AGX Xavier从JetPack4.3 和 JetPack4.4 DP 版本升级SDK到JetPack4.4版本(不通过刷机)，以及cuda，cudnn，tensorrt升级

参考：https://www.jianshu.com/p/141c7e48dc6c
           https://www.jianshu.com/p/c763c5384cd2

          4.3->4.4
          https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%2520Linux%2520Driver%2520Package%2520Development%2520Guide%2Fquick_start.html%23wwpID0EVHA

1. 安装Jetson状态查看工具

sudo -H pip install jetson-stats
sudo -H pip install -U jetson-stats #更新命令

2. 如果存储空间不足，删除JetPack4.3的SDK包

#如下移除JetPack4.3 的SDK 包
sudo apt autoremove --purge nvidia-container-csv-cuda libopencv-python libvisionworks-sfm-dev libvisionworks-dev libvisionworks-samples libnvparsers6 libcudnn7-doc libcudnn7-dev libnvinfer-samples libnvinfer-bin nvidia-container-csv-cudnn libvisionworks-tracking-dev vpi-samples tensorrt libopencv libnvinfer-doc libnvparsers-dev libcudnn7 libnvidia-container0 cuda-toolkit-10-0 nvidia-container-csv-visionworks graphsurgeon-tf libopencv-samples python-libnvinfer-dev libnvinfer-plugin-dev libnvinfer-plugin6 nvidia-container-toolkit libnvinfer-dev libvisionworks libopencv-dev nvidia-l4t-jetson-multimedia-api vpi-dev vpi python3-libnvinfer python3-libnvinfer-dev opencv-licenses nvidia-container-csv-tensorrt libnvinfer6 libnvonnxparsers-dev libnvonnxparsers6 uff-converter-tf nvidia-docker2 libvisionworks-sfm libnvidia-container-tools nvidia-container-runtime python-libnvinfer libvisionworks-tracking

3.如果机器中已使用SDK管理器安装了JetPack，需删除本地repo

#如下移除JetPack4.3 本地repo
sudo apt purge cuda-repo-l4t-10-0-local-10.0.326 libvisionworks-repo libvisionworks-sfm-repo libvisionworks-tracking-repo

4. 释放apt 缓存空间 

sudo apt clean

5.升级 参考： NVIDIA Jetson Linux Developer Guide.

### How to Install Debian Packages with OTA Update
1.输入命令获取APT 升级仓库列表:
sudo apt update

2.输入命令显示可更新升级的软件包:
apt list --upgradable

3.输入命令升级L4T包:
sudo apt upgrade

4.以上三步更新完成后，重启机器
1.打开apt source:
sudo vi /etc/apt/sources.list.d/nvidia-l4t-apt-source.list

2.修改仓库名称及URL 地址（deb）
原始数据:
deb https://repo.download.nvidia.com/jetson/common r32 main
deb https://repo.download.nvidia.com/jetson/<platform> r32 main

其中 <platform> 表示对应平台的处理器:
•t186 for Jetson TX2 series
•t194 for Jetson AGX Xavier series or Jetson Xavier NX
•t210 for Jetson Nano or Jetson TX1

修改后 r32 为 r32.4并对应准确的平台信息如Jetson Xavier :
deb https://repo.download.nvidia.com/jetson/common r32.4 main
deb https://repo.download.nvidia.com/jetson/t194 r32.4 main

3.保存并关闭apt source 配置文件

4.输入命令更新:
sudo apt update
sudo apt dist-upgrade

如果要求输入configuration 文件选择，点击Y(yes)

5.待更新完成后，重启机器

5. 安装新的JetPack 组件包 

sudo apt install nvidia-jetpack #升级组件包

apt depends nvidia-jetpack | awk '{print $2}' | xargs -I {} sudo apt install -y {}

更新成功后jetson_release查看：

nvidia@nvidia:~$ jetson_release 
 - NVIDIA Jetson AGX Xavier [16GB]
   * Jetpack 4.4.1 [L4T 32.4.4]
   * NV Power Mode: MAXN - Type: 0
   * jetson_stats.service: activating
 - Libraries:
   * CUDA: 10.2.89
   * cuDNN: 8.0.0.180
   * TensorRT: NOT_INSTALLED
   * Visionworks: NOT_INSTALLED
   * OpenCV: 3.4.6 compiled CUDA: NO
   * VPI: NOT_INSTALLED
   * Vulkan: 1.2.70

或者手动安装（安装包下载地址链接：https://pan.baidu.com/s/1DFHzHBmvcwgmg7sCBWySBA   提取码：mmzb）（参考https://www.jianshu.com/p/141c7e48dc6c）：

（1）. CUDA-10.2安装

sudo dpkg -i /opt/nvidia/deb_repos/cuda-repo-l4t-10-2-local-10.2.89_1.0-1_arm64.deb 

#安装完成会提示pub key， 根据提示添加apt key(.pub)，例如：
sudo apt-key add /var/cuda-repo-10-2-local-10.2.89/7fa2af80.pub
sudo apt-get -y update 
sudo apt-get -y  install cuda-toolkit-10-2 

#以上安装完成后，通过nvcc 查询不到，但可以搜索目录/usr/local 是否有cuda，此时可通过添加环境变量 ~/.bash.rc 
vi ~/.bashrc 
export PATH=/usr/local/cuda-10.2/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda-10.2/lib64:$LD_LIBRARY_PATH

nvidia@nx:~$ nvcc -V
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2019 NVIDIA Corporation
Built on Wed_Oct_23_21:14:42_PDT_2019
Cuda compilation tools, release 10.2, V10.2.89

（2）cuDNN-8.0安装

sudo dpkg -i libcudnn8_8.0.0.180-1+cuda10.2_arm64.deb
sudo dpkg -i libcudnn8-dev_8.0.0.180-1+cuda10.2_arm64.deb
sudo dpkg -i libcudnn8-doc_8.0.0.180-1+cuda10.2_arm64.deb
sudo apt-get -y update 
以上安装完成后，通过jetson_release 查看安装后的版本信息
jetson_release 

（3）. TensorRT-7.13安装 

sudo dpkg -i libnvinfer7_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i libnvinfer-dev_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i libnvinfer-plugin7_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i libnvinfer-plugin-dev_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i libnvonnxparsers7_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i libnvonnxparsers-dev_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i libnvparsers7_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i libnvparsers-dev_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i libnvinfer-bin_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i libnvinfer-doc_7.1.3-1+cuda10.2_all.deb 
sudo dpkg -i libnvinfer-samples_7.1.3-1+cuda10.2_all.deb 
sudo dpkg -i tensorrt_7.1.3.0-1+cuda10.2_arm64.deb 
sudo dpkg -i python-libnvinfer_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i python-libnvinfer-dev_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i python3-libnvinfer_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i python3-libnvinfer-dev_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i graphsurgeon-tf_7.1.3-1+cuda10.2_arm64.deb 
sudo dpkg -i uff-converter-tf_7.1.3-1+cuda10.2_arm64.deb 
sudo apt-get -y update 
以上安装完成后，通过jetson_release 查看安装后的版本信息
jetson_release 

（4）. OpenCV 安装

git clone https://github.com/mdegans/nano_build_opencv.git
cd nano_build_opencv/
./build_opencv.sh 4.3.0   
#指定版本编译，下载时间一般较长，把如下一句指令注释掉可节约一些时间
sudo apt-get dist-upgrade -y --autoremove

问题1、 编译opencv_contrib或opencv时提示缺少boostdesc_bgm.i等编译错误
错误：
opencv_contrib/modules/xfeatures2d/src/boostdesc.cpp:673:20: fatal error: boostdesc_bgm.i: No such file or directory
解决：
由于采用的是opencv源码编译方式，可查看 build文件夹下的日志文件 CMakeDownloadLog.txt并搜索 boostdesc_bgm.i 关键词 ，发现这个文件下载失败同时还有其他一些.i 文件下载识别，此txt日志文件中有它们的下载地址，直接复制其下载地址到网页可以看该到文件的源码，可直接拷贝源码并保存同名文件，存放于opencv_contrib/modules/xfeatures2d/src/ 路径下，文件包含：
boostdesc_bgm.i
boostdesc_bgm_bi.i
boostdesc_bgm_hd.i
boostdesc_lbgm.i
boostdesc_binboost_064.i
boostdesc_binboost_128.i
boostdesc_binboost_256.i
vgg_generated_120.i
vgg_generated_64.i
vgg_generated_80.i
vgg_generated_48.i

 或 通过上面百度网盘分享的opencv 4.3.0 源码编译安装

下载并解压缩：opencv.gz、opencv_contrib.gz、build_opencv.sh 
mkdir -p /tmp/build_opencv
cd /tmp/build_opencv
tar zxvf opencv.gz
tar zxvf opencv_contrib.gz 
./build_opencv.sh

5. DeepStream 安装

deepstream-getting-started

下载tar 或 deb 安装包进行安装即可
https://developer.nvidia.com/assets/Deepstream/5.0/ga/secure/deepstream_sdk_5.0_jetson.tbz2
https://developer.nvidia.com/assets/Deepstream/5.0/ga/secure/deepstream_sdk_5.0_arm64.deb

DeepStream Apps
https://github.com/NVIDIA-AI-IOT/deepstream_python_apps