agx orin nx 安装 opencv4.9 cuda 版本
1. 卸载 原来的CPU版 opencv
sudo apt purge libopencv* sudo apt update
2. 找一个路径，存放下载 opencv 安装包
sudo wget -O opencv-4.9.0.zip wget https://github.com/opencv/opencv/archive/4.9.0.zip sudo wget -O opencv_contrib-4.9.0.zip wget https://github.com/opencv/opencv_contrib/archive/4.9.0.zip
解压、放到一个文件夹中
unzip opencv.zip && unzip opencv_contrib.zip
组织成这种层次：
├── 4.9.0 │ ├── opencv-4.9.0 │ └── opencv_contrib-4.9.0
3. 编译支持GPU加速的 OpenCV
cd opencv-4.9.0 # 3. Create build directory and switch into it mkdir build && cd build ├── 4.9.0 │ ├── opencv-4.9.0 │ │ ├── build │ └── opencv_contrib-4.9.0
查看 agx orin nx 的 CUDA_ARCH_BIN 为 8.7。 jetson 除了网址可以去查：https://developer.nvidia.com/cuda-gpus#compute ，也可以使用 jtop 查询 CUDA_ARCH_BIN。
Configure， 在 build 目录内
sudo cmake -D CMAKE_BUILD_TYPE=Release \ -D CMAKE_INSTALL_PREFIX=/usr/local \ -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.9.0/modules \ -D CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda \ -D CUDA_ARCH_BIN=8.7 \ -D CUDA_ARCH_PTX=8.7 \ -D WITH_CUDA=ON \ -D OPENCV_DNN_CUDA=ON \ -D WITH_CUDNN=ON \ -D ENABLE_FAST_MATH=ON \ -D CUDA_FAST_MATH=ON \ -D WITH_CUBLAS=ON \ -D OPENCV_GENERATE_PKGCONFIG=ON \ -D BUILD_EXAMPLES=ON \ -D BUILD_NEW_PYTHON_SUPPORT=ON \ -D BUILD_opencv_python3=ON \ -D HAVE_opencv_python3=ON \ -D OPENCV_ENABLE_NONFREE=ON \ -D INSTALL_PYTHON_EXAMPLES=ON \ -D OPENCV_PYTHON3_INSTALL_PATH=/usr/local/lib/python3.8/dist-packages \ -D PYTHON_EXECUTABLE=/usr/bin/python3.8 \ ..
注意：
- CMAKE_INSTALL_PREFIX=/usr/local ： opencv 的安装路径
- OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.9.0/modules
ll /usr/local/cuda可以查看 cuda 是谁的软链接- CUDA_ARCH_BIN CUDA_ARCH_PTX 都是 8.7
- python3 支持的话，请使用
which python3和ll /usr/bin/python3找到是哪个 python3, 从而 获得 OPENCV_PYTHON3_INSTALL_PATH 路径。
当前操作主要是网络问题可能会报错，请使用梯子
https://www.cnblogs.com/odesey/p/17960079
export http_proxy=http:你的IP:7890 export https_proxy=http:你的IP:7890
失败的话： 清除 rm CMakeCache.txt
报错：
-- Checking for module 'gtk+-2.0' -- No package 'gtk+-2.0' found -- Allocator metrics storage type: 'int' CMake Error at modules/core/CMakeLists.txt:158 (message): CUDA: OpenCV requires enabled 'cudev' module from 'opencv_contrib' repository: https://github.com/opencv/opencv_contrib
解决：opencv_contrib-4.9.0 的路径没填对，已更正。
sudo apt install -y libgtk2.0-dev
成功的配置：
-- General configuration for OpenCV 4.9.0 ===================================== -- Version control: unknown -- -- Extra modules: -- Location (extra): /home/nvidia/Downloads/4.9.0/opencv_contrib-4.9.0/modules -- Version control (extra): unknown -- -- Platform: -- Timestamp: 2024-03-27T06:50:39Z -- Host: Linux 5.10.104-tegra aarch64 -- CMake: 3.16.3 -- CMake generator: Unix Makefiles -- CMake build tool: /usr/bin/make -- Configuration: Release -- -- CPU/HW features: -- Baseline: NEON FP16 -- Dispatched code generation: NEON_DOTPROD NEON_FP16 -- requested: NEON_FP16 NEON_BF16 NEON_DOTPROD -- NEON_DOTPROD (1 files): + NEON_DOTPROD -- NEON_FP16 (2 files): + NEON_FP16 -- -- C/C++: -- Built as dynamic libs?: YES -- C++ standard: 11 -- C++ Compiler: /usr/bin/c++ (ver 9.4.0) -- C++ flags (Release): -fsigned-char -ffast-math -fno-finite-math-only -W -Wall -Wreturn-type -Wnon-virtual-dtor -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG -DNDEBUG -- C++ flags (Debug): -fsigned-char -ffast-math -fno-finite-math-only -W -Wall -Wreturn-type -Wnon-virtual-dtor -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -fvisibility-inlines-hidden -g -O0 -DDEBUG -D_DEBUG -- C Compiler: /usr/bin/cc -- C flags (Release): -fsigned-char -ffast-math -fno-finite-math-only -W -Wall -Wreturn-type -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -O3 -DNDEBUG -DNDEBUG -- C flags (Debug): -fsigned-char -ffast-math -fno-finite-math-only -W -Wall -Wreturn-type -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -g -O0 -DDEBUG -D_DEBUG -- Linker flags (Release): -Wl,--gc-sections -Wl,--as-needed -Wl,--no-undefined -- Linker flags (Debug): -Wl,--gc-sections -Wl,--as-needed -Wl,--no-undefined -- ccache: NO -- Precompiled headers: NO -- Extra dependencies: m pthread cudart_static dl rt nppc nppial nppicc nppidei nppif nppig nppim nppist nppisu nppitc npps cublas cudnn cufft -L/usr/local/cuda/lib64 -L/usr/lib/aarch64-linux-gnu -- 3rdparty dependencies: -- -- OpenCV modules: -- To be built: aruco bgsegm bioinspired calib3d ccalib core cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev datasets dnn dnn_objdetect dnn_superres dpm face features2d flann freetype fuzzy gapi hfs highgui img_hash imgcodecs imgproc intensity_transform line_descriptor mcc ml objdetect optflow phase_unwrapping photo plot python3 quality rapid reg rgbd saliency shape stereo stitching structured_light superres surface_matching text tracking ts video videoio videostab wechat_qrcode xfeatures2d ximgproc xobjdetect xphoto -- Disabled: world -- Disabled by dependency: - -- Unavailable: alphamat cannops cvv hdf java julia matlab ovis python2 sfm viz -- Applications: tests perf_tests examples apps -- Documentation: NO -- Non-free algorithms: YES -- -- GUI: GTK3 -- GTK+: YES (ver 3.24.20) -- GThread : YES (ver 2.64.6) -- GtkGlExt: NO -- VTK support: NO -- -- Media I/O: -- ZLib: /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.11) -- JPEG: /usr/lib/aarch64-linux-gnu/libjpeg.so (ver 80) -- WEBP: build (ver encoder: 0x020f) -- PNG: /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.6.37) -- TIFF: /usr/lib/aarch64-linux-gnu/libtiff.so (ver 42 / 4.1.0) -- JPEG 2000: build (ver 2.5.0) -- OpenEXR: /usr/lib/aarch64-linux-gnu/libImath.so /usr/lib/aarch64-linux-gnu/libIlmImf.so /usr/lib/aarch64-linux-gnu/libIex.so /usr/lib/aarch64-linux-gnu/libHalf.so /usr/lib/aarch64-linux-gnu/libIlmThread.so (ver 2_3) -- HDR: YES -- SUNRASTER: YES -- PXM: YES -- PFM: YES -- -- Video I/O: -- DC1394: YES (2.2.5) -- FFMPEG: YES -- avcodec: YES (58.54.100) -- avformat: YES (58.29.100) -- avutil: YES (56.31.100) -- swscale: YES (5.5.100) -- avresample: YES (4.0.0) -- GStreamer: YES (1.16.3) -- v4l/v4l2: YES (linux/videodev2.h) -- -- Parallel framework: pthreads -- -- Trace: YES (with Intel ITT) -- -- Other third-party libraries: -- Lapack: NO -- Eigen: NO -- Custom HAL: YES (carotene (ver 0.0.1, Auto detected)) -- Protobuf: build (3.19.1) -- Flatbuffers: builtin/3rdparty (23.5.9) -- -- NVIDIA CUDA: YES (ver 11.4, CUFFT CUBLAS FAST_MATH) -- NVIDIA GPU arch: 87 -- NVIDIA PTX archs: 87 -- -- cuDNN: YES (ver 8.6.0) -- -- OpenCL: YES (no extra features) -- Include path: /home/nvidia/Downloads/4.9.0/opencv-4.9.0/3rdparty/include/opencl/1.2 -- Link libraries: Dynamic load -- -- Python 3: -- Interpreter: /usr/bin/python3.8 (ver 3.8.10) -- Libraries: /usr/lib/aarch64-linux-gnu/libpython3.8.so (ver 3.8.10) -- numpy: /usr/lib/python3/dist-packages/numpy/core/include (ver 1.17.4) -- install path: /usr/local/lib/python3.8/dist-packages/cv2/python-3.8 -- -- Python (for build): /usr/bin/python3.8 -- -- Java: -- ant: NO -- Java: NO -- JNI: NO -- Java wrappers: NO -- Java tests: NO -- -- Install to: /usr/local -- ----------------------------------------------------------------- -- -- Configuring done -- Generating done -- Build files have been written to: /home/nvidia/Downloads/4.9.0/opencv-4.9.0/build
编译：
sudo make -j$(nproc)
$(nproc) 可以使用的最大线程
4. 安装 OpenCV
sudo make install -j 12
注意：如果没有报错，可能会卡住，你需要等待。
卡住的话或许你也可以使用：sudo make install -j 1， 然后等待。然后一直在安装的话，你就可以换为：sudo make install -j 12
5. python 测试 和 jtop 确认：
使用 python3 解释器和 cv2.cuda.printCudaDeviceInfo(0) 来验证库是否正常工作：
除了上面的 python 来测试。jetson 也可以用 jtop 来查看。
opencv with CUDA YES
6. 清理
安装后，安装文件和压缩文件 我们将不再需要，可以安全删除：
cd ../.. sudo rm -rf ./*
其他
我找到一个安装脚本：https://github.com/s95huang/Jetson_orin_cv_cuda/tree/main
此外还有 docker 的： https://github.com/JulianAssmann/opencv-cuda-docker
但是我没有尝试
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