Jetson TK1でOpenCV3.1.0をビルド

概要 †

  • Jetson TX1を入手したので、OpenCVをビルドしてみた
↑

今回のターゲット †

  • Jetson TX1
  • L4T (Ubuntu 16.04をベースにしたもの)
  • Arm Cortex A57
  • Tegra X1 (256 core)
  • cmake 3.5.1
  • CUDA 8.0
↑

OpenCV の取得 †

  • まずはgitでcloneする
  • 詳細は割愛
  • そして、3.1.0をチェックアウトする 
    ubuntu@tegra-ubuntu:~$ cd opencv
ubuntu@tegra-ubuntu:~/opencv$ git checkout -b Branch_3_1_0 3.1.0
Switched to a new branch 'Branch_3_1_0'
↑

手修正 †

  • OpenCV 3.1.0 ではCUDAのGraphCut モジュールを取り込むのだが、このモジュールはCUDA 7.5 でdeprecated に移動され、CUDA 8.0 から正式に除外された
  • よって、OpenCV 3.1.0＋CUDA 8.0のビルドはそのままでは失敗する*1
  • そのままビルドすると、以下の様なエラーが多発する 
    modules/cudalegacy/src/graphcuts.cpp:120:54: error: ‘NppiGraphcutState’ has not been declared
    typedef NppStatus (*init_func_t)(NppiSize oSize, NppiGraphcutState** ppState, Npp8u* pDeviceMem);
                                                     ^
modules/cudalegacy/src/graphcuts.cpp:135:18: error: ‘NppiGraphcutState’ does not name a type
        operator NppiGraphcutState*()
                 ^
modules/cudalegacy/src/graphcuts.cpp:141:9: error: ‘NppiGraphcutState’ does not name a type
        NppiGraphcutState* pState;
        ^
In file included from build/modules/cudalegacy/precomp.hpp:75:0:
modules/cudalegacy/src/graphcuts.cpp: In constructor‘{anonymous}::NppiGraphcutStateHandler::NppiGraphcutStateHandler(NppiSize, Npp8u*, {anonymous}::init_func_t)’:
modules/cudalegacy/src/graphcuts.cpp:127:39: error: ‘pState’ was not declared in this scope
  • よって、 modules/cudalegacy/src/graphcuts.cpp の45行目に以下の修正が必要 
     -#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)
 +#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER) || (CUDART_VERSION >= 8000)
↑

OpenCV3.1.0のビルド †

↑

cmake †

  • ODROID-X2でOpenCV 3.1.0をビルド同様、out of source buildする 
    ubuntu@tegra-ubuntu:~/opencv$ mkdir build
ubuntu@tegra-ubuntu:~/opencv$ cd build/
ubuntu@tegra-ubuntu:~/opencv/build$ time cmake ..
(中略)

real    0m38.431s
user    0m22.440s
sys 0m6.110s
↑

make all †

  • Armの4coreをフルに使う 
    ubuntu@tegra-ubuntu:~/opencv/build$ time make -j 4 
(中略)

real    48m50.693s
user    164m25.770s
sys 7m48.100s
  • ざっくり50分ぐらいかかる
↑

OpenCVビルド時のコンフィグなど †

↑

cvconfig.h †

/* OpenCV compiled as static or dynamic libs */
#define BUILD_SHARED_LIBS

/* Compile for 'real' NVIDIA GPU architectures */
#define CUDA_ARCH_BIN " 53"

/* Create PTX or BIN for 1.0 compute capability */
/* #undef CUDA_ARCH_BIN_OR_PTX_10 */

/* NVIDIA GPU features are used */
#define CUDA_ARCH_FEATURES " 53"

/* Compile for 'virtual' NVIDIA PTX architectures */
#define CUDA_ARCH_PTX ""

/* AVFoundation video libraries */
/* #undef HAVE_AVFOUNDATION */

/* V4L capturing support */
/* #undef HAVE_CAMV4L */

/* V4L2 capturing support */
#define HAVE_CAMV4L2

/* Carbon windowing environment */
/* #undef HAVE_CARBON */

/* AMD's Basic Linear Algebra Subprograms Library*/
/* #undef HAVE_CLAMDBLAS */

/* AMD's OpenCL Fast Fourier Transform Library*/
/* #undef HAVE_CLAMDFFT */

/* Clp support */
/* #undef HAVE_CLP */

/* Cocoa API */
/* #undef HAVE_COCOA */

/* C= */
/* #undef HAVE_CSTRIPES */

/* NVidia Cuda Basic Linear Algebra Subprograms (BLAS) API*/
/* #undef HAVE_CUBLAS */

/* NVidia Cuda Runtime API*/
#define HAVE_CUDA

/* NVidia Cuda Fast Fourier Transform (FFT) API*/
#define HAVE_CUFFT

/* IEEE1394 capturing support */
/* #undef HAVE_DC1394 */

/* IEEE1394 capturing support - libdc1394 v2.x */
/* #undef HAVE_DC1394_2 */

/* DirectX */
/* #undef HAVE_DIRECTX */
/* #undef HAVE_DIRECTX_NV12 */
/* #undef HAVE_D3D11 */
/* #undef HAVE_D3D10 */
/* #undef HAVE_D3D9 */

/* DirectShow Video Capture library */
/* #undef HAVE_DSHOW */

/* Eigen Matrix & Linear Algebra Library */
#define HAVE_EIGEN

/* FFMpeg video library */
/* #undef HAVE_FFMPEG */

/* ffmpeg's libswscale */
/* #undef HAVE_FFMPEG_SWSCALE */

/* ffmpeg in Gentoo */
/* #undef HAVE_GENTOO_FFMPEG */

/* Geospatial Data Abstraction Library */
/* #undef HAVE_GDAL */

/* GStreamer multimedia framework */
#define HAVE_GSTREAMER

/* GTK+ 2.0 Thread support */
#define HAVE_GTHREAD

/* GTK+ 2.x toolkit */
/* #undef HAVE_GTK */

/* Define to 1 if you have the <inttypes.h> header file. */
/* #undef HAVE_INTTYPES_H */

/* Intel Perceptual Computing SDK library */
/* #undef HAVE_INTELPERC */

/* Intel Integrated Performance Primitives */
/* #undef HAVE_IPP */
/* #undef HAVE_IPP_ICV_ONLY */

/* Intel IPP Async */
/* #undef HAVE_IPP_A */

/* JPEG-2000 codec */
#define HAVE_JASPER

/* IJG JPEG codec */
#define HAVE_JPEG

/* libpng/png.h needs to be included */
#define HAVE_LIBPNG_PNG_H

/* V4L/V4L2 capturing support via libv4l */
/* #undef HAVE_LIBV4L */

/* Microsoft Media Foundation Capture library */
/* #undef HAVE_MSMF */

/* NVidia Video Decoding API*/
/* #undef HAVE_NVCUVID */

/* OpenCL Support */
#define HAVE_OPENCL
/* #undef HAVE_OPENCL_STATIC */
/* #undef HAVE_OPENCL_SVM */

/* OpenEXR codec */
#define HAVE_OPENEXR

/* OpenGL support*/
/* #undef HAVE_OPENGL */

/* OpenNI library */
/* #undef HAVE_OPENNI */

/* OpenNI library */
/* #undef HAVE_OPENNI2 */

/* PNG codec */
#define HAVE_PNG

/* Posix threads (pthreads) */
#define HAVE_PTHREADS

/* parallel_for with pthreads */
#define HAVE_PTHREADS_PF

/* Qt support */
/* #undef HAVE_QT */

/* Qt OpenGL support */
/* #undef HAVE_QT_OPENGL */

/* QuickTime video libraries */
/* #undef HAVE_QUICKTIME */

/* QTKit video libraries */
/* #undef HAVE_QTKIT */

/* Intel Threading Building Blocks */
/* #undef HAVE_TBB */

/* TIFF codec */
#define HAVE_TIFF

/* Unicap video capture library */
/* #undef HAVE_UNICAP */

/* Video for Windows support */
/* #undef HAVE_VFW */

/* V4L2 capturing support in videoio.h */
/* #undef HAVE_VIDEOIO */

/* Win32 UI */
/* #undef HAVE_WIN32UI */

/* XIMEA camera support */
/* #undef HAVE_XIMEA */

/* Xine video library */
/* #undef HAVE_XINE */

/* Define if your processor stores words with the most significant byte
   first (like Motorola and SPARC, unlike Intel and VAX). */
/* #undef WORDS_BIGENDIAN */

/* gPhoto2 library */
/* #undef HAVE_GPHOTO2 */

/* VA library (libva) */
/* #undef HAVE_VA */

/* Intel VA-API/OpenCL */
/* #undef HAVE_VA_INTEL */
↑

version_string.inc †

  • コードに修正を施したので、Version が3.1.0-dirtyになっている 
    General configuration for OpenCV 3.1.0 =====================================
  Version control:               3.1.0-dirty

  Platform:
    Host:                        Linux 3.10.96-tegra aarch64
    CMake:                       3.5.1
    CMake generator:             Unix Makefiles
    CMake build tool:            /usr/bin/make
    Configuration:               Release

  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 -Wno-narrowing -Wno-delete-non-virtual-dtor -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-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 -Wno-narrowing -Wno-delete-non-virtual-dtor -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-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 -Wno-narrowing -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-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 -Wno-narrowing -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
    Linker flags (Release):
    Linker flags (Debug):
    Precompiled headers:         YES
    Extra dependencies:          /usr/lib/aarch64-linux-gnu/libpng.so /usr/lib/aarch64-linux-gnu/libz.so gthread-2.0 gstvideo-1.0 gstapp-1.0 gstbase-1.0 gstriff-1.0 gstpbutils-1.0 gstreamer-1.0 gobject-2.0 glib-2.0 dl m pthread rt cudart nppc nppi npps cufft -L/usr/local/cuda-8.0/lib64
    3rdparty dependencies:       libjpeg libwebp libtiff libjasper IlmImf

  OpenCV modules:
    To be built:                 cudev core cudaarithm flann imgproc ml video cudabgsegm cudafilters cudaimgproc cudawarping imgcodecs photo shape videoio cudacodec highgui objdetect ts features2d calib3d cudafeatures2d cudalegacy cudaobjdetect cudaoptflow cudastereo stitching superres videostab
    Disabled:                    world
    Disabled by dependency:      -
    Unavailable:                 java python2 python3 viz

  GUI: 
    QT:                          NO
    GTK+:                        NO
    GThread :                    YES (ver 2.48.1)
    GtkGlExt:                    NO
    OpenGL support:              NO
    VTK support:                 NO

  Media I/O: 
    ZLib:                        /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.8)
    JPEG:                        libjpeg (ver 90)
    WEBP:                        build (ver 0.3.1)
    PNG:                         /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.2.54)
    TIFF:                        build (ver 42 - 4.0.2)
    JPEG 2000:                   build (ver 1.900.1)
    OpenEXR:                     build (ver 1.7.1)
    GDAL:                        NO

  Video I/O:
    DC1394 1.x:                  NO
    DC1394 2.x:                  NO
    FFMPEG:                      NO
      codec:                     NO
      format:                    NO
      util:                      NO
      swscale:                   NO
      resample:                  NO
      gentoo-style:              NO
    GStreamer:                   
      base:                      YES (ver 1.8.2)
      video:                     YES (ver 1.8.2)
      app:                       YES (ver 1.8.2)
      riff:                      YES (ver 1.8.2)
      pbutils:                   YES (ver 1.8.2)
    OpenNI:                      NO
    OpenNI PrimeSensor Modules:  NO
    OpenNI2:                     NO
    PvAPI:                       NO
    GigEVisionSDK:               NO
    UniCap:                      NO
    UniCap ucil:                 NO
    V4L/V4L2:                    NO/YES
    XIMEA:                       NO
    Xine:                        NO
    gPhoto2:                     NO

  Parallel framework:            pthreads

  Other third-party libraries:
    Use IPP:                     NO
    Use VA:                      NO
    Use Intel VA-API/OpenCL:     NO
    Use Eigen:                   YES (ver 3.2.92)
    Use Cuda:                    YES (ver 8.0)
    Use OpenCL:                  YES
    Use custom HAL:              NO

  NVIDIA CUDA
    Use CUFFT:                   YES
    Use CUBLAS:                  NO
    USE NVCUVID:                 NO
    NVIDIA GPU arch:             53
    NVIDIA PTX archs:
    Use fast math:               NO

  OpenCL:
    Version:                     dynamic
    Include path:                /home/ubuntu/opencv-fork/3rdparty/include/opencl/1.2
    Use AMDFFT:                  NO
    Use AMDBLAS:                 NO

  Python 2:
    Interpreter:                 /usr/bin/python2.7 (ver 2.7.12)

  Python 3:
    Interpreter:                 /usr/bin/python3 (ver 3.5.2)

  Python (for build):            /usr/bin/python2.7

  Java:
    ant:                         NO
    JNI:                         NO
    Java wrappers:               NO
    Java tests:                  NO

  Matlab:                        Matlab not found or implicitly disabled

  Documentation:
    Doxygen:                     NO
    PlantUML:                    NO

  Tests and samples:
    Tests:                       YES
    Performance tests:           YES
    C/C++ Examples:              NO

  Install path:                  /usr/local

  cvconfig.h is in:              /home/ubuntu/opencv-fork/build
-----------------------------------------------------------------
↑

ビルドされたライブラリや実行ファイル †

  • TBW
↑

performance †

  • TBW
↑

関連ページ †
*1  Tomoaki Teshimaさんのツイート: "CUDA 7.5 でGraphCutがdeprecatedになり..., 2016-10-04公開, 2016-10-26閲覧
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Last-modified: 2017-08-24 (木) 10:00:17 (3h)