Install OpenCV on Jetson TX2

This is my memo to setup OpenCV on Jetson TX2.

Environment

  • Jetson TX2
  • Ubuntu 16.04
  • JetPack 3.2.1
  • OpenCV 3.4.0

Why we don’t use OpenCV4Tegra?

Because it doesn’t support “gstreamer”.

Install gcc

$ sudo apt-get purge libopencv*
$ sudo apt autoremove
$ sudo apt-get update
$ sudo apt-get dist-upgrade
$ sudo apt-get install --only-upgrade g++-5 cpp-5 gcc-5

Check Priority of gcc

You should use gcc 5.

$ gcc --version
gcc (Ubuntu/Linaro 5.5.0-12ubuntu1~16.04) 5.5.0 20171010
Copyright (C) 2015 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
$ g++ --version
g++ (Ubuntu/Linaro 5.5.0-12ubuntu1~16.04) 5.5.0 20171010
Copyright (C) 2015 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

If it’s wrong, it can be changed by following steps.

$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 60 \
                         --slave /usr/bin/g++ g++ /usr/bin/g++-5 
sudo update-alternatives --config gcc

Run scripts

$ mkdir -p ~/src
$ cd ~/Downloads
$ git clone https://github.com/jetsonhacks/buildOpenCVTX2
$ cd buildOpenCVTX2
$ vim buildOpenCV.sh
...
OPENCV_VERSION=3.4.0
...
$ sudo ./buildOpenCV.sh -s ~/src

This is configuration generated by the script.

-- General configuration for OpenCV 3.4.0 =====================================
--   Version control:               3.4.0
-- 
--   Platform:
--     Timestamp:                   2018-08-13T03:29:54Z
--     Host:                        Linux 4.4.38-tegra aarch64
--     CMake:                       3.5.1
--     CMake generator:             Unix Makefiles
--     CMake build tool:            /usr/bin/make
--     Configuration:               RELEASE
-- 
--   CPU/HW features:
--     Baseline:                    NEON FP16
--       required:                  NEON
--       disabled:                  VFPV3
-- 
--   C/C++:
--     Built as dynamic libs?:      YES
--     C++ Compiler:                /usr/bin/c++  (ver 5.4.0)
--     C++ flags (Release):         -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG  -DNDEBUG
--     C++ flags (Debug):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -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 -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-narrowing -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -O3 -DNDEBUG  -DNDEBUG
--     C flags (Debug):             -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-narrowing -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
--     Linker flags (Release):
--     Linker flags (Debug):
--     ccache:                      NO
--     Precompiled headers:         YES
--     Extra dependencies:          dl m pthread rt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGL.so cudart nppc nppial nppicc nppicom nppidei nppif nppig nppim nppist nppisu nppitc npps cublas cufft -L/usr/local/cuda/lib64
--     3rdparty dependencies:
-- 
--   OpenCV modules:
--     To be built:                 calib3d core cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev dnn features2d flann highgui imgcodecs imgproc ml objdetect photo python2 python3 python_bindings_generator shape stitching superres ts video videoio videostab
--     Disabled:                    js world
--     Disabled by dependency:      -
--     Unavailable:                 java viz
--     Applications:                tests perf_tests apps
--     Documentation:               NO
--     Non-free algorithms:         NO
-- 
--   GUI: 
--     QT:                          YES (ver 5.5.1)
--       QT OpenGL support:         YES (Qt5::OpenGL 5.5.1)
--     GTK+:                        NO
--     OpenGL support:              YES (/usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGL.so)
--     VTK support:                 NO
-- 
--   Media I/O: 
--     ZLib:                        /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.8)
--     JPEG:                        /usr/lib/aarch64-linux-gnu/libjpeg.so (ver )
--     WEBP:                        build (ver encoder: 0x020e)
--     PNG:                         /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.2.54)
--     TIFF:                        /usr/lib/aarch64-linux-gnu/libtiff.so (ver 42 / 4.0.6)
--     JPEG 2000:                   /usr/lib/aarch64-linux-gnu/libjasper.so (ver 1.900.1)
--     OpenEXR:                     build (ver 1.7.1)
-- 
--   Video I/O:
--     DC1394:                      YES (ver 2.2.4)
--     FFMPEG:                      YES
--       avcodec:                   YES (ver 56.60.100)
--       avformat:                  YES (ver 56.40.101)
--       avutil:                    YES (ver 54.31.100)
--       swscale:                   YES (ver 3.1.101)
--       avresample:                NO
--     GStreamer:                   
--       base:                      YES (ver 1.8.3)
--       video:                     YES (ver 1.8.3)
--       app:                       YES (ver 1.8.3)
--       riff:                      YES (ver 1.8.3)
--       pbutils:                   YES (ver 1.8.3)
--     libv4l/libv4l2:              1.10.0 / 1.10.0
--     v4l/v4l2:                    linux/videodev2.h
--     gPhoto2:                     NO
-- 
--   Parallel framework:            pthreads
-- 
--   Trace:                         YES (built-in)
-- 
--   Other third-party libraries:
--     Lapack:                      NO
--     Eigen:                       YES (ver 3.2.92)
--     Custom HAL:                  YES (carotene (ver 0.0.1))
-- 
--   NVIDIA CUDA:                   YES (ver 8.0, CUFFT CUBLAS FAST_MATH)
--     NVIDIA GPU arch:             62
--     NVIDIA PTX archs:
-- 
--   OpenCL:                        YES (no extra features)
--     Include path:                /home/nvidia/src/opencv-3.4.0/opencv/3rdparty/include/opencl/1.2
--     Link libraries:              Dynamic load
-- 
--   Python 2:
--     Interpreter:                 /usr/bin/python2.7 (ver 2.7.12)
--     Libraries:                   /usr/lib/aarch64-linux-gnu/libpython2.7.so (ver 2.7.12)
--     numpy:                       /usr/local/lib/python2.7/dist-packages/numpy/core/include (ver 1.15.0)
--     packages path:               lib/python2.7/dist-packages
-- 
--   Python 3:
--     Interpreter:                 /usr/bin/python3 (ver 3.5.2)
--     Libraries:                   /usr/lib/aarch64-linux-gnu/libpython3.5m.so (ver 3.5.2)
--     numpy:                       /usr/local/lib/python3.5/dist-packages/numpy/core/include (ver 1.15.0)
--     packages path:               lib/python3.5/dist-packages
-- 
--   Python (for build):            /usr/bin/python2.7
-- 
--   Java:
--     ant:                         NO
--     JNI:                         NO
--     Java wrappers:               NO
--     Java tests:                  NO
-- 
--   Matlab:                        NO
-- 
--   Install to:                    /usr/local
-- -----------------------------------------------------------------

After done, it was showed.

...
OpenCV installed in: /usr/local

If you are in the virtual environment for example “venv_opencv”.

$ ln -s /usr/local/lib/python3.5/dist-packages/cv* ~/venv_opencv/lib/python3.5/site-packages

Then check.

$ python -c 'import cv2; print(cv2.__file__)'
/usr/local/lib/python2.7/dist-packages/cv2.so
$ python3 -c 'import cv2; print(cv2.__file__)'
/usr/local/lib/python3.5/dist-packages/cv2.cpython-35m-aarch64-linux-gnu.so

Run Sample Program

$ls Examples
cannyDetection.py  gstreamer_view.cpp  README.md
$python3 ./Examples/cannyDetection.py
Called with args:
Namespace(video_device=0)
OpenCV version: 3.4.0
Device Number: 0

Available Sensor modes : 
2592 x 1944 FR=30.000000 CF=0x1109208a10 SensorModeType=4 CSIPixelBitDepth=10 DynPixelBitDepth=10
2592 x 1458 FR=30.000000 CF=0x1109208a10 SensorModeType=4 CSIPixelBitDepth=10 DynPixelBitDepth=10
1280 x 720 FR=120.000000 CF=0x1109208a10 SensorModeType=4 CSIPixelBitDepth=10 DynPixelBitDepth=10

NvCameraSrc: Trying To Set Default Camera Resolution. Selected sensorModeIndex = 1 WxH = 2592x1458 FrameRate = 30.000000 ...

Measured with imutils.

[INFO] elasped time: 6.30
[INFO] approx. FPS: 15.71

Reference