How to Install OpenCV (3.4.0) on Jetson TX2

2018-01-29 update: 1. Updated to opencv-3.4.0; 2. Added more apt package clean-up steps at the beginning; 3. Using Qt/OpenGL backend instead of GTK+ (this resolves the ‘protobuf double free’ issue for caffe: reference); 4. Install python3/python2 ‘matplotlib’ before building opencv (this is recommended by opencv’s official documentation).

2017-10-20 update: I added installation steps for python2, as well as the resulting cmake configuration on my Jetson TX2.

When I started programming with python3 on Jetson TX2, I found that “import cv2” did not work. It appeared that the pre-installed OpenCV4Tegra ( only provided bindings for python2.7. After some research, I found the recommended solution to this problem was to re-compile OpenCV.

I was kind of reluctant to remove OpenCV4Tegra and re-build OpenCV by myself. But anyway I finally decided to do it. I documented the procedure below.


  • Complete installation of JetPack-3.1 on the target Jetson TX2.


Installation Steps:

Note that opencv_contrib modules (cnn/dnn stuffs) would cause problem on pycaffe, so after some experiments I decided not to include those modules at all.

### Remove OpenCV4Tegra
$ sudo apt-get purge libopencv4tegra-python libopencv4tegra-dev \
$ sudo apt-get purge libopencv4tegra-repo
### I prefer using newer version of numpy (installed with pip), so
### I'd remove this python-numpy apt package as well
$ sudo apt-get purge python-numpy
### Remove other unused apt packages
$ sudo apt autoremove
### Upgrade all installed apt packages to the latest versions (optional)
$ sudo apt-get update
$ sudo apt-get upgrade
### Update gcc apt package to the latest version (highly recommended)
$ sudo apt-get install --only-upgrade g++-5 cpp-5 gcc-5
### Install dependencies based on the Jetson Installing OpenCV Guide
$ 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
### Install dependencies for gstreamer stuffs
$ sudo apt-get install libdc1394-22-dev libxine2-dev \
                       libgstreamer1.0-dev \
### Install additional dependencies according to the pyimageresearch
### article
$ 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
### Install Qt5 dependencies
$ sudo apt-get install qt5-default
### Install dependencies for python3
$ sudo apt-get install python3-dev python3-pip python3-tk
$ sudo pip3 install numpy
$ sudo pip3 install matplotlib
### Modify matplotlibrc (line #41) as 'backend      : TkAgg'
$ sudo vim /usr/local/lib/python3.5/dist-packages/matplotlib/mpl-data/matplotlibrc
### Also install dependencies for python2
### Note that I install numpy with pip, so that I'd be using a newer
### version of numpy than the apt-get package
$ sudo apt-get install python-dev python-pip python-tk
$ sudo pip2 install numpy
$ sudo pip2 install matplotlib
### Modify matplotlibrc (line #41) as 'backend      : TkAgg'
$ sudo vim /usr/local/lib/python2.7/dist-packages/matplotlib/mpl-data/matplotlibrc
### Download opencv-3.4.0 source code
$ mkdir -p ~/src
$ cd ~/src
$ wget \
$ unzip
### Apply the following patch to fix the opengl compilation problems
### Or more specifically, comment out lines #62~66 and line #68 in
### the following .h file. And then fix the symbolic link of
$ sudo vim /usr/local/cuda-8.0/include/cuda_gl_interop.h
$ cd /usr/lib/aarch64-linux-gnu/
$ sudo ln -sf tegra/
### Build opencv (CUDA_ARCH_BIN="6.2" for TX2, or "5.3" for TX1)
$ cd ~/src/opencv-3.4.0
$ mkdir build
$ cd build
$ make -j4
$ sudo make install

Just for reference, here’s the resulting OpenCV 3.4.0 cmake configuration for my Jetson TX2 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/ /usr/lib/aarch64-linux-gnu/ 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/ /usr/lib/aarch64-linux-gnu/
--     VTK support:                 NO
--   Media I/O: 
--     ZLib:                        /usr/lib/aarch64-linux-gnu/ (ver 1.2.8)
--     JPEG:                        /usr/lib/aarch64-linux-gnu/ (ver )
--     WEBP:                        build (ver encoder: 0x020e)
--     PNG:                         /usr/lib/aarch64-linux-gnu/ (ver 1.2.54)
--     TIFF:                        /usr/lib/aarch64-linux-gnu/ (ver 42 / 4.0.6)
--     JPEG 2000:                   /usr/lib/aarch64-linux-gnu/ (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/ (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/ (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

To verify the installation:

$ ls /usr/local/lib/python3.5/dist-packages/cv2.*
$ ls /use/local/lib/python2.7/dist-packages/cv2.*
$ python3 -c 'import cv2; print(cv2.__version__)'
$ python2 -c 'import cv2; print(cv2.__version__)'


With OpenCV 3.4.0 properly installed on your Jetson TX2, you should be able to use python code to capture and display live video from either the Jetson onboard camera, a USB webcam or a IP CAM. Just follow along this later post by myself: How to Capture and Display Camera Video with Python on Jetson TX2.

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