TX2安装opencv3.4.0

安装步骤

### Remove all old opencv stuffs installed by JetPack (or OpenCV4Tegra)
$ sudo apt-get purge libopencv*
### I prefer using newer version of numpy (installed with pip), so
### I'd remove this python-numpy apt package as well
$ sudo apt-get purge python-numpy
### Remove other unused apt packages
$ sudo apt autoremove
### Upgrade all installed apt packages to the latest versions (optional)
$ sudo apt-get update
$ sudo apt-get dist-upgrade
### Update gcc apt package to the latest version (highly recommended)
$ sudo apt-get install --only-upgrade g++-5 cpp-5 gcc-5
### Install dependencies based on the Jetson Installing OpenCV Guide
$ sudo apt-get install build-essential make cmake cmake-curses-gui \
                       g++ libavformat-dev libavutil-dev \
                       libswscale-dev libv4l-dev libeigen3-dev \
                       libglew-dev libgtk2.0-dev
### Install dependencies for gstreamer stuffs
$ sudo apt-get install libdc1394-22-dev libxine2-dev \
                       libgstreamer1.0-dev \
                       libgstreamer-plugins-base1.0-dev
### Install additional dependencies according to the pyimageresearch
### article
$ sudo apt-get install libjpeg8-dev libjpeg-turbo8-dev libtiff5-dev \
                       libjasper-dev libpng12-dev libavcodec-dev
$ sudo apt-get install libxvidcore-dev libx264-dev libgtk-3-dev \
                       libatlas-base-dev gfortran
$ sudo apt-get install libopenblas-dev liblapack-dev liblapacke-dev
### Install Qt5 dependencies
$ sudo apt-get install qt5-default
### Install dependencies for python3
$ sudo apt-get install python3-dev python3-pip python3-tk
$ sudo pip3 install numpy
$ sudo pip3 install matplotlib
### Modify matplotlibrc (line #41) as 'backend      : TkAgg'
$ sudo vim /usr/local/lib/python3.5/dist-packages/matplotlib/mpl-data/matplotlibrc
### Also install dependencies for python2
### Note that I install numpy with pip, so that I'd be using a newer
### version of numpy than the apt-get package
$ sudo apt-get install python-dev python-pip python-tk
$ sudo pip2 install numpy
$ sudo pip2 install matplotlib
### Modify matplotlibrc (line #41) as 'backend      : TkAgg'
$ sudo vim /usr/local/lib/python2.7/dist-packages/matplotlib/mpl-data/matplotlibrc

Before downloading and building opencv-3.4.0, I’d first do some modifications according to this post, in order to fix OpenGL related compilation problems . More specifically, I’d modify /usr/local/cuda/include/cuda_gl_interop.h and fix the symbolic link of libGL.so.

$ sudo vim /usr/local/cuda/include/cuda_gl_interop.h
$ cd /usr/lib/aarch64-linux-gnu/
$ sudo ln -sf tegra/libGL.so libGL.so

Here’s how the relevant lines (line #62~68) of cuda_gl_interop.h look like after the modification.

//#if defined(__arm__) || defined(__aarch64__)
//#ifndef GL_VERSION
//#error Please include the appropriate gl headers before including cuda_gl_interop.h
//#endif
//#else
 #include <GL/gl.h>
//#endif

Next, download opencv-3.4.0 source code, cmake and compile. Note that opencv_contrib modules (cnn/dnn stuffs) would cause problem on pycaffe, so after some experiments I decided not to include those modules at all.

### Download opencv-3.4.0 source code
$ mkdir -p ~/src
$ cd ~/src
$ wget https://github.com/opencv/opencv/archive/3.4.0.zip \
       -O opencv-3.4.0.zip
$ unzip opencv-3.4.0.zip
### Build opencv (CUDA_ARCH_BIN="6.2" for TX2, or "5.3" for TX1)
$ cd ~/src/opencv-3.4.0
$ mkdir build
$ cd build
$ cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local \
        -D WITH_CUDA=ON -D CUDA_ARCH_BIN="6.2" -D CUDA_ARCH_PTX="" \
        -D WITH_CUBLAS=ON -D ENABLE_FAST_MATH=ON -D CUDA_FAST_MATH=ON \
        -D ENABLE_NEON=ON -D WITH_LIBV4L=ON -D BUILD_TESTS=OFF \
        -D BUILD_PERF_TESTS=OFF -D BUILD_EXAMPLES=OFF \
        -D WITH_QT=ON -D WITH_OPENGL=ON ..
$ make -j4
$ sudo make install

To verify the installation:

$ ls /usr/local/lib/python3.5/dist-packages/cv2.*
/usr/local/lib/python3.5/dist-packages/cv2.cpython-35m-aarch64-linux-gnu.so
$ ls /usr/local/lib/python2.7/dist-packages/cv2.*
/use/local/lib/python2.7/dist-packages/cv2.so
$ python3 -c 'import cv2; print(cv2.__version__)'
3.4.0
$ python2 -c 'import cv2; print(cv2.__version__)'
3.4.0