diff --git a/cmake/toolchains/arm-frc-gnueabi.toolchain.cmake b/cmake/toolchains/arm-frc-gnueabi.toolchain.cmake
new file mode 100644
index 0000000..8e6536a
--- /dev/null
+++ b/cmake/toolchains/arm-frc-gnueabi.toolchain.cmake
@@ -0,0 +1,4 @@
+set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
+set(GNU_MACHINE "arm-frc2020-linux-gnueabi" CACHE STRING "GNU compiler triple")
+set(SOFTFP yes)
+include("${CMAKE_CURRENT_LIST_DIR}/arm.toolchain.cmake")
diff --git a/cmake/toolchains/arm-pi-gnueabihf.toolchain.cmake b/cmake/toolchains/arm-pi-gnueabihf.toolchain.cmake
new file mode 100644
index 0000000..abb8027
--- /dev/null
+++ b/cmake/toolchains/arm-pi-gnueabihf.toolchain.cmake
@@ -0,0 +1,98 @@
+set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
+set(GNU_MACHINE "arm-raspbian10-linux-gnueabi" CACHE STRING "GNU compiler triple")
+
+if(COMMAND toolchain_save_config)
+  return() # prevent recursive call
+endif()
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_VERSION 1)
+if(NOT DEFINED CMAKE_SYSTEM_PROCESSOR)
+  set(CMAKE_SYSTEM_PROCESSOR arm)
+else()
+  #message("CMAKE_SYSTEM_PROCESSOR=${CMAKE_SYSTEM_PROCESSOR}")
+endif()
+
+include("${CMAKE_CURRENT_LIST_DIR}/opencv/platforms/linux/gnu.toolchain.cmake")
+
+if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm AND NOT ARM_IGNORE_FP)
+  set(FLOAT_ABI_SUFFIX "")
+  if(NOT SOFTFP)
+    set(FLOAT_ABI_SUFFIX "hf")
+  endif()
+endif()
+
+if(NOT "x${GCC_COMPILER_VERSION}" STREQUAL "x")
+  set(__GCC_VER_SUFFIX "-${GCC_COMPILER_VERSION}")
+endif()
+
+if(NOT DEFINED CMAKE_C_COMPILER)
+  find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
+else()
+  #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_CXX_COMPILER)
+  find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
+else()
+  #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_LINKER)
+  find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
+else()
+  #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
+endif()
+if(NOT DEFINED CMAKE_AR)
+  find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
+else()
+  #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
+endif()
+
+if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
+  set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
+endif()
+
+if(NOT DEFINED CMAKE_CXX_FLAGS)
+  set(CMAKE_CXX_FLAGS           "" CACHE INTERNAL "")
+  set(CMAKE_C_FLAGS             "" CACHE INTERNAL "")
+  set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
+  set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
+  set(CMAKE_EXE_LINKER_FLAGS    "" CACHE INTERNAL "")
+
+  set(CMAKE_CXX_FLAGS           "${CMAKE_CXX_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
+  set(CMAKE_C_FLAGS             "${CMAKE_C_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
+  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
+    set(CMAKE_EXE_LINKER_FLAGS    "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,nocopyreloc")
+  endif()
+  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
+    set(ARM_LINKER_FLAGS "-Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+  elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL aarch64)
+    set(ARM_LINKER_FLAGS "-Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+  endif()
+  set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}")
+  set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}")
+  set(CMAKE_EXE_LINKER_FLAGS    "${ARM_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}")
+else()
+  #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
+endif()
+
+if(USE_NEON)
+  message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
+  set(ENABLE_NEON TRUE)
+elseif(USE_VFPV3)
+  message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
+  set(ENABLE_VFPV3 TRUE)
+endif()
+
+set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
+
+if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
+  set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
+endif()
+
+set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
+    ARM_LINUX_SYSROOT
+    ENABLE_NEON
+    ENABLE_VFPV3
+    CUDA_TOOLKIT_ROOT_DIR
+)
+toolchain_save_config()
diff --git a/cmake/toolchains/arm.toolchain.cmake b/cmake/toolchains/arm.toolchain.cmake
new file mode 100644
index 0000000..184997f
--- /dev/null
+++ b/cmake/toolchains/arm.toolchain.cmake
@@ -0,0 +1,97 @@
+if(COMMAND toolchain_save_config)
+  return() # prevent recursive call
+endif()
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_VERSION 1)
+if(NOT DEFINED CMAKE_SYSTEM_PROCESSOR)
+  set(CMAKE_SYSTEM_PROCESSOR arm)
+else()
+  #message("CMAKE_SYSTEM_PROCESSOR=${CMAKE_SYSTEM_PROCESSOR}")
+endif()
+
+include("${CMAKE_CURRENT_LIST_DIR}/gnu.toolchain.cmake")
+
+if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm AND NOT ARM_IGNORE_FP)
+  set(FLOAT_ABI_SUFFIX "")
+  if(NOT SOFTFP)
+    set(FLOAT_ABI_SUFFIX "hf")
+  endif()
+endif()
+
+if(NOT "x${GCC_COMPILER_VERSION}" STREQUAL "x")
+  set(__GCC_VER_SUFFIX "-${GCC_COMPILER_VERSION}")
+endif()
+
+if(NOT DEFINED CMAKE_C_COMPILER)
+  find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
+else()
+  #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_CXX_COMPILER)
+  find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
+else()
+  #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_LINKER)
+  find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
+else()
+  #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
+endif()
+if(NOT DEFINED CMAKE_AR)
+  find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
+else()
+  #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
+endif()
+
+if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
+  set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
+endif()
+
+if(NOT DEFINED CMAKE_CXX_FLAGS)
+  set(CMAKE_CXX_FLAGS           "" CACHE INTERNAL "")
+  set(CMAKE_C_FLAGS             "" CACHE INTERNAL "")
+  set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
+  set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
+  set(CMAKE_EXE_LINKER_FLAGS    "" CACHE INTERNAL "")
+
+  set(CMAKE_CXX_FLAGS           "${CMAKE_CXX_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
+  set(CMAKE_C_FLAGS             "${CMAKE_C_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
+  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
+    set(CMAKE_CXX_FLAGS           "-mthumb ${CMAKE_CXX_FLAGS}")
+    set(CMAKE_C_FLAGS             "-mthumb ${CMAKE_C_FLAGS}")
+    set(CMAKE_EXE_LINKER_FLAGS    "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,nocopyreloc")
+  endif()
+  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
+    set(ARM_LINKER_FLAGS "-Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+  elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL aarch64)
+    set(ARM_LINKER_FLAGS "-Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+  endif()
+  set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}")
+  set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}")
+  set(CMAKE_EXE_LINKER_FLAGS    "${ARM_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}")
+else()
+  #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
+endif()
+
+if(USE_NEON)
+  message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
+  set(ENABLE_NEON TRUE)
+elseif(USE_VFPV3)
+  message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
+  set(ENABLE_VFPV3 TRUE)
+endif()
+
+set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
+
+if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
+  set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
+endif()
+
+set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
+    ARM_LINUX_SYSROOT
+    ENABLE_NEON
+    ENABLE_VFPV3
+    CUDA_TOOLKIT_ROOT_DIR
+)
+toolchain_save_config()
diff --git a/cmake/toolchains/gnu.toolchain.cmake b/cmake/toolchains/gnu.toolchain.cmake
new file mode 100644
index 0000000..cba08e7
--- /dev/null
+++ b/cmake/toolchains/gnu.toolchain.cmake
@@ -0,0 +1,134 @@
+cmake_minimum_required(VERSION 2.8)
+
+# load settings in case of "try compile"
+set(TOOLCHAIN_CONFIG_FILE "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/toolchain.config.cmake")
+get_property(__IN_TRY_COMPILE GLOBAL PROPERTY IN_TRY_COMPILE)
+if(__IN_TRY_COMPILE)
+  include("${CMAKE_CURRENT_SOURCE_DIR}/../toolchain.config.cmake" OPTIONAL) # CMAKE_BINARY_DIR is different
+  macro(toolchain_save_config)
+    # nothing
+  endmacro()
+else()
+  macro(toolchain_save_config)
+    set(__config "#message(\"Load TOOLCHAIN config...\")\n")
+    get_cmake_property(__variableNames VARIABLES)
+    set(__vars_list ${ARGN})
+    list(APPEND __vars_list
+        ${TOOLCHAIN_CONFIG_VARS}
+        CMAKE_SYSTEM_NAME
+        CMAKE_SYSTEM_VERSION
+        CMAKE_SYSTEM_PROCESSOR
+        CMAKE_C_COMPILER
+        CMAKE_CXX_COMPILER
+        CMAKE_C_FLAGS
+        CMAKE_CXX_FLAGS
+        CMAKE_SHARED_LINKER_FLAGS
+        CMAKE_MODULE_LINKER_FLAGS
+        CMAKE_EXE_LINKER_FLAGS
+        CMAKE_SKIP_RPATH
+        CMAKE_FIND_ROOT_PATH
+        GCC_COMPILER_VERSION
+    )
+    foreach(__var ${__variableNames})
+      foreach(_v ${__vars_list})
+        if("x${__var}" STREQUAL "x${_v}")
+          if(${__var} MATCHES " ")
+            set(__config "${__config}set(${__var} \"${${__var}}\")\n")
+          else()
+            set(__config "${__config}set(${__var} ${${__var}})\n")
+          endif()
+        endif()
+      endforeach()
+    endforeach()
+    if(EXISTS "${TOOLCHAIN_CONFIG_FILE}")
+      file(READ "${TOOLCHAIN_CONFIG_FILE}" __config_old)
+    endif()
+    if("${__config_old}" STREQUAL "${__config}")
+      # nothing
+    else()
+      #message("Update TOOLCHAIN config: ${__config}")
+      file(WRITE "${TOOLCHAIN_CONFIG_FILE}" "${__config}")
+    endif()
+    unset(__config)
+    unset(__config_old)
+    unset(__vars_list)
+    unset(__variableNames)
+  endmacro()
+endif() # IN_TRY_COMPILE
+
+if(NOT CMAKE_FIND_ROOT_PATH_MODE_LIBRARY)
+  set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+endif()
+
+if(NOT CMAKE_FIND_ROOT_PATH_MODE_INCLUDE)
+  set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+endif()
+
+if(NOT CMAKE_FIND_ROOT_PATH_MODE_PACKAGE)
+  set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
+endif()
+
+if(NOT CMAKE_FIND_ROOT_PATH_MODE_PROGRAM)
+  set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+endif()
+
+macro(__cmake_find_root_save_and_reset)
+  foreach(v
+      CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
+      CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
+      CMAKE_FIND_ROOT_PATH_MODE_PACKAGE
+      CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
+  )
+    set(__save_${v} ${${v}})
+    set(${v} NEVER)
+  endforeach()
+endmacro()
+
+macro(__cmake_find_root_restore)
+  foreach(v
+      CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
+      CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
+      CMAKE_FIND_ROOT_PATH_MODE_PACKAGE
+      CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
+  )
+    set(${v} ${__save_${v}})
+    unset(__save_${v})
+  endforeach()
+endmacro()
+
+
+# macro to find programs on the host OS
+macro(find_host_program)
+ __cmake_find_root_save_and_reset()
+ if(CMAKE_HOST_WIN32)
+  SET(WIN32 1)
+  SET(UNIX)
+ elseif(CMAKE_HOST_APPLE)
+  SET(APPLE 1)
+  SET(UNIX)
+ endif()
+ find_program(${ARGN})
+ SET(WIN32)
+ SET(APPLE)
+ SET(UNIX 1)
+ __cmake_find_root_restore()
+endmacro()
+
+# macro to find packages on the host OS
+macro(find_host_package)
+ __cmake_find_root_save_and_reset()
+ if(CMAKE_HOST_WIN32)
+  SET(WIN32 1)
+  SET(UNIX)
+ elseif(CMAKE_HOST_APPLE)
+  SET(APPLE 1)
+  SET(UNIX)
+ endif()
+ find_package(${ARGN})
+ SET(WIN32)
+ SET(APPLE)
+ SET(UNIX 1)
+ __cmake_find_root_restore()
+endmacro()
+
+set(CMAKE_SKIP_RPATH TRUE CACHE BOOL "If set, runtime paths are not added when using shared libraries.")