大疆妙算Manifold刷机换源与cuda、opencv以及qt的配置

有关资料下载链接：https://pan.baidu.com/s/1CLoxTSTGLsjV2pibKoHEiQ 密码：lrmu

一、刷机

准备工作：

1、一台运行Linux的计算机/虚拟机（版本为Ubuntu 14.04）。

2、剩余硬盘大于16G。

解压安装包

cd 到manifold_image_v1.0.tar.gz目录后解压

sudo tar -xvpzf ~/Downloads/manifold_image_v1.0.tar.gz

妙算进入恢复模式：

我这里使用的是方法二，注意按步骤进行。

在计算机的操作系统上输入lsusb命令，若出现ID 0955:7740 NVidia Corp. 字样则妙算进入恢复模式成功。

恢复出厂设置（不必制作镜像）

cd ~/Linux_for_Tegra    
sudo ./flash.sh jetson-tk1 mmcblk0p1

耐心等待，恢复成功后会显示 Flashed Successfully，否则重新烧录。

更新一下

sudo apt-get update
sudo apt-get upgrade

切换为中文参考：https://jingyan.baidu.com/article/7f41ececea9b59593d095c85.html

注：校园网可能会下载不成功。

二、换源

（1）在“终端”中输入：sudo gedit /etc/apt/sources.list

    因为使用了sudo，系统会要求输入密码，妙算或Jetson的初始密码是ubuntu，输入密码的时候linux系统不会显示你输入了什么，仿佛什么都没输入一样。

    如果保守也可以先 sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup来备份原来的更新源；不想用gedit简单地编辑文本的话，也可用sudo vi /etc/apt/sources.list通过VIM编辑文本。（此处需自学Linux中vim的使用，之后的修改环境变量处也要用到；简单说就是光标移到需要修改的地方，按下o或者a进行修改，修改后按esc，再输入：wq完成保存退出返回到命令窗口）

（2）把打开的窗口中所有的内容删去，并替换成：

deb http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty main multiverse restricted universe  
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-backports main multiverse restricted universe  
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-proposed main multiverse restricted universe  
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-security main multiverse restricted universe  
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-updates main multiverse restricted universe  
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty main multiverse restricted universe  
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-backports main multiverse restricted universe  
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-proposed main multiverse restricted universe  
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-security main multiverse restricted universe  
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ trusty-updates main multiverse restricted universe

保存并关闭窗口，回到命令窗口。

三、安装CUDA

1、cd到cuda-repo-l4t-r21.2-6-5-prod_6.5-34_armhf.deb的目录

2、执行以下命令安装 “cuda-repo-l4t-r21.2-6-5-prod_6.5-34_armhf.deb”至操作系统。

sudo dpkg -i cuda-repo-l4t-r21.2-6-5-prod_6.5-34_armhf.deb  
sudo apt-get update  
sudo apt-get install cuda-toolkit-6-5 

四、安装OpenCv

1、安装 OpenCV4tegra

sudo dpkg -i libopencv4tegra-repo_l4t-r21_2.4.10.1_armhf.deb  
sudo apt-get update  
sudo apt-get install libopencv4tegra libopencv4tegra-dev

2.安装函数库

sudo add-apt-repository universe  
sudo apt-get update  
# Some general development libraries  
sudo apt-get install build-essential make cmake cmake-curses-gui g++  
# libav video input/output development libraries  
sudo apt-get install libavformat-dev libavutil-dev libswscale-dev  
# Video4Linux camera development libraries  
sudo apt-get install libv4l-dev  
# Eigen3 math development libraries  
sudo apt-get install libeigen3-dev  
# OpenGL development libraries (to allow creating graphical windows)  
sudo apt-get install libglew1.6-dev  
# GTK development libraries (to allow creating graphical windows)  
sudo apt-get install libgtk2.0-dev 

3.安装opencv源码

①解压

unzip opencv-2.4.10.zip  
mv opencv-2.4.10 ~ 

②Make

cd ~/opencv-2.4.10  
mkdir build  
cd build  
cmake -DWITH_CUDA=ON -DCUDA_ARCH_BIN="3.2" -DCUDA_ARCH_PTX="" -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF ..  
sudo make -j4 install  

③配置环境变量

echo "# Use OpenCV and other custom-built libraries." >> ~/.bashrc
echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/" >> ~/.bashrc
source ~/.bashrc

④测试

摄像头图像的拉普拉斯变换

# If you have a USB webcam plugged in to your board, then test one of the live camera programs and linking to every OpenCV module.
g++ laplace.cpp -lopencv_core -lopencv_imgproc -lopencv_highgui -lopencv_calib3d -lopencv_contrib -lopencv_features2d -lopencv_flann -lopencv_gpu -lopencv_legacy -lopencv_ml -lopencv_objdetect -lopencv_photo -lopencv_stitching -lopencv_superres -lopencv_video -lopencv_videostab -o laplace
(Or for OpenCV 3.0: g++ laplace.cpp -lopencv_adas -lopencv_bgsegm -lopencv_bioinspired -lopencv_calib3d -lopencv_ccalib -lopencv_core -lopencv_datasets -lopencv_face -lopencv_features2d -lopencv_flann -lopencv_highgui -lopencv_imgcodecs -lopencv_imgproc -lopencv_latentsvm -lopencv_line_descriptor -lopencv_ml -lopencv_objdetect -lopencv_optflow -lopencv_photo -lopencv_reg -lopencv_rgbd -lopencv_saliency -lopencv_shape -lopencv_stitching -lopencv_superres -lopencv_surface_matching -lopencv_text -lopencv_tracking -lopencv_videoio -lopencv_video -lopencv_videostab -lopencv_xfeatures2d -lopencv_ximgproc -lopencv_xobjdetect -lopencv_xphoto -o laplace)
./laplace

五、QT的安装与配置

1.安装，使用apt-get

sudo apt-get install qt4-dev-tools #开发包 　　
sudo apt-get install qtcreator #IDE　　
sudo apt-get install qt4-doc #开发帮助文档 　　
sudo apt-get install qt4-qtconfig #配置工具 　　
sudo apt-get install qt4-demos #DEMO源码  QT

2.配置

①.打开qt->Tools->Options->Build&Run

②.配置Qt Versions以及Compilers

在termial中输入which qmake以及which gcc把相应的地址添加进去

3.测试

新建一个控制台工程

在main.cpp中加入

#include <QCoreApplication>
#include <cstdio>
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>

using namespace std;
using namespace cv;

int main(int argc, char* argv[])
{
    VideoCapture cap(0); /*open the default camera device*/
    if(!cap.isOpened())  /*check open result*/
        return false;

    cout<<"Original size:"<<cap.get(CV_CAP_PROP_FRAME_WIDTH)<<" "<<cap.get(CV_CAP_PROP_FRAME_HEIGHT)<<endl;
    cap.set(CV_CAP_PROP_FRAME_WIDTH,640);
    cap.set(CV_CAP_PROP_FRAME_HEIGHT,480);
    cap.set(CV_CAP_PROP_FPS, 60);
    cout<<"Modified size:"<<cap.get(CV_CAP_PROP_FRAME_WIDTH)<<" "<<cap.get(CV_CAP_PROP_FRAME_HEIGHT)<<endl;

    cvNamedWindow("camera show", CV_WINDOW_AUTOSIZE);
    cvNamedWindow("Gauss filter gray show", CV_WINDOW_AUTOSIZE);
    cvNamedWindow("Edage detection show", CV_WINDOW_AUTOSIZE);

    Mat frame;
    Mat gray;
    while(true)
    {
        cap >> frame;

        imshow("camera show", frame);

        cvtColor(frame, gray, CV_BGR2GRAY); //change color to gray
        GaussianBlur(gray, gray, Size(5,5), 1.5, 1.5); //Gauss filter
        imshow("Gauss filter gray show", gray);
        Canny(gray, gray, 0, 100, 3); //edage detection
        imshow("Edage detection show", gray);
        uchar c=cvWaitKey(10) ;
        if(c== 27) //press key “ESC” to quit from loop
            break;
     }
    return 0;
}

在.pro文件中加入

SOURCES += main.cpp  
INCLUDEPATH += /usr/local/include \  
                /usr/local/include/opencv \  
                /usr/local/include/opencv2  
  
LIBS += /usr/local/lib/libopencv_highgui.so \  
        /usr/local/lib/libopencv_core.so    \  
        /usr/local/lib/libopencv_imgproc.so 

实现效果为摄像头获取图像+边缘提取。

参考自：https://blog.csdn.net/m0_37857300/article/details/78932052

        https://blog.csdn.net/u012348655/article/details/50564223

--By Young