[[Jetson TK1でOpenCV3.1.0をビルド]]
#contents

*概要 [#n31d02c7]
-[[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 [#sd5f12b1]
-Jetson TX1
-L4T (Ubuntu 16.04をベースにしたもの)
-ARM Cortex A57
-Arm Cortex A57
-Tegra X1 (256 core)
-cmake 3.5.1
-CUDA 8.0

*OpenCV の取得 [#d181e443]
-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 [#rd081e53]
-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>https://twitter.com/tomoaki_teshima/status/783097097071435777]]&note{twitter-tomoaki-teshima-opencv310-cuda80:[[Tomoaki Teshimaさんのツイート: "CUDA 7.5 でGraphCutがdeprecatedになり...>https://twitter.com/tomoaki_teshima/status/783097097071435777]], 2016-10-04公開, 2016-10-26閲覧};
-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
#geshi(c++){{
 -#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)
 +#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER) || (CUDART_VERSION >= 8000)
}}

*OpenCV3.1.0のビルド [#f2c02faa]
-cmakeとmakeする
-cmakeのfull logは[[こちら>https://gist.github.com/tomoaki0705/e639c2f9bd8b4bd277910cf3daf6cbbe]]
-make allのfull logは[[こちら>https://gist.github.com/tomoaki0705/05f0502b7ed7c6e340748e8d9e1b082f]]
**cmake [#ya471945]
-[[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 [#t3a2f8b0]
-ARMの4coreをフルに使う
-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 [#ufa17ae8]
**cvconfig.h [#f00d1fb2]
#geshi(c++){{
/* 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 [#q12dad2a]
-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 [#m8dc987b]
-TBW

*performance [#l2fb0abe]
-TBW

*関連ページ [#jf4c78b6]
-[[:OpenCV]]
-[[:OpenCV 3.0]]
-[[:OpenCV 3.1]]
-[[Jetson TK1]]
-[[Jetson TK1でOpenCV3.0.0-beta]]
-[[Jetson TK1でOpenCV3.0.0]]
-[[Jetson TK1でOpenCV3.1.0をビルド]]

-[[Arm]]

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