Install OpenCV and Tensorflow on Jetson TX1 and Jetson TX2

This blog explains, how to install OpenCV on Jetson TX1 and Jetson TX2 in python 2 and python3.

My Jetson:
Jetson version : TX1
OS Version : Ubuntu 16.04
Cuda : 9.0
Install OpenCV Version : 3.4.0
Install Tensorflow Version : 1.11(stable)

I am using Jetson TX1 and it has only 16 gb internal storage. Once you install Cuda onJetson TX1, it has only 5–6 gb of space. But the required space to install opencv on jetson tx1 is min 3 gb. So i have to move the installing process for opencv to an external SD card. If your SD card has ext files system, then you can follow the installing opencv steps. Otherwise you can make your SD card to ext file format. The Jetson TX2 has 32 gb space, so an external sd card may not be needed. But if you use an external SD card, please change your SD card file type as ext not fat.

Create test.txt
$ echo “hello” >> test.txt
$ cd < go to your sd card >
$ ln -s ~/test.txt test.txt
(If error comes, you can change your SD card file type)

Installing OpenCV:

### Upgrade all installed apt packages to the latest versions 
$ sudo apt-add-repository universe
$ sudo apt-get update
$ sudo apt-get dist-upgrade

$ sudo apt-get install --only-upgrade g++-5 cpp-5 gcc-5
$ sudo apt-get install -y \
libjpeg-dev \
libpostproc-dev \
libtbb-dev \
zlib1g-dev \
pkg-config
$ sudo apt-get install build-essential make cmake cmake-curses-gui \
g++ libavformat-dev libavutil-dev \
libswscale-dev libv4l-dev libeigen3-dev \
libglew-dev libgtk2.0-dev

$ sudo apt-get install libdc1394-22-dev libxine2-dev \
libgstreamer1.0-dev \
libgstreamer-plugins-base1.0-dev

$ sudo apt-get install libjpeg8-dev libjpeg-turbo8-dev libtiff5-dev \
libjasper-dev libpng12-dev libavcodec-dev
$ sudo apt-get install libxvidcore-dev libx264-dev libgtk-3-dev \
libatlas-base-dev gfortran
$ sudo apt-get install libopenblas-dev liblapack-dev liblapacke-dev

$ sudo apt-get install qt5-default

$ sudo apt-get install python3-dev python3-pip python3-tk
$ sudo pip3 install numpy
$ sudo apt-get install python-dev python-pip python-tk
$ sudo pip2 install numpy

Before downloading and building opencv-3.4.0, I’d first do some modifications according to this post, in order to fix OpenGL related compilation problems . More specifically, I’d modify /usr/local/cuda/include/cuda_gl_interop.h and fix the symbolic link of libGL.so.

cd /usr/lib/aarch64-linux-gnu/
$ sudo ln -sf tegra/libGL.so libGL.so
$ sudo vim /usr/local/cuda/include/cuda_gl_interop.h

Here’s how the relevant lines (line #62~68) of cuda_gl_interop.h look like after the modification.

//#if defined(__arm__) || defined(__aarch64__)
//#ifndef GL_VERSION
//#error Please include the appropriate gl headers before including cuda_gl_interop.h
//#endif
//#else
#include <GL/gl.h>
//#endif

Next, download opencv-3.4.0 source code, cmake and compile.

### Download opencv-3.4.0 source code
$ cd < your sd card path >
$ wget https://github.com/opencv/opencv/archive/3.4.0.zip \
-O opencv-3.4.0.zip
$ unzip opencv-3.4.0.zip

Note : Build opencv (CUDA_ARCH_BIN=”6.2" for TX2, or “5.3” for TX1)

$ cd opencv-3.4.0
$ mkdir build
$ cd build
$ cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local \
-D WITH_CUDA=ON -D CUDA_ARCH_BIN="5.3" -D CUDA_ARCH_PTX="" \
-D WITH_CUBLAS=ON -D ENABLE_FAST_MATH=ON -D CUDA_FAST_MATH=ON \
-D ENABLE_NEON=ON -D WITH_LIBV4L=ON -D BUILD_TESTS=OFF \
-D BUILD_PERF_TESTS=OFF -D BUILD_EXAMPLES=OFF \
-D WITH_QT=ON -D WITH_OPENGL=ON ..

Just for reference, here’s the resulting opencv-3.4.0 cmake configuration for my Jetson TX1 system.

-- General configuration for OpenCV 3.4.0 =====================================
-- Version control: unknown
--
-- Platform:
-- Timestamp: 2018-01-29T07:58:45Z
-- Host: Linux 4.4.38-tegra aarch64
-- CMake: 3.5.1
-- CMake generator: Unix Makefiles
-- CMake build tool: /usr/bin/make
-- Configuration: RELEASE
--
-- CPU/HW features:
-- Baseline: NEON FP16
-- required: NEON
-- disabled: VFPV3
--
-- 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 -Wuninitialized -Winit-self -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-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 -Wuninitialized -Winit-self -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-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 -Wuninitialized -Winit-self -Wno-narrowing -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-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 -Wuninitialized -Winit-self -Wno-narrowing -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -g -O0 -DDEBUG -D_DEBUG
-- Linker flags (Release):
-- Linker flags (Debug):
-- ccache: NO
-- Precompiled headers: YES
-- Extra dependencies: dl m pthread rt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGL.so cudart nppc nppial nppicc nppicom nppidei nppif nppig nppim nppist nppisu nppitc npps cublas cufft -L/usr/local/cuda-8.0/lib64
-- 3rdparty dependencies:
--
-- OpenCV modules:
-- To be built: calib3d core cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev dnn features2d flann highgui imgcodecs imgproc ml objdetect photo python2 python3 python_bindings_generator shape stitching superres video videoio videostab
-- Disabled: js world
-- Disabled by dependency: -
-- Unavailable: java ts viz
-- Applications: apps
-- Documentation: NO
-- Non-free algorithms: NO
--
-- GUI:
-- QT: YES (ver 5.5.1)
-- QT OpenGL support: YES (Qt5::OpenGL 5.5.1)
-- GTK+: NO
-- OpenGL support: YES (/usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGL.so)
-- VTK support: NO
--
-- Media I/O:
-- ZLib: /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.8)
-- JPEG: /usr/lib/aarch64-linux-gnu/libjpeg.so (ver )
-- WEBP: build (ver encoder: 0x020e)
-- PNG: /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.2.54)
-- TIFF: /usr/lib/aarch64-linux-gnu/libtiff.so (ver 42 / 4.0.6)
-- JPEG 2000: /usr/lib/aarch64-linux-gnu/libjasper.so (ver 1.900.1)
-- OpenEXR: build (ver 1.7.1)
--
-- Video I/O:
-- DC1394: YES (ver 2.2.4)
-- FFMPEG: YES
-- avcodec: YES (ver 56.60.100)
-- avformat: YES (ver 56.40.101)
-- avutil: YES (ver 54.31.100)
-- swscale: YES (ver 3.1.101)
-- avresample: NO
-- GStreamer:
-- base: YES (ver 1.8.3)
-- video: YES (ver 1.8.3)
-- app: YES (ver 1.8.3)
-- riff: YES (ver 1.8.3)
-- pbutils: YES (ver 1.8.3)
-- libv4l/libv4l2: 1.10.0 / 1.10.0
-- v4l/v4l2: linux/videodev2.h
-- gPhoto2: NO
--
-- Parallel framework: pthreads
--
-- Trace: YES (built-in)
--
-- Other third-party libraries:
-- Lapack: NO
-- Eigen: YES (ver 3.2.92)
-- Custom HAL: YES (carotene (ver 0.0.1))
--
-- NVIDIA CUDA: YES (ver 8.0, CUFFT CUBLAS FAST_MATH)
-- NVIDIA GPU arch: 62
-- NVIDIA PTX archs:
--
-- OpenCL: YES (no extra features)
-- Include path: /home/nvidia/src/opencv-3.4.0/3rdparty/include/opencl/1.2
-- Link libraries: Dynamic load
--
-- Python 2:
-- Interpreter: /usr/bin/python2.7 (ver 2.7.12)
-- Libraries: /usr/lib/aarch64-linux-gnu/libpython2.7.so (ver 2.7.12)
-- numpy: /usr/local/lib/python2.7/dist-packages/numpy/core/include (ver 1.14.0)
-- packages path: lib/python2.7/dist-packages
--
-- Python 3:
-- Interpreter: /usr/bin/python3 (ver 3.5.2)
-- Libraries: /usr/lib/aarch64-linux-gnu/libpython3.5m.so (ver 3.5.2)
-- numpy: /usr/local/lib/python3.5/dist-packages/numpy/core/include (ver 1.14.0)
-- packages path: lib/python3.5/dist-packages

--
-- Python (for build): /usr/bin/python2.7
--
-- Java:
-- ant: NO
-- JNI: NO
-- Java wrappers: NO
-- Java tests: NO
--
-- Matlab: NO
--
-- Install to: /usr/local
-- -----------------------------------------------------------------
--
-- Configuring done
-- Generating done
-- Build files have been written to: /home/nvidia/src/opencv-3.4.0/build
$ make -j4
$ sudo make install

To verify the installation:

$ ls /usr/local/lib/python3.5/dist-packages/cv2.*
/usr/local/lib/python3.5/dist-packages/cv2.cpython-35m-aarch64-linux-gnu.so
$ ls /usr/local/lib/python2.7/dist-packages/cv2.*
/use/local/lib/python2.7/dist-packages/cv2.so
$ python3 -c 'import cv2; print(cv2.__version__)'
3.4.0
$ python2 -c 'import cv2; print(cv2.__version__)'
3.4.0

Live Camera Example with OpenCV click here.

Successfully installed Opencv on Jetson

Installing Tensorflow(1.11):

$ sudo apt-get update
$ sudo apt-get install libhdf5-dev

You can download tensorflow with both python2 and 3 here.

Python 2.7:

$ pip install h5py
$ pip install < tensorflow wheel file >

Python 3.5:

$ pip3 install h5py
$ pip3 install < tensorflow wheel file >

To verify the installation:

Python 2:

$ python
Python 2.7.12 (default, Dec 4 2017, 14:50:18)
[GCC 5.4.0 20160609] on linux2
Type “help”, “copyright”, “credits” or “license” for more information.
>>>import tensorflow as tf
>>>

Python 3:

$ python3
Python 3.5.2 (default, Nov 23 2017, 16:37:01)
[GCC 5.4.0 20160609] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>>import tensorflow as tf
>>>

Successfully installed tensorflow on jetson.

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