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Opencv Installation

Eigen

eigen主页

## remove v3.4
sudo apt-get purge libeigen3-dev
## install v3.3.7
git clone https://gitlab.com/libeigen/eigen.git
cd eigen
git checout 3.3.7
mkdir build
## install_dir_prex = /usr
cmake-gui
cd build
make 
sudo make install

Opencv Version

## check opencv vversion
pkg-config opencv --modversion
# opencv4
pkg-config opencv4 --modversion
## check opencv libs installed
pkg-config opencv --lib
## check installation path
sudo find / -iname "*opencv*"

使用Sdk manager中的JetPack4.4安装的opencv的版本是4.1.1,使用上述命令即可以查看得到.可以选择卸载opencv4,彻底删除可以通过find命令找到opencv4安装路径和文件夹,手动删除

sudo apt-get purge libopencv*

Opencv Instalaion

在Xavier安装opencv3.4,可以参考Build OpenCV 3.4 on NVIDIA Jetson AGX Xavier Developer Kit进行安装,主要步骤如下:

$ git clone https://github.com/jetsonhacks/buildOpenCVXavier.git 
$ cd buildOpenCVXavier 
$ git checkout v1.0 
$ vim buildOpenCV.sh 
## 下载结束部分添加exit 0，只用来安装依赖库和下载opencv
$ cd ~/opencv
$ git clone https://github.com/opencv/opencv_contrib.git
$ git checout 3.4.3

Note:

  1. 可以修改shell安装脚本,进行个性化安装,如可以修改安装路径INSTALL_DIR=/usr/local(autoware默认安装在/usr/路径下),是否下载额外的测试例程DOWNLOAD_OPENCV_EXTRAS=NO(不用下),如果opencv源码自己手动下载(git clone可能会比较慢),脚本中如下语句可以注释掉,避免重复执行:

    cd $OPENCV_SOURCE_DIR
    git clone https://github.com/opencv/opencv.git
    cd opencv
    git checkout -b v${OPENCV_VERSION} ${OPENCV_VERSION}

  2. opencv_contrib也可以手动下载,放在opencv文件夹下,编译后安装,具体参考opencv_contrib 安装,注意安装路径-D CMAKE_INSTALL_PREFIX=/usr/local,同时注意指定opencv_contrib的文件路径,例如-D OPENCV_EXTRA_MODULES_PATH= ../opencv_contrib,可以在上面openv的cmake编译规则修改,不要直接引用该博客的编译规则

Ref.

  1. Build OpenCV 3.4 on NVIDIA Jetson AGX Xavier Developer Kit

  2. opencv_contrib 安装

  3. opencv_contrib github

Tips:

  1. 软连接sudo ln -s source_file target_file