Build and Install OpenCV 4.5.3 with CUDA 6.5 Enable on Jetson TK1

After previously we are successfully upgrade Ubuntu 14.04 to Ubuntu 16.04 on Jetson TK1 in here. I want to show you how to build OpenCV 4.5.3 (latest version when this tutorial created) with CUDA 6.5 enable. Just imagine a lot of new OpenCV feature that potentially able to run on top of Jetson TK1, like G-API, newer OpenCV DNN, newer CUDA module, etc.

Sadly, we can’t use OpenCV DNN with backend CUDA which requires cuDNN 7.5 or higher (last version cuDNN supported in Jetson TK1 in version 2.0). In addition some modules need to be turned off like cudastereo, cudaimproc and apps. But the rest of remaining feature still available to use.

Prerequisites

• Upgrade your Jetson TK1 to Ubuntu 16.04 by following this tutorial,

Jetson TK1 Upgrade OS to Ubuntu 16.04

• Ensure you can compile CUDA program using nvcc by following this tutorial,

Jetson TK1 Use CUDA 6.5 After Upgrade to Ubuntu 16.04

• [Optional] Install OpenCL 1.2 (via PoCL 1.3) on Jetson TK1 by following this tutorial,

Install OpenCL in Jetson TK1

• [Optional] Install Ceres-Solver 2.0.0 + Eigen 3.3 on Jetson TK1 by following this tutorial,

Jetson TK1 Install Ceres Solver 2.0.0

• Remove all old opencv installed by JetPack (OpenCV4Tegra),

sudo apt-get purge libopencv*
sudo apt-get autoremove

Download & Build OpenCV 4.5.3

• Download this script as build_opencv_4.5.3.sh,

• Then run on Jetson TK1 terminal,

cd ~
sudo chmod +x build_opencv_4.5.3.sh
./build_opencv_4.5.3.sh

• Build process will take several hours to complete,

OpenCV 4.5.3 build process in Jetson TK1 (Ubuntu 16.04)

• Above script will automatically installing dependency libraries, configuring OpenCV using cmake, building & installing.
• If you take a look into above cmake configuration on script, beside using CUDA, there is also use TBB for threading, OpenCL (quite useful if you want to use T-API in OpenCV), BLAS package (OpenBLAS, LAPACK, etc.), gstreamer , etc.

Troubleshooting Note

• If you are experiencing with this error,

Linking CXX executable ../../bin/opencv_version ../../lib/libopencv_core.so.4.5.3: undefined reference to "cv::erro(..."

• Just download opencv_version and other file form this drive,

OpenCV 4.5.3 apps version binary - Jetson TK1 Ubuntu 16.04 - Google Drive

• Then copying all that file into build_opencv/opnecv/build/bin/ directories in Jetson TK1.

Reference :

• https://yunusmuhammad007.medium.com/build-install-opencv3-4-5-cuda-enable-on-jetson-tk1-from-source-ca9d9b4ced66
• https://jkjung-avt.github.io/opencv3-on-tx2/