绝大部分参考https://blog.csdn.net/qq_41336087/article/details/129661850安装完JetPack大部分环境就安装好了非orin可以参考https://blog.csdn.net/JineD/article/details/131201121报错显卡驱动安装535没法安装、原始是和l4t-cuda的部分文件冲突Options marked [*] produce a lot of output - pipe it through ‘less’ or‘more’ ! nvidianvidia-desktop:/var/cache/apt/archives$ sudo dpkg -i–force-overwrite libnvidia-compute-535_535.171.04-0ubuntu0.20.04.1_arm64.deb (Readingdatabase … 255446 files and directories currently installed.)Preparing to unpacklibnvidia-compute-535_535.171.04-0ubuntu0.20.04.1_arm64.deb …Unpacking libnvidia-compute-535:arm64 (535.171.04-0ubuntu0.20.04.1)… dpkg: warning: overriding problem because --force enabled: dpkg:warning: trying to overwrite ‘/usr/lib/aarch64-linux-gnu/libcuda.so’,which is also in package nvidia-l4t-cuda 35.4.1-20230801124926 Settingup libnvidia-compute-535:arm64 (535.171.04-0ubuntu0.20.04.1) …Processing triggers for libc-bin (2.31-0ubuntu9.9) …nvidianvidia-desktop:/var/cache/apt/archives$ sudo dpkg -i–force-overwrite nvidia-utils-535_535.171.04-0ubuntu0.20.04.1_arm64.deb (Readingdatabase … 255467 files and directories currently installed.)Preparing to unpacknvidia-utils-535_535.171.04-0ubuntu0.20.04.1_arm64.deb … Unpackingnvidia-utils-535 (535.171.04-0ubuntu0.20.04.1) over(535.171.04-0ubuntu0.20.04.1) … Setting up nvidia-utils-535(535.171.04-0ubuntu0.20.04.1) … Processing triggers for man-db(2.9.1-1) … nvidianvidia-desktop:/var/cache/apt/archives$ sudo dpkg-i --force-overwrite libnvidia-extra-535_535.171.04-0ubuntu0.20.04.1_arm64.deb (Readingdatabase … 255467 files and directories currently installed.)Preparing to unpacklibnvidia-extra-535_535.171.04-0ubuntu0.20.04.1_arm64.deb …Unpacking libnvidia-extra-535:arm64 (535.171.04-0ubuntu0.20.04.1) …dpkg: warning: overriding problem because --force enabled: dpkg:warning: trying to overwrite‘/usr/lib/aarch64-linux-gnu/gbm/nvidia-drm_gbm.so’, which is also inpackage nvidia-l4t-gbm 35.4.1-20230801124926 Setting uplibnvidia-extra-535:arm64 (535.171.04-0ubuntu0.20.04.1) … Processingtriggers for libc-bin (2.31-0ubuntu9.9) …nvidianvidia-desktop:/var/cache/apt/archives$ sudo dpkg -i–force-overwrite libnvidia-gl-535_535.171.04-0ubuntu0.20.04.1_arm64.deb (Readingdatabase … 255473 files and directories currently installed.)Preparing to unpacklibnvidia-gl-535_535.171.04-0ubuntu0.20.04.1_arm64.deb … Unpackinglibnvidia-gl-535:arm64 (535.171.04-0ubuntu0.20.04.1) … dpkg:warning: overriding problem because --force enabled: dpkg: warning:trying to overwrite ‘/usr/share/glvnd/egl_vendor.d/10_nvidia.json’,which is also in package nvidia-l4t-3d-core 35.4.1-20230801124926直接覆写sudo dpkg -i --force-overwrite /var/cache/apt/archives/nvidia-340_340.107-0ubuntu0~gpu18.04.1_amd64.deb//注意最后 /var…amd64.deb 部分是你报错误的文件路径名称参考https://www.cnblogs.com/xingboy/p/15770950.htmlpytorch必须要用特殊版本参考https://blog.csdn.net/qq_44235661/article/details/134105151http://t.csdnimg.cn/Bq4o1链接https://pan.baidu.com/s/1bvYujHmJFkGCztC_ymcDFw提取码eqeqonnx安装失败:cmake版本不对参考https://blog.csdn.net/qq_40541102/article/details/130086491ONNX_Runtime下载地址https://elinux.org/Jetson_Zoo#ONNX_Runtime找对应版本1.12参考https://blog.csdn.net/pvmsmfchcs/article/details/134694477onnxruntime-gpu https://zhuanlan.zhihu.com/p/661511110https://www.cnblogs.com/shaoxx333/p/17044934.html#_label1opencv安装完jetpack后绝大部分环境已经存在了包括opencv但是其版本为no cuda.卸载原有OpenCVsudoaptpurge libopencv*sudoaptautoremovesudoaptupdate2.安装OpenCV依赖项sudoapt-getinstallbuild-essential\libavcodec-dev\libavformat-dev\libavutil-dev\libeigen3-dev\libglew-dev\libgtk2.0-dev\libgtk-3-dev\libjpeg-dev\libpostproc-dev\libswscale-dev\libtbb-dev\libtiff5-dev\libv4l-dev\libxvidcore-dev\libx264-dev\qt5-default\zlib1g-dev\libavresample-dev\gstreamer1.0-plugins-bad\pkg-config3.下载源文件下载opencv 以及相应的扩展 opencv_contrib 解压并移动到/usr/lib路径下两个文件夹并列,根据你的版本号来下载对应的opencv和opencv contrib比如我需要4.5.4就把github链接的后缀对应修改记得两个版本一定要一致https://github.com/opencv/opencv/tree/4.5.4https://kkgithub.com/opencv/opencv_contrib/tree/4.5.44.编译进入opencv4.5.4文件夹中mkdir build cd buildcmake-DCMAKE_BUILD_TYPERELEASE..\-DCMAKE_INSTALL_PREFIX/usr/local/\-DOPENCV_EXTRA_MODULES_PATH../../opencv_contrib-4.5.4/modules\-DWITH_CUDAON\-DCUDA_ARCH_BIN8.7\-DCUDA_ARCH_PTX8.7\-DBUILD_opencv_python3ON\-DENABLE_FAST_MATHON\-DCUDA_FAST_MATHON\-DWITH_CUBLASON\-DWITH_OPENGLON\-DWITH_LIBV4LON\-DWITH_GSTREAMERON\-DWITH_GSTREAMER_0_10OFF\-DWITH_QTON\-DCUDA_NVCC_FLAGS--expt-relaxed-constexpr\-DWITH_TBBON\-DOPENCV_GENERATE_PKGCONFIGON\-DWITH_GTK_2_XON\或者是cd ~/opencv-4.5.4-src/buildrm -rf *cmake -D CMAKE_BUILD_TYPERELEASE-D CMAKE_INSTALL_PREFIX/usr/local-D OPENCV_EXTRA_MODULES_PATH/home/nvidia/opencv_contrib-4.5.4-src/modules-D WITH_CUDAON-D WITH_CUDNNON-D CUDA_ARCH_BIN8.7-D CUDA_ARCH_PTX8.7-D CUDA_FAST_MATHON-D WITH_CUBLASON-D WITH_V4LON-D WITH_GSTREAMERON-D BUILD_opencv_python3ON-D BUILD_EXAMPLESOFF-D OPENCV_GENERATE_PKGCONFIGON-D WITH_VTKOFF-D BUILD_opencv_vizOFF-D BUILD_opencv_sfmOFF-D BUILD_opencv_hdfOFF-D BUILD_opencv_stitchingOFF-D BUILD_opencv_superresOFF-D BUILD_opencv_wechat_qrcodeOFF-D BUILD_opencv_xfeatures2dOFF-D BUILD_opencv_faceOFF-D BUILD_opencv_cudaoptflowOFF-D CMAKE_POLICY_VERSION_MINIMUM3.5-D OPENCV_ENABLE_NONFREEON-D WITH_QTOFF-D WITH_GTKON…检查配置结果if [ $? -eq 0 ]; thenecho “echo “CMake 配置成功”echo ”grep CUDA_ARCH CMakeCache.txtecho “”echo “开始编译… (这可能需要 30-60 分钟)”make -j6elseecho “CMake 配置失败请检查错误信息”fi5.安装sudo make installsudo ldconfig6.环境配置OpenCV系统环境配置1、运行sudo vim /etc/ld.so.conf.d/opencv.conf后 在末尾添加 “/usr/local/lib”2.运行 sudo ldconfig命令更新系统库缓存3.运行 sudo vim /etc/bash.bashrc后在文末添加PKG_CONFIG_PATH$PKG_CONFIG_PATH:/usr/local/lib/pkgconfigexportPKG_CONFIG_PATH4、source /etc/bash.bashrc参考https://blog.csdn.net/weixin_44604409/article/details/135607879https://blog.csdn.net/weixin_46747526/article/details/143210515?ops_request_miscrequest_idbiz_id102utm_termopencv%E5%AE%89%E8%A3%85%E6%95%99%E7%A8%8B%20orinutm_mediumdistribute.pc_search_result.none-task-blog-2allsobaiduwebdefault-0-143210515.142^v102^controlamp;spm1018.2226.3001.4187https://blog.csdn.net/weixin_46747526/article/details/143210515?ops_request_miscamp;request_idamp;biz_id102amp;utm_termopencv%E5%AE%89%E8%A3%85%E6%95%99%E7%A8%8B%20orinamp;utm_mediumdistribute.pc_search_result.none-task-blog-2allsobaiduwebdefault-0-143210515.142v102controlspm1018.2226.3001.4187当前系统环境版本action-tutorials-py 0.9.4ament-clang-format 0.9.8ament-copyright 0.9.8ament-cppcheck 0.9.8ament-cpplint 0.9.8ament-flake8 0.9.8ament-index-python 1.1.0ament-lint 0.9.8ament-lint-cmake 0.9.8ament-package 0.9.5ament-pep257 0.9.8ament-uncrustify 0.9.8ament-xmllint 0.9.8apt-clone 0.2.1apturl 0.5.2argcomplete 3.2.1atomicwrites 1.1.5attrs 19.3.0autobahn 17.10.1Automat 0.8.0bcrypt 3.1.7beautifulsoup4 4.8.2blinker 1.4Brlapi 0.7.0catkin-pkg-modules 1.0.0cbor 1.0.0certifi 2019.11.28cfgv 3.4.0chardet 3.0.4charset-normalizer 3.3.2clang-format 14.0.6Click 7.0cmake 3.27.5colcon-argcomplete 0.3.3colcon-bash 0.5.0colcon-cd 0.1.1colcon-cmake 0.2.28colcon-common-extensions 0.3.0colcon-core 0.15.0colcon-defaults 0.2.8colcon-devtools 0.2.4colcon-installed-package-information 0.1.0colcon-library-path 0.2.1colcon-metadata 0.2.5colcon-mixin 0.2.3colcon-notification 0.2.15colcon-output 0.2.13colcon-override-check 0.0.1colcon-package-information 0.3.3colcon-package-selection 0.2.10colcon-parallel-executor 0.3.0colcon-pkg-config 0.1.0colcon-powershell 0.4.0colcon-python-setup-py 0.2.8colcon-recursive-crawl 0.2.3colcon-ros 0.4.1colcon-test-result 0.3.8colcon-zsh 0.5.0colorama 0.4.3coloredlogs 15.0.1constantly 15.1.0contourpy 1.1.1cov-core 1.15.0coverage 4.5.2cryptography 2.8cupshelpers 1.0cycler 0.10.0Cython 3.0.10dbus-python 1.2.16decorator 4.4.2defer 1.0.6demo-nodes-py 0.9.4distlib 0.3.8distro 1.4.0distro-info 0.23ubuntu1.1docutils 0.16domain-coordinator 0.9.2duplicity 0.8.12.0empy 3.3.2entrypoints 0.3examples-rclpy-executors 0.9.4examples-rclpy-minimal-action-client 0.9.4examples-rclpy-minimal-action-server 0.9.4examples-rclpy-minimal-client 0.9.4examples-rclpy-minimal-publisher 0.9.4examples-rclpy-minimal-service 0.9.4examples-rclpy-minimal-subscriber 0.9.4exceptiongroup 1.2.0fasteners 0.14.1filelock 3.13.1flake8 3.7.9flake8-blind-except 0.2.1flake8-builtins 2.2.0flake8-class-newline 1.6.0flake8-comprehensions 3.14.0flake8-deprecated 2.2.1flake8-docstrings 1.7.0flake8-import-order 0.18.2flake8-quotes 3.3.2flatbuffers 24.3.25fonttools 4.45.1future 0.18.2gdown 5.0.0gitdb 4.0.11GitPython 3.1.40graphsurgeon 0.4.6html5lib 1.0.1httplib2 0.14.0humanfriendly 10.0hyperlink 19.0.0identify 2.5.33idna 2.8ifcfg 0.18importlib-metadata 1.5.0importlib-resources 6.1.1incremental 16.10.1iniconfig 2.0.0jetson-stats 4.2.3Jetson.GPIO 2.0.20joblib 1.3.2keyring 18.0.1kiwisolver 1.0.1language-selector 0.1lap 0.4.0lapx 0.5.9lark-parser 0.8.1launch 0.10.10launch-ros 0.11.7launch-testing 0.10.10launch-testing-ros 0.11.7launch-xml 0.10.10launch-yaml 0.10.10launchpadlib 1.10.13lazr.restfulclient 0.14.2lazr.uri 1.0.3lockfile 0.12.2louis 3.12.0lxml 4.5.0lz4 3.0.2dfsgmacaroonbakery 1.3.1Mako 1.1.0markdown-it-py 3.0.0MarkupSafe 1.1.0matplotlib 3.7.4mccabe 0.6.1mdurl 0.1.2mock 3.0.5monotonic 1.5more-itertools 4.2.0mpi4py 3.0.3mpmath 1.3.0netifaces 0.10.4nodeenv 1.8.0nose2 0.9.1notify2 0.3numpy 1.24.4oauthlib 3.1.0olefile 0.46onboard 1.4.1onnx 1.16.1onnxruntime-gpu 1.12.1onnxsim 0.4.36opencv-python 4.6.0.66osrf-pycommon 0.1.11packaging 20.3PAM 0.4.2pandas 2.0.3paramiko 2.6.0pbr 6.0.0pexpect 4.6.0Pillow 10.1.0pip 20.0.2pipx 1.4.3platformdirs 4.1.0pluggy 0.13.0pre-commit 3.5.0protobuf 5.27.0psutil 5.9.6py 1.8.1py-cpuinfo 9.0.0py-ubjson 0.14.0pyasn1 0.4.2pyasn1-modules 0.2.1pycairo 1.16.2pycodestyle 2.5.0pycrypto 2.6.1pycups 1.9.73pydocstyle 2.1.1pydot 1.4.1pyflakes 2.1.1pygments 2.18.0PyGObject 3.36.0PyHamcrest 1.9.0PyICU 2.4.2PyJWT 1.7.1pymacaroons 0.13.0PyNaCl 1.3.0pyOpenSSL 19.0.0pyparsing 2.4.6pypng 0.0.20PyQRCode 1.2.1PyQt5 5.14.1pyRFC3339 1.1PySocks 1.7.1pytest 7.4.4pytest-cov 2.8.1pytest-repeat 0.9.3pytest-rerunfailures 13.0python-apt 2.0.1ubuntu0.20.4.1python-dateutil 2.8.2python-dbusmock 0.19python-debian 0.1.36ubuntu1.1python-snappy 0.5.3PyTrie 0.2pytz 2023.3.post1pyxdg 0.26PyYAML 5.3.1pyzed 4.0quality-of-service-demo-py 0.9.4rdp 0.8requests 2.31.0requests-unixsocket 0.2.0rich 13.7.1roman 2.0.0ros2action 0.9.13ros2bag 0.3.11ros2cli 0.9.13ros2component 0.9.13ros2doctor 0.9.13ros2interface 0.9.13ros2launch 0.11.7ros2lifecycle 0.9.13ros2multicast 0.9.13ros2node 0.9.13ros2param 0.9.13ros2pkg 0.9.13ros2run 0.9.13ros2service 0.9.13ros2topic 0.9.13rosdep 0.22.2rosdep-modules 0.22.2rosdepc 1.1.0rosdistro-modules 0.9.0rosidl-runtime-py 0.9.1rospkg-modules 1.5.0rpyutils 0.2.0rqt-action 1.0.2rqt-console 1.1.2rqt-graph 1.1.3rqt-gui 1.1.2rqt-gui-py 1.1.2rqt-msg 1.1.1rqt-plot 1.1.1rqt-publisher 1.3.0rqt-py-console 1.0.2rqt-reconfigure 1.0.8rqt-service-caller 1.0.5rqt-shell 1.0.2rqt-srv 1.0.3rqt-top 1.0.2rqt-topic 1.3.0scikit-learn 1.3.2scipy 1.10.1seaborn 0.13.0SecretStorage 2.3.1service-identity 18.1.0setuptools 69.0.3simplejson 3.16.0sip 4.19.21six 1.14.0smbus2 0.4.3smmap 5.0.1snowballstemmer 2.0.0soupsieve 1.9.5sros2 0.9.5sympy 1.12systemd-python 234teleop-twist-keyboard 2.3.2tensorrt 8.4.1.5testresources 2.0.1thop 0.1.1.post2209072238threadpoolctl 3.2.0tomli 2.0.1topic-monitor 0.9.4torch 1.12.0a02c916ef.nv22.3torchvision 0.13.0tqdm 4.66.1Twisted 18.9.0txaio 2.10.0typing-extensions 4.8.0tzdata 2023.3u-msgpack-python 2.1ubuntu-advantage-tools 8001ubuntu-drivers-common 0.0.0uff 0.6.9ultralytics 8.0.217urllib3 1.25.8urwid 2.0.1userpath 1.9.1vcstool 0.3.0virtualenv 20.25.0wadllib 1.3.3wcwidth 0.1.8webencodings 0.5.1wheel 0.34.2wsaccel 0.6.2xkit 0.0.0zipp 3.17.0zope.interface 4.7.1、