Nvidia JetsonTx2 使用中遇到的坑与填坑方法

1. Tx2 买回来后最好刷机，自带系统没有cuda等驱动，重新刷JetPack包。Tx2刷JetPack 3.3方法：

https://blog.csdn.net/long19960208/article/details/81538997?utm_source=blogxgwz1

注意：主机PC安装过程中会弹出下面窗口，不要关闭，连接tx2刷机模式，连接上后在该窗口中enter

2. Tx2 安装ROS Kinetic

2.1 更换源

sudo cp /etc/apt/sources.list /etc/apt/sources.list.back
sudo gedit /etc/apt/sources.list

deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-updates main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-updates main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-security main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-security main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-backports main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main universe restricted
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main universe restricted

sudo apt-get update
git clone https://github.com/jetsonhacks/installROSTX2.git

./installROS.sh -p ros-kinetic-desktop-full

3. 使用OpenCV启动 Tx2 板载摄像头

3.1 命令方式启动

启动方法1：

gst-launch-1.0 nvcamerasrc fpsRange="30.0 30.0" ! 'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)I420, framerate=(fraction)30/1' ! nvtee ! nvvidconv flip-method=2 ! 'video/x-raw(memory:NVMM), format=(string)I420' ! nvoverlaysink -e

参数：flip-method指定图像旋转模式，可选0,1,2等，没有全部试验，0显示正常，1旋转90度，2上下镜像，该相机获取的图像偏暗。

启动方法2：
–prev_res 预览视屏的分辨率：

nvgstcapture-1.0 --prev-res=2

启动方法3，指定分辨率

nvgstcapture-1.0 --cus-prev-res=640x480

Tx2支持的分辨率有：
(2) : 640x480
(3) : 1280x720
(4) : 1920x1080
(5) : 2104x1560
(6) : 2592x1944
(7) : 2616x1472
(8) : 3840x2160
(9) : 3896x2192
(10): 4208x3120
(11): 5632x3168
(12): 5632x4224

3.2 OpenCV 启动

需要使用包含gsteramer的opencv
首先，卸载系统安装的OpenCV

sudo apt-get purge libopencv*
sudo apt-get update

如果源码安装了opencv，卸载源码安装的opencv

cd opencv/build
sudo make uninstall
cd ..
sudo rm -r build
sudo rm -r /usr/local/include/opencv2 /usr/local/include/opencv /usr/include/opencv /usr/include/opencv2 /usr/local/share/opencv /usr/local/share/OpenCV /usr/share/opencv /usr/share/OpenCV /usr/local/bin/opencv* /usr/local/lib/libopencv*

安装依赖包

sudo apt-get update 
sudo apt-get install build-essential cmake git pkg-config 
sudo apt-get install libjpeg8-dev libtiff4-dev libjasper-dev libpng12-dev 
sudo apt-get install libgtk2.0-dev 
sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev 
sudo apt-get install libatlas-base-dev gfortran 

sudo apt-get install -y libgstreamer1.0-0 \
            gstreamer1.0-plugins-base \
            gstreamer1.0-plugins-good \
            gstreamer1.0-plugins-bad \
            gstreamer1.0-plugins-ugly \
            gstreamer1.0-libav \
            gstreamer1.0-doc \
            gstreamer1.0-tools \
            libgstreamer1.0-dev \
            libgstreamer-plugins-base1.0-dev

下载opencv 3.3.1源码包

开启Tx2高性能模式加速编译

sudo nvpmodel -m 0
cd 
sudo ./jetson_clocks.sh

编译opencv

cd $HOME/3rdLibrary/opencv-3.3.1
mkdir build
cd build 
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    -DBUILD_PNG=OFF \
    -DBUILD_TIFF=OFF \
    -DBUILD_TBB=OFF \
    -DBUILD_JPEG=OFF \
    -DBUILD_JASPER=OFF \
    -DBUILD_ZLIB=OFF \
    -DBUILD_EXAMPLES=ON \
    -DBUILD_opencv_java=OFF \
    -DBUILD_opencv_python2=ON \
    -DBUILD_opencv_python3=ON \
    -DENABLE_PRECOMPILED_HEADERS=OFF \
    -DWITH_OPENCL=OFF \
    -DWITH_OPENMP=OFF \
    -DWITH_FFMPEG=ON \
    -DWITH_GSTREAMER=ON \
    -DWITH_GSTREAMER_0_10=OFF \
    -DWITH_CUDA=ON \
    -DWITH_GTK=ON \
    -DWITH_VTK=OFF \
    -DWITH_TBB=ON \
    -DWITH_1394=OFF \
    -DWITH_OPENEXR=OFF \
    -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-9.0 \
    -DCUDA_ARCH_BIN=6.2 \
    -DCUDA_ARCH_PTX="" \
    -DINSTALL_C_EXAMPLES=OFF \
    -DINSTALL_TESTS=OFF \
    ../

make -j6
sudo make install
sudo ldconfig

配置环境变量
1.sudo gedit /etc/ld.so.conf
末行加入：include /usr/local/lib

2.执行指令，使路径生效：

   sudo ldconfig

3.修改bash.bashrc文件

sudo gedit /etc/bash.bashrc

末行加入：

PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH 

4.最后source一下，让更改立即生效，终端输入：

source /etc/bash.bashrc  

5.查看 OpenCV 安装版本

pkg-config --modversion opencv

4. Tx2 蓝牙连接 Xbox one手柄

Tx2的内核不支持蓝牙手柄连接，连接上后时断时连，无法连接成功，USB同样无法连接成功
ls /dev/input/ 不显示手柄 js*
需要重新编译内核，将 joystick 添加进内核.
可参考：https://www.ncnynl.com/archives/201706/1752.html
该方法本人试验失败，重新编译后仍然不能连接成功