Jetson Orin环境安装Opencv+Cuda以及vscode环境配置

一：Opencv + Cuda源码的下载、编译

1.卸载jetson上自带的无cuda加速Opencv

运行如下代码即可：

sudo apt purge libopencv*
sudo apt autoremove
sudo apt update

（不建议）:不放心的话可以在根目录下搜索opencv关键词，删去多余文件

2.安装Opencv依赖库

运行如下代码：

sudo apt install -y build-essential checkinstall cmake pkg-config yasm git gfortran
sudo apt update
sudo apt install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
sudo apt install -y libjpeg8-dev libjasper-dev libpng12-dev libtiff5-dev libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine2-dev libv4l-dev
sudo apt install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgtk2.0-dev libtbb-dev libatlas-base-dev libfaac-dev libmp3lame-dev libtheora-dev libvorbis-dev libxvidcore-dev libopencore-amrnb-dev libopencore-amrwb-dev x264 v4l-utils
sudo apt install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

坑一：
笔者建议先更换一下Jetson自带的镜像源，否则过程中可能会出现各种丢失问题，更换步骤如下：

修改/etc/apt/sources.list，改为下面的源

deb [arch=arm64] https://mirrors.ustc.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
# deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ focal main main restricted universe multiverse
deb [arch=arm64] https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
# deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
deb [arch=arm64] https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
# deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
deb [arch=arm64] https://mirrors.ustc.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse
# deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse

最后sudo apt-get update即可。

坑二：
运行倒数第三条命令时，若遇到“ 无法定位libjasper-dev软件包 “报错，执行如下命令即可安装：

sudo add-apt-repository "deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main multiverse restricted universe"
sudo apt update
sudo apt install libjasper1 libjasper-dev

或者：

sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev

坑三：
运行倒数第三条命令时，若遇到“ libpng12-dev没有可安装候选 “报错，是因为ubuntu14以上已经废弃，代替为libpng-dev，安装命令如下：

sudo apt install libpng-dev

3.下载 OpenCV 和 opencv_contrib 源码

分别前往 opencv 和 Opencv_contrib 的 github 仓库下载 Latest release 源码 ( 点击超链接跳转)

点击Source code（zip）下载Opencv源码

点击zip下载opencv_contrib源码

注意： OpenCV 和 opencv_contrib 的版本要对应正确

4.编译安装 OpenCV、opencv_contrib

• 解压opencv-4.7.0.zip 和 opencv_contrib-4.7.0.zip 得到两个文件夹，然后将opencv_contrib-4.7.0文件夹放在opencv-4.7.0文件中！
• 执行如下命令

cd opencv-4.7.0
mkdir build
cd build

• 执行cmake

cmake \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_INSTALL_PREFIX=/usr/local \
-DOPENCV_ENABLE_NONFREE=1 \
-DBUILD_opencv_python2=1 \
-DBUILD_opencv_python3=1 \
-DWITH_FFMPEG=1 \
-DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda \
-DCUDA_ARCH_BIN=8.7 \
-DCUDA_ARCH_PTX=8.7 \
-DWITH_CUDA=