conf/distro/marfb.conf

 DISTRO = "marfb"
 DISTRO_NAME = "MAR Autonomous Rover Fastboot Linux System (MARS by University of Southampton)"
-DISTRO_VERSION = "0.0.9a"
+DISTRO_VERSION = "0.0.10"
 
 MAINTAINER = "Qiyang Sun <qs2g22@soton.ac.uk>"
 

recipes-core/images/mar-image-minimal.bb

@@ -14,6 +14,19 @@ IMAGE_INSTALL = "packagegroup-core-boot \
     libv4l \
     media-ctl \
     opencv \
+    opencv-dev \
+    libopencv-aruco \
+    libopencv-aruco-dev \
+    libopencv-core \
+    libopencv-core-dev \
+    libopencv-imgcodecs \
+    libopencv-imgcodecs-dev \
+    libopencv-imgproc \
+    libopencv-imgproc-dev \
+    libopencv-video \
+    libopencv-video-dev \
+    libopencv-videoio \
+    libopencv-videoio-dev \
     ffmpeg \
     libcamera \
     libcamera-dev \
@@ -24,6 +37,7 @@ IMAGE_INSTALL = "packagegroup-core-boot \
     gstreamer1.0-plugins-bad \
     gstreamer1.0-plugins-ugly \
     gstreamer1.0-plugins-good-rpicamsrc \
+    visionhellocc \
     ${CORE_IMAGE_EXTRA_INSTALL}"
 
 COMPATIBLE_MACHINE = "^rpi$"

recipes-vision/visionhellocc/files/.gitignore

+Makefile.in
+/ar-lib
+/mdate-sh
+/py-compile
+/test-driver
+/ylwrap
+.deps/
+.dirstamp
+autom4te.cache
+/autoscan.log
+/autoscan-*.log
+/aclocal.m4
+/compile
+/config.cache
+/config.guess
+/config.h.in
+/config.log
+/config.status
+/config.sub
+/configure
+/configure.scan
+/depcomp
+/install-sh
+/missing
+/stamp-h1
+/ltmain.sh
+/texinfo.tex
+m4/libtool.m4
+m4/ltoptions.m4
+m4/ltsugar.m4
+m4/ltversion.m4
+m4/lt~obsolete.m4
+Makefile
+/Makefile
+/Makefile.in
+/aclocal.m4
+/autom4te.cache/
+/config.*
+/configure
+/depcomp
+/install-sh
+/libtool
+/ltmain.sh
+/m4/
+/missing
+/stamp-h?
+.deps/
+.dirstamp
+.libs/
+*.l[ao]
+*~
+/Makefile
+/Makefile.in
+/aclocal.m4
+/autom4te.cache/
+/config.*
+/configure
+/m4/
+/stamp-h?
+.deps/
+.dirstamp
+*.o
+*~
+

recipes-vision/visionhellocc/files/Makefile.am

+AUTOMAKE_OPTIONS = subdir-objects
+SUBDIRS = src
+EXTRA_DIST = COPYING

recipes-vision/visionhellocc/files/README

+                    =============
+                    VISIONHELLOCC
+                    =============
+
+The hello world program for OpenCV written in C++
+
+This program is part of meta-marfb layer -- The MAR fastboot
+Linux. Licensed under GNU GPL-3.0-or-later.
+
+This program is part of the MAR24 project.
+
+-------------
+GNU AUTOTOOLS
+-------------
+
+To use Autotools to build, first source the SDK or eSDK
+environment. Then, run the following commands to cross-compile.
+
+$ autoreconf
+$ ./configure --host=arm-oe-linux-gnueabi
+$ make
+
+To install to ./tmp on host, run:
+
+$ make install DESTDIR=./tmp
+
+To prepare tarball for bitbake, run:
+
+$ make dist
+
+Refer to GNU Autotools Manual for Autotools usage.

recipes-vision/visionhellocc/files/configure.ac

+AC_INIT([visionhellocc],[1.0],[qs2g22@soton.ac.uk])
+AM_INIT_AUTOMAKE([-Wall -Werror foreign])
+AC_PROG_CXX
+AC_PROG_CC
+PKG_CHECK_MODULES([OPENCV], [opencv4])
+AC_CONFIG_HEADERS([config.h])
+AC_CONFIG_FILES([Makefile src/Makefile])
+AC_OUTPUT
+

recipes-vision/visionhellocc/files/src/Makefile.am

+bin_PROGRAMS = visionhellocc
+
+visionhellocc_SOURCES = main.cc
+visionhellocc_CPPFLAGS = $(OPENCV_CFLAGS)
+visionhellocc_LDADD = $(OPENCV_LIBS)
+

recipes-vision/visionhellocc/files/src/main.cc

+// SPDX-License-Identifier: GPL-3.0-or-later
+
+#include <opencv2/opencv.hpp>
+#include <iostream>
+
+int
+main(void) {
+	cv::VideoCapture cap("libcamerasrc ! "
+			     "video/x-raw,framerate=50/1,width=640,height=480 !"
+			     "videoscale ! videoconvert ! appsink",
+			     cv::CAP_GSTREAMER); 
+
+	if (!cap.isOpened()) {
+		std::cerr << "Error: Could not open video stream." << std::endl;
+		return -1;
+	}
+
+	int frame_width = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_WIDTH));
+	int frame_height = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_HEIGHT));
+
+	cv::Size size(frame_width, frame_height);
+	std::cout << "Frame size: " << size << std::endl;
+
+	cv::VideoWriter result("file.avi",
+			       cv::VideoWriter::fourcc('M','J','P','G'),
+			       10,
+			       size);
+
+	if (!result.isOpened()) {
+		std::cerr << "Error: Could not open the output video file." << std::endl;
+		return -1;
+	}
+
+	for (int x = 0; x < 50; ++x) {
+		cv::Mat frame;
+		bool ret = cap.read(frame);
+		if (!ret) {
+			std::cerr << "Error: Could not read frame." << std::endl;
+			break;
+		}
+
+		result.write(frame);
+		std::cout << "Captured frame " << x << std::endl;
+	}
+
+	std::cout << "Completed." << std::endl;
+
+	result.release();
+	cap.release();
+
+	return 0;
+
+}
+
+
+// Local Variables:
+// indent-tabs-mode: t
+// tab-width: 8
+// eval: (set-frame-width (selected-frame) 90)
+// eval: (elcord-mode 1)
+// eval: (auto-revert-mode 1)
+// End:

recipes-vision/visionhellocc/visionhellocc.bb

+SUMMARY = "Vision helloworld program with C++ and Autotools"
+LICENSE = "GPL-3.0-or-later"
+LIC_FILES_CHKSUM = "file://COPYING;md5=1c76c4cc354acaac30ed4d5eefea7245" 
+
+DEPENDS = " opencv \
+    ffmpeg \
+    libcamera \
+    gstreamer1.0 \
+    gstreamer1.0-plugins-base \
+    gstreamer1.0-plugins-good \
+    gstreamer1.0-plugins-bad \
+    gstreamer1.0-plugins-ugly \
+"
+
+PV = "1.0"
+
+SRC_URI = "file://visionhellocc-${PV}.tar.gz" 
+S = "${WORKDIR}/${BP}"
+
+FILES:${PN} = "/usr/bin/visionhellocc"
+
+inherit autotools pkgconfig