64-linux-gnu)
+include_directories(SYSTEM TEMPLATESYSROOT/usr/include)
 
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
@@ -15,4 +17,3 @@ set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
 set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
 
 set(CMAKE_THREAD_LIBS_INIT "-lpthread")
-