opencv ubuntu 编译

转载：http://dev.t7.ai/jetson/opencv/

Installing OpenCV 3.1 on Jetson TX1

Uninstall OpenCV4Tegra

Reference here

Uninstall OpenCV for Tegra packages, purge local repositories, and update the apt cache using the following commands:

sudo apt-get purge libopencv4tegra-dev libopencv4tegra
sudo apt-get purge libopencv4tegra-repo
sudo apt-get update

Installing OpenCV 3.1

required packages

Base requirements

sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev

GStreamer support (recommended)

sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev

Python support

sudo apt-get install python2.7-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

OpenGL support

sudo apt-get install libgtkglext1 libgtkglext1-dev
sudo apt-get install qtbase5-dev

video4linux2 support (better handling of usb cameras modes)

sudo apt-get install libv4l-dev v4l-utils qv4l2 v4l2ucp

download sources

• Download from latest sources. You may want this option as it contains a compatibility fix to allow CUDA 8.0.

git clone https://github.com/opencv/opencv.git

• Download from a stable version from official site

curl -L https://github.com/opencv/opencv/archive/3.2.0.zip -o opencv-3.2.0.zip
unzip opencv-3.2.0.zip
cd opencv-3.2.0

compiling

This is a list of usefull cmake params to add some extra features to your OpenCV compilation to get things working on your TX1.

required

• CMAKE_BUILD_TYPE=RELEASE compiles the release version of OpenCV
• CMAKE_INSTALL_PREFIX=/usr/local path where OpenCV will be installed
• WITH_CUDA=ON
• CUDA_ARCH_BIN="5.3" check latest version in CUDA GPUs reference
• CUDA_ARCH_PTX=""

optional

• WITH_OPENGL=ON OpenGL compatibility, requires GTK+ OpenGL Extensions the QT backend. When this guide was write, compilation faild for the combination CUDA 8.0 + OpenGL support.
• WITH_LIBV4L=ON will use video4linux2 libraries
• CUDA_FAST_MATH=ON Mathematical operations will run faster but less precise. See intrinsic mathematical functions
• ENABLE_PRECOMPILED_HEADERS=OFF your TX1 does not have enough disk space for pre-compiling everything but you can trade space required by compilation time with this flag. Other options is to cross compile from a desktop pc or to download & compile from an external device, an USB 3.0 external drive will do the work and is fast enough.
• ENABLE_NEON=ON ref
• BUILD_TESTS=OFF disable tests
• BUILD_PERF_TESTS=OFF disable performance tests
• BUILD_EXAMPLES=OFF disable examples

mkdir release
cd release
cmake -D WITH_CUDA=ON -D CUDA_ARCH_BIN="5.3" -D CUDA_ARCH_PTX="" -D WITH_OPENGL=ON -D WITH_LIBV4L=ON -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..

After running the cmake command everything is ready to be compiled, it worth to check that you got the following outputs on the cmake summary:

TX1 platform

--   Platform:
--     Host:                        Linux 3.10.96-tegra aarch64
--     Configuration:               RELEASE

CUDA 8.0

--   Other third-party libraries:
--     Use Cuda:                    YES (ver 8.0)
--   NVIDIA CUDA
--     Use CUFFT:                   YES
--     Use CUBLAS:                  NO
--     USE NVCUVID:                 NO
--     NVIDIA GPU arch:             53
--     NVIDIA PTX archs:
--     Use fast math:               NO

OpenGL

--   GUI: 
--     GTK+ 2.x:                    YES (ver 2.24.30)
--     OpenGL support:              YES (/usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGL.so)

If you enabled video4linux2

--   Video I/O:
--     V4L/V4L2:                    Using libv4l1 (ver 1.10.0) / libv4l2 (ver 1.10.0)

If you enabled GStreamer

--   Video I/O:
--     GStreamer:                   
--       base:                      YES (ver 1.8.2)
--       video:                     YES (ver 1.8.2)
--       app:                       YES (ver 1.8.2)
--       riff:                      YES (ver 1.8.2)
--       pbutils:                   YES (ver 1.8.2)

installing

Now that all dependencies are ready, is time to compile

make -j4 # ... because you want to use all your fancy TX1 cores isn't it? ;)
sudo make install

Other Resources

Extra parameters used for TX1 here

Official OpenCV install guide here

video4linux2 useful commands

This command changes camera mode to full hd resolution

v4l2-ctl --set-fmt-video=width=1920,height=1080,pixelformat=1
v4l2-ctl --set-parm=30
v4l2-ctl -V

Python script to test change of resolution

import cv2

vc = cv2.VideoCapture(0)
print "capture stream open"

if not vc.isOpened():
    print "unable to capture camera"
    exit(-1)

print "resolution is %dx%d" % (vc.get(cv2.CAP_PROP_FRAME_WIDTH), vc.get(cv2.CAP_PROP_FRAME_HEIGHT))
print "attempt to switch to full hd"
vc.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
vc.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
print "resolution is %dx%d" % (vc.get(cv2.CAP_PROP_FRAME_WIDTH), vc.get(cv2.CAP_PROP_FRAME_HEIGHT))

_, frame = vc.read()
print "frame captured"
cv2.imwrite("frame.png", frame)