用于RM视觉开发的NX Ubuntu环境配置

为ubuntu18.04换源

sudo gedit /etc/apt/sources.list

（以下为相关源ubuntu18.04  arm版本，nx可直接使用）

#阿里源deb http://mirrors.aliyun.com/ubuntu-ports/ bionic main restricted universe multiversedeb-src http://mirrors.aliyun.com/ubuntu-ports/ bionic main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu-ports/ bionic-security main restricted universe multiversedeb-src http://mirrors.aliyun.com/ubuntu-ports/ bionic-security main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu-ports/ bionic-updates main restricted universe multiversedeb-src http://mirrors.aliyun.com/ubuntu-ports/ bionic-updates main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu-ports/ bionic-proposed main restricted universe multiversedeb-src http://mirrors.aliyun.com/ubuntu-ports/ bionic-proposed main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu-ports/ bionic-backports main restricted universe multiversedeb-src http://mirrors.aliyun.com/ubuntu-ports/ bionic-backports main restricted universe multiverse  #中科大源deb https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiversedeb https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiversedeb https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiversedeb https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiversedeb https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiversedeb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiversedeb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiversedeb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiversedeb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiversedeb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse  #163源deb http://mirrors.163.com/ubuntu/ bionic main restricted universe multiversedeb http://mirrors.163.com/ubuntu/ bionic-security main restricted universe multiversedeb http://mirrors.163.com/ubuntu/ bionic-updates main restricted universe multiversedeb http://mirrors.163.com/ubuntu/ bionic-proposed main restricted universe multiversedeb http://mirrors.163.com/ubuntu/ bionic-backports main restricted universe multiversedeb-src http://mirrors.163.com/ubuntu/ bionic main restricted universe multiversedeb-src http://mirrors.163.com/ubuntu/ bionic-security main restricted universe multiversedeb-src http://mirrors.163.com/ubuntu/ bionic-updates main restricted universe multiversedeb-src http://mirrors.163.com/ubuntu/ bionic-proposed main restricted universe multiversedeb-src http://mirrors.163.com/ubuntu/ bionic-backports main restricted universe multiverse

sudo apt-get update

如果换源失败，一定要检查自己的网络

若网络连接正常仍然换源失败：

       打开软件与更新：如图勾选并切换阿里源

关闭软件与更新：

点击重新载入即可

可忽略：右上角选择20W 6CORE模式（可选）

安装cmake及其他依赖库

sudo apt-get install cmake-gui

如果这里cmake-gui安装失败：多半是源的问题，检查源，update

sudo apt-get install build-essential sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev python-pip

编译安装opencv

把u盘里的opencv压缩包解压到home目录下（或自行下载，版本为opencv4.5.3）

可以去官网下载，也可以从我这里下载安装包

链接：https://pan.baidu.com/s/1AqR_G1n4gsWYorB36LHMhQ
提取码：x8qk

把opencv_contrib解压到opencv文件夹（可选）

在opencv文件夹中创建文件夹build

打开cmake-gui

第一个目录选择opencv文件夹

第二个选择build文件夹

点击configure，然后选BUILD_opencv_world

CMAKE_BUILD_TYPE输入Release

OPENCV_EXTRA_MODULES_MATH选择opencv_contrib里面的module文件夹（可选）

点击configure，点击generate

进入build文件夹

make -j4（根据minipc核心数量，如12线程则最多可选-j12） sudo make install

编译安装ceres-slover

(git clone https://ceres-solver.googlesource.com/ceres-solver )

也可以从我这里下载安装包，链接：https://pan.baidu.com/s/1hmC1mq0GvDRDugwZBms-Kg 
提取码：tagw

# google-glog + gflags sudo apt-get install libgoogle-glog-dev libgflags-dev # Use ATLAS for BLAS & LAPACK sudo apt-get install libatlas-base-dev # Eigen3 sudo apt-get install libeigen3-dev # SuiteSparse and CXSparse (optional) sudo apt-get install libsuitesparse-dev

进入ceres-solover目录

创建build文件夹

进入build文件夹

cmake ..make -j6sudo make install 

升级gcc：

sudo add-apt-repository ppa:ubuntu-toolchain-r/test

如果上一步提示连接超时，先检查网络

sudo apt-get update sudo apt-get install gcc-11 g++-11 sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 20

sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-11 20

（这一步如果提示链接库损坏，就再update一遍）

sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 19 sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 19   sudo update-alternatives --config gcc

根据提示选择gcc11

sudo update-alternatives --config g++

根据提示选择g++11

（tips：sudo update-alternatives –-config xxx 可选择gcc/g++版本，在编译不同库时可能需要用到不同的版本）

安装监控软件jtop

sudo -H pip install -U jetson-stats

安装QT

sudo apt-get install qt5-default qtcreator -y

安装相机驱动（http://download.huaraytech.com/pub/sdk/），注意架构，nuc为x86，tx2/nx 为arm（nuc可选择最新版本安装，tx2/nx选择aarch64/arm的linux版本）

将相机驱动放到tx2中（MVviewer_Ver2.2.3_Linux_arm_Jetson_TX2_Build20200311.run）

进入放置位置（最好不要放在桌面）

sudo sh MVviewer_Ver2.2.3_Linux_arm_Jetson_TX2_Build20200311.run  //文件名

无特别要求的话，在这一步的时候环境搭建已经完成了。读者可以移步查看别人的优秀文章了。

解决linking时找不到cuda-runtime-api.h问题（笨办法）

sudo cp -r /usr/local/cuda/include/* /usr/include/aarch64-linux-gnu

检查是已设置开机自动登录、不自动息屏、自动休眠

在home目录下创建文件夹SD，并用git下载代码

(注意是否已添加ssh)

开机自启动设置

在终端中执行

gnome-session-properties

添加代码项目中“tools/dog.sh”，即:

gnome-terminal -- /home/nvidia/SD/Fastest/tools/dog.sh

本人才疏学浅，如果有哪里理解错误，还请读者指正，谢谢观看。
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