Jetson Orin环境安装Opencv+Cuda以及vscode环境配置

一:Opencv + Cuda源码的下载、编译

1.卸载jetson上自带的无cuda加速Opencv

运行如下代码即可:

sudo apt purge libopencv*
sudo apt autoremove
sudo apt update

(不建议):不放心的话可以在根目录下搜索opencv关键词,删去多余文件

2.安装Opencv依赖库

运行如下代码:

sudo apt install -y build-essential checkinstall cmake pkg-config yasm git gfortran
sudo apt update
sudo apt install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
sudo apt install -y libjpeg8-dev libjasper-dev libpng12-dev libtiff5-dev libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine2-dev libv4l-dev
sudo apt install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgtk2.0-dev libtbb-dev libatlas-base-dev libfaac-dev libmp3lame-dev libtheora-dev libvorbis-dev libxvidcore-dev libopencore-amrnb-dev libopencore-amrwb-dev x264 v4l-utils
sudo apt install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

坑一:
笔者建议先更换一下Jetson自带的镜像源,否则过程中可能会出现各种丢失问题,更换步骤如下:

修改/etc/apt/sources.list,改为下面的源

deb [arch=arm64] https://mirrors.ustc.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
# deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ focal main main restricted universe multiverse
deb [arch=arm64] https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
# deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
deb [arch=arm64] https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
# deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
deb [arch=arm64] https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse
# deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse

最后sudo apt-get update即可。

坑二:
运行倒数第三条命令时,若遇到“ 无法定位libjasper-dev软件包 “报错,执行如下命令即可安装:

sudo add-apt-repository "deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main multiverse restricted universe"
sudo apt update
sudo apt install libjasper1 libjasper-dev

或者:

sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev

坑三:
运行倒数第三条命令时,若遇到“ libpng12-dev没有可安装候选 “报错,是因为ubuntu14以上已经废弃,代替为libpng-dev,安装命令如下:

sudo apt install libpng-dev

3.下载 OpenCV 和 opencv_contrib 源码

分别前往 opencvOpencv_contrib 的 github 仓库下载 Latest release 源码 ( 👈 点击超链接跳转)

点击Source code(zip)下载Opencv源码
在这里插入图片描述
点击zip下载opencv_contrib源码

在这里插入图片描述

注意: OpenCV 和 opencv_contrib 的版本要对应正确

4.编译安装 OpenCV、opencv_contrib

  • 解压opencv-4.7.0.zip 和 opencv_contrib-4.7.0.zip 得到两个文件夹,然后将opencv_contrib-4.7.0文件夹放在opencv-4.7.0文件中!
  • 执行如下命令
cd opencv-4.7.0
mkdir build
cd build
  • 执行cmake
cmake \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_INSTALL_PREFIX=/usr/local \
-DOPENCV_ENABLE_NONFREE=1 \
-DBUILD_opencv_python2=1 \
-DBUILD_opencv_python3=1 \
-DWITH_FFMPEG=1 \
-DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda \
-DCUDA_ARCH_BIN=8.7 \
-DCUDA_ARCH_PTX=8.7 \
-DWITH_CUDA=1 \
-DENABLE_FAST_MATH=1 \
-DCUDA_FAST_MATH=1 \
-DWITH_CUBLAS=1 \
-DOPENCV_GENERATE_PKGCONFIG=1 \
-DOPENCV_EXTRA_MODULES_PATH
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