xavier安装opencv3.1.0错误解决记录
项目需求：使用多相机进行视角拼接，实现大角度的图像检测，实现安全冗余
本机环境：Xavier + ubuntu18.04+opencv3.1.0
使用该版本的原因：在进行图像特征提取的过程中，由于SIFT、SURF等特征提取器在opencv3以后的版本，其官方觉得这些模块没有经过很多测试，可能有危险，就单独放在了opencv_contrib包中，由于在 opencv3.2之后，有些特征提取模块就不免费了，出于种种考虑，选择了3.1.0版本。
其下载路径分别在opencv 官网下载即可，正常安装，这里主要记录编译时遇到的问题：
1、opencv error: ‘NppiGraphcutState‘ has not been declared
解决方案：
进入opencv-3.1.0/modules/cudalegacy/src/目录，修改graphcuts.cpp文件，将：
#include "precomp.hpp"
#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)
改为
#include "precomp.hpp"
#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER) || (CUDART_VERSION >= 8000)
然后make编译就可以了。
2、/usr/include/c++/7/cstdlib:75:15: fatal error: stdlib.h: 没有那个文件或目录
解决方案：cmake时加上参数-D ENABLE_PRECOMPILED_HEADERS=OFF
3、由于CUDA 版本与opencv造成冲突的，问题表现为：Cmake过程中遇到一大堆链接失败问题
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
CUDA_nppi_LIBRARY (ADVANCED)
linked by target “opencv_cudev” in directory D:/Cproject/opencv/opencv/sources/modules/cudev
linked by target “opencv_cudev” in directory D:/Cproject/opencv/opencv/sources/modules/cudev
原因：cuda版本过高，不再支持2.0架构
解决方案：
1）找到FindCUDA.cmake文件
找到行
find_cuda_helper_libs(nppi)
修改为：
find_cuda_helper_libs(nppial)
find_cuda_helper_libs(nppicc)
find_cuda_helper_libs(nppicom)
find_cuda_helper_libs(nppidei)
find_cuda_helper_libs(nppif)
find_cuda_helper_libs(nppig)
find_cuda_helper_libs(nppim)
find_cuda_helper_libs(nppist)
find_cuda_helper_libs(nppisu)
find_cuda_helper_libs(nppitc)
2）找到行
set(CUDA_npp_LIBRARY "${CUDA_nppc_LIBRARY};${CUDA_nppi_LIBRARY};${CUDA_npps_LIBRARY}")
修改为：
set(CUDA_npp_LIBRARY "${CUDA_nppc_LIBRARY};${CUDA_nppial_LIBRARY};${CUDA_nppicc_LIBRARY};${CUDA_nppicom_LIBRARY};${CUDA_nppidei_LIBRARY};${CUDA_nppif_LIBRARY};${CUDA_nppig_LIBRARY};${CUDA_nppim_LIBRARY};${CUDA_nppist_LIBRARY};${CUDA_nppisu_LIBRARY};${CUDA_nppitc_LIBRARY};${CUDA_npps_LIBRARY}")
3）找到行
unset(CUDA_nppi_LIBRARY CACHE)
修改为：
unset(CUDA_nppial_LIBRARY CACHE)
unset(CUDA_nppicc_LIBRARY CACHE)
unset(CUDA_nppicom_LIBRARY CACHE)
unset(CUDA_nppidei_LIBRARY CACHE)
unset(CUDA_nppif_LIBRARY CACHE)
unset(CUDA_nppig_LIBRARY CACHE)
unset(CUDA_nppim_LIBRARY CACHE)
unset(CUDA_nppist_LIBRARY CACHE)
unset(CUDA_nppisu_LIBRARY CACHE)
unset(CUDA_nppitc_LIBRARY CACHE)
4）找到文件OpenCVDetectCUDA.cmake
修改以下几行：
...
set(__cuda_arch_ptx "")
if(CUDA_GENERATION STREQUAL "Fermi")
set(__cuda_arch_bin "2.0")
elseif(CUDA_GENERATION STREQUAL "Kepler")
set(__cuda_arch_bin "3.0 3.5 3.7")
...
修改为：
...
set(__cuda_arch_ptx "")
if(CUDA_GENERATION STREQUAL "Kepler")
set(__cuda_arch_bin "3.0 3.5 3.7")
elseif(CUDA_GENERATION STREQUAL "Maxwell")
set(__cuda_arch_bin "5.0 5.2")
...
4、由于各种缺包导致的编译失败
缺少的包 解决方法
-- No package 'gtk+-3.0' found sudo apt-get install libgtk-3-dev
-- No package 'gstreamer-base-1.0' found sudo apt-get -y install libgstreamer-plugins-base1.0-dev
-- No package 'gstreamer-video-1.0' found
-- No package 'gstreamer-app-1.0' found
-- No package 'gstreamer-riff-1.0' found （这四个装下面这个包）
-- No package 'gstreamer-pbutils-1.0' found sudo apt-get -y install libgstreamer1.0-dev
-- No package 'libavresample' found sudo apt-get -y install libavresample-dev
-- No package 'libgphoto2' found sudo apt-get -y install libgphoto2-dev
缺哪个，安装哪个即可。
5、ibvtkRenderingPythonTkWidgets.so" but this file does not exist./"vtk" references the file "
报错现象：
The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtk" references the file
"/usr/bin/vtk"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.
解决办法：创建两个软链接
1、sudo ln -s /usr/lib/python2.7/dist-packages/vtk/libvtkRenderingPythonTkWidgets.arch-linux-gnu.so /usr/lib/arch-linux-gnu/libvtkRenderingPythonTkWidgets.so
这里需要根据提示去目录下找一个对应的文件
2、sudo ln -s /usr/bin/vtk6 /usr/bin/vtk
6 No package "libc1394"
解决办法：
apt-get install libdc1394-22-dev