Build OpenCV for Android with CUDA

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Prerequisites

Prepare

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# Set environment variables
$ vi ~/.bashrc
# Android SDK & NDK
export ANDROID_SDK=$HOME/Android/Sdk
export ANDROID_NDK=$ANDROID_SDK/ndk-bundle
export ANDROID_STANDALONE_TOOLCHAIN=$ANDROID_NDK/toolchains
export PATH=$PATH:$ANDROID_SDK/tools:$ANDROID_SDK/tools/bin:$ANDROID_SDK/platform-tools:$ANDROID_NDK
# Java SDK 1.8 (could ignore, for latest android command-line tool)
export JAVA_HOME=$HOME/Develop/jdk1.8.0_131
export PATH=$JAVA_HOME/bin:$PATH
$ source ~/.bashrc
# Enable OpenCV Java wrappers
$ sudo apt-get install ant
# Downgrade android command-line tool
$ cd $ANDROID_SDK
$ mv tools/ tools-backup/
$ curl -O https://dl.google.com/android/repository/tools_r25.2.3-linux.zip
$ unzip -q tools_r25.2.3-linux.zip

Build

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$ cd opencv-3.2.0/platforms/
$ mkdir -p build_android_arm
$ cd build_android_arm/
$ cmake -DCMAKE_BUILD_TYPE=RELEASE \
-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON \
-DCMAKE_TOOLCHAIN_FILE=../android/android.toolchain.cmake \
\
-DCUDA_TOOLKIT_ROOT_DIR=$HOME/NVPACK/cuda-7.0 \
-DCUDA_ARCH_BIN="5.3" \
-DCUDA_ARCH_PTX="" \
-DCUDA_FAST_MATH=ON \
-DWITH_CUDA=ON \
-DWITH_CUFFT=OFF \
-DWITH_CUBLAS=OFF \
-DWITH_OPENCL=OFF \
\
-DBUILD_SHARED_LIBS=OFF \
-DBUILD_DOCS=OFF \
-DBUILD_EXAMPLES=OFF \
-DBUILD_TESTS=OFF \
-DBUILD_PERF_TESTS=OFF \
../..

Result:

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-- General configuration for OpenCV 3.2.0 =====================================
--   Version control:               unknown
--
--   Platform:
--     Timestamp:                   2017-05-05T05:05:05Z
--     Host:                        Linux 4.4.0-75-generic x86_64
--     Target:                      Linux 1 armv7-a
--     CMake:                       2.8.12.2
--     CMake generator:             Unix Makefiles
--     CMake build tool:            /usr/bin/make
--     Configuration:               RELEASE
--
--   C/C++:
--     Built as dynamic libs?:      NO
--     C++ Compiler:                /home/john/Android/Sdk/ndk-bundle/toolchains/arm-linux-androideabi-4.9/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++  (ver 4.9)
--     C++ flags (Release):         -fexceptions -frtti -fpic -Wno-psabi --sysroot=/home/john/Android/Sdk/ndk-bundle/platforms/android-9/arch-arm -funwind-tables -finline-limit=64 -fsigned-char -no-canonical-prefixes -march=armv7-a -mfloat-abi=softfp -mfpu=vfpv3-d16 -fdata-sections -ffunction-sections -Wa,--noexecstack    -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -fomit-frame-pointer -mfp16-format=ieee -fvisibility=hidden -fvisibility-inlines-hidden -mthumb -fomit-frame-pointer -fno-strict-aliasing -O3 -DNDEBUG  -DNDEBUG
--     C++ flags (Debug):           -fexceptions -frtti -fpic -Wno-psabi --sysroot=/home/john/Android/Sdk/ndk-bundle/platforms/android-9/arch-arm -funwind-tables -finline-limit=64 -fsigned-char -no-canonical-prefixes -march=armv7-a -mfloat-abi=softfp -mfpu=vfpv3-d16 -fdata-sections -ffunction-sections -Wa,--noexecstack    -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -fomit-frame-pointer -mfp16-format=ieee -fvisibility=hidden -fvisibility-inlines-hidden -marm -fno-omit-frame-pointer -fno-strict-aliasing -O0 -g -DDEBUG -D_DEBUG  -O0 -DDEBUG -D_DEBUG
--     C Compiler:                  /home/john/Android/Sdk/ndk-bundle/toolchains/arm-linux-androideabi-4.9/prebuilt/linux-x86_64/bin/arm-linux-androideabi-gcc
--     C flags (Release):           -fexceptions -fpic -Wno-psabi --sysroot=/home/john/Android/Sdk/ndk-bundle/platforms/android-9/arch-arm -funwind-tables -finline-limit=64 -fsigned-char -no-canonical-prefixes -march=armv7-a -mfloat-abi=softfp -mfpu=vfpv3-d16 -fdata-sections -ffunction-sections -Wa,--noexecstack    -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -Wno-comment -fdiagnostics-show-option -fomit-frame-pointer -mfp16-format=ieee -fvisibility=hidden -mthumb -fomit-frame-pointer -fno-strict-aliasing -O3 -DNDEBUG  -DNDEBUG
--     C flags (Debug):             -fexceptions -fpic -Wno-psabi --sysroot=/home/john/Android/Sdk/ndk-bundle/platforms/android-9/arch-arm -funwind-tables -finline-limit=64 -fsigned-char -no-canonical-prefixes -march=armv7-a -mfloat-abi=softfp -mfpu=vfpv3-d16 -fdata-sections -ffunction-sections -Wa,--noexecstack    -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -Wno-comment -fdiagnostics-show-option -fomit-frame-pointer -mfp16-format=ieee -fvisibility=hidden -marm -fno-omit-frame-pointer -fno-strict-aliasing -O0 -g -DDEBUG -D_DEBUG  -O0 -DDEBUG -D_DEBUG
--     Linker flags (Release):      -Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,-allow-shlib-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now
--     Linker flags (Debug):        -Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,-allow-shlib-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now
--     ccache:                      YES
--     Precompiled headers:         NO
--     Extra dependencies:          z dl m log cudart nppc nppi npps -L/home/john/NVPACK/cuda-7.0/targets/armv7-linux-androideabi/lib -L/home/john/NVPACK/cuda-7.0/targets/armv7-linux-androideabi/lib/stubs
--     3rdparty dependencies:       libjpeg libwebp libpng libtiff libjasper IlmImf tegra_hal
--
--   OpenCV modules:
--     To be built:                 cudev core cudaarithm flann imgproc ml video cudabgsegm cudafilters cudaimgproc cudawarping imgcodecs photo shape videoio cudacodec highgui objdetect features2d calib3d cudafeatures2d cudalegacy cudaobjdetect cudaoptflow cudastereo java stitching superres videostab
--     Disabled:                    world
--     Disabled by dependency:      -
--     Unavailable:                 python2 ts viz
--
--   Android:
--     Android ABI:                 armeabi-v7a
--     STL type:                    gnustl_static
--     Native API level:            android-9
--     SDK target:                  android-21
--     Android NDK:                 /home/john/Android/Sdk/ndk-bundle (toolchain: arm-linux-androideabi-4.9)
--     android tool:                /home/john/Android/Sdk/tools/android (Android SDK Tools, revision 25.2.3.)
--     Google Play manager:         NO
--     Android examples:            YES
--
--   GUI:
--     GTK+:                        NO
--     GThread :                    NO
--     GtkGlExt:                    NO
--     OpenGL support:              NO
--     VTK support:                 NO
--
--   Media I/O:
--     ZLib:                        z (ver 1.2.3)
--     JPEG:                        build (ver 90)
--     WEBP:                        build (ver 0.3.1)
--     PNG:                         build (ver 1.6.24)
--     TIFF:                        build (ver 42 - 4.0.2)
--     JPEG 2000:                   build (ver 1.900.1)
--     OpenEXR:                     build (ver 1.7.1)
--     GDAL:                        NO
--     GDCM:                        NO
--
--   Video I/O:
--
--   Parallel framework:            pthreads
--
--   Other third-party libraries:
--     Use IPP:                     NO
--     Use Eigen:                   YES (ver 3.2.0)
--     Use Cuda:                    YES (ver 7.0)
--     Use OpenCL:                  NO
--     Use OpenVX:                  NO
--     Use custom HAL:              YES (carotene (ver 0.0.1))
--
--   NVIDIA CUDA
--     Use CUFFT:                   NO
--     Use CUBLAS:                  NO
--     USE NVCUVID:                 NO
--     NVIDIA GPU arch:             53
--     NVIDIA PTX archs:
--     Use fast math:               YES
--
--   Python 2:
--     Interpreter:                 /usr/bin/python2.7 (ver 2.7.6)
--
--   Python 3:
--     Interpreter:                 /usr/bin/python3.4 (ver 3.4.3)
--
--   Python (for build):            /usr/bin/python2.7
--
--   Java:
--     ant:                         /usr/bin/ant (ver 1.9.3)
--     Java wrappers:               YES
--     Java tests:                  NO
--
--   Matlab:                        NO
--
--   Tests and samples:
--     Tests:                       NO
--     Performance tests:           NO
--     C/C++ Examples:              NO
--
--   Install path:                  /home/john/Workspace/opencv-3.2.0/platforms/build_android_arm/install
--
--   cvconfig.h is in:              /home/john/Workspace/opencv-3.2.0/platforms/build_android_arm
-- -----------------------------------------------------------------

Make:

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$ make -j8
# Or,
$ make -j$(python -c 'import multiprocessing as mp; print(mp.cpu_count())')

Alternatives (ignored):

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$ cd opencv-3.2.0/platforms/
$ ./scripts/cmake_android_arm.sh
# Tegra X1: https://developer.nvidia.com/content/tegra-x1
-D CUDA_GENERATION=Maxwell

Usage

Open “Android Studio” and,

  • “Import Module” from “build_android_arm” directory.
    • Exclude “jni”, only keep “aidl”, “java”, “res/values/attrs.xml”

Ensure it’s the same file structure as the offical OpenCV4Android.

About the sample project, you could find here.

Issues

Issue when cmake

Failed to get list of installed Android targets.

CMake Warning at cmake/OpenCVDetectAndroidSDK.cmake:205 (message):
  Can not find any SDK target compatible with: 9 11

And,

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$ android list target -c
*************************************************************************
The "android" command is deprecated.
For manual SDK, AVD, and project management, please use Android Studio.
For command-line tools, use tools/bin/sdkmanager and tools/bin/avdmanager
*************************************************************************
Running /home/john/Android/Sdk/tools/bin/avdmanager list target -c
Exception in thread "main" java.lang.UnsupportedClassVersionError: com/android/sdklib/tool/AvdManagerCli : Unsupported major.minor version 52.0
    at java.lang.ClassLoader.defineClass1(Native Method)
    at java.lang.ClassLoader.defineClass(ClassLoader.java:803)
    at java.security.SecureClassLoader.defineClass(SecureClassLoader.java:142)
    at java.net.URLClassLoader.defineClass(URLClassLoader.java:442)
    at java.net.URLClassLoader.access$100(URLClassLoader.java:64)
    at java.net.URLClassLoader$1.run(URLClassLoader.java:354)
    at java.net.URLClassLoader$1.run(URLClassLoader.java:348)
    at java.security.AccessController.doPrivileged(Native Method)
    at java.net.URLClassLoader.findClass(URLClassLoader.java:347)
    at java.lang.ClassLoader.loadClass(ClassLoader.java:425)
    at sun.misc.Launcher$AppClassLoader.loadClass(Launcher.java:308)
    at java.lang.ClassLoader.loadClass(ClassLoader.java:358)
    at sun.launcher.LauncherHelper.checkAndLoadMain(LauncherHelper.java:482)

Solution:

  • Install Java SDK 1.8
    • Fix “UnsupportedClassVersionError …”

  • Amend match of android sdk targets

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    $ cd opencv-3.2.0/
    $ vi cmake/OpenCVDetectAndroidSDK.cmake
    # line 98, change "[^\n]+" to "android-[0-9]+"
    string(REGEX MATCHALL "android-[0-9]+" ANDROID_SDK_TARGETS "${ANDROID_SDK_TARGETS}")
    • Or, cmake with -DANDROID_EXECUTABLE=$ANDROID_SDK/tools/bin/avdmanager
    • WARN： However, make still will fail in “Generating OpenCV Android library project.”

Issue when make

[ 92%] Generating OpenCV Android library project. SDK target: android-21
*************************************************************************
The "android" command is deprecated.
For manual SDK, AVD, and project management, please use Android Studio.
For command-line tools, use tools/bin/sdkmanager and tools/bin/avdmanager
*************************************************************************
Invalid or unsupported command "--silent create lib-project --path /home/john/Workspace/opencv-3.2.0/platforms/build_android_arm --target android-21 --name OpenCV --package org.opencv"

Supported commands are:
android list target
android list avd
android list device
android create avd
android move avd
android delete avd
android list sdk
android update sdk
make[2]: *** [build.xml] Error 2
make[1]: *** [modules/java/CMakeFiles/opencv_java.dir/all] Error 2
make: *** [all] Error 2

Solution:

  • Downgrade android command-line tool 
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    $ cd $ANDROID_SDK
    $ mv tools/ tools-backup/
    $ curl -O https://dl.google.com/android/repository/tools_r25.2.3-linux.zip
    $ unzip -q tools_r25.2.3-linux.zip

Learn more:

References

您可以投食小伊布 ，奖励一下哦~