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在树莓派上安装opnecv Rust
工创赛的视觉部分已经做的差不多了，在接入摄像机的时候，我们又遇见了Open-cv的错误，现将解决方法记录于此...
folder 编程   label Rust   Linux  

前情提要

在解决了libtorch无法在树莓派运行后，我们要解决第二个大问题，即Open CV库在树莓派上的使用，以下是方法总结。

本人最后使用的是Ubuntu系统，故而不能保证下文所述Debain的脚本能正常运行，慎用！

准备工作

如果你是ubuntu系统，请按照以下规则选择Open CV的版本：

Ubuntu Version Open-CV Version
v20.04 4.2.0
v22.04 4.5.4
v24.04 4.6.0

如果你是其他Debain系统，请自行选择

export OPENCV_VERSION="你选择的版本"

另有环境变量

export OPENCV_LINKAGE=dynamic      # 或 static

可以选用

安装

如果你的树莓派是Ubuntu系统，那么推荐执行官方脚本：

#!/bin/bash

set -xeu

sudo apt-get update

ubuntu_version="$(cat /etc/os-release | sed -nr 's:^VERSION_ID="(.+?)":\1: p')"

sudo apt-get install -y clang libclang-dev
case "$ubuntu_version" in
"20.04")
	# workaround to make clang_sys crate detect installed libclang
	sudo ln -fs libclang.so.1 /usr/lib/llvm-10/lib/libclang.so
	if [[ "$OPENCV_VERSION" == "4.2.0" ]]; then
		sudo apt-get -y install "libopencv-dev=${OPENCV_VERSION}*"
		exit 0
	fi
	;;

"22.04")
	# workaround to make clang_sys crate detect installed libclang
	sudo ln -fs libclang.so.1 /usr/lib/llvm-14/lib/libclang.so
	if [[ "$OPENCV_VERSION" == "4.5.4" ]]; then
		sudo apt-get -y install "libopencv-dev=${OPENCV_VERSION}*"
		exit 0
	fi
	;;

"24.04")
	if [[ "$OPENCV_VERSION" == "4.6.0" ]]; then
		sudo apt-get -y install "libopencv-dev=${OPENCV_VERSION}*"
		exit 0
	fi
	;;
esac

BUILD_FLAGS="
	-D BUILD_CUDA_STUBS=OFF
	-D BUILD_DOCS=OFF
	-D BUILD_EXAMPLES=OFF
	-D BUILD_IPP_IW=ON
	-D BUILD_ITT=ON
	-D BUILD_JASPER=OFF
	-D BUILD_JAVA=OFF
	-D BUILD_JPEG=OFF
	-D BUILD_OPENEXR=OFF
	-D BUILD_OPENJPEG=OFF
	-D BUILD_PERF_TESTS=OFF
	-D BUILD_PNG=OFF
	-D BUILD_PROTOBUF=ON
	-D BUILD_SHARED_LIBS=ON
	-D BUILD_TBB=OFF
	-D BUILD_TESTS=OFF
	-D BUILD_TIFF=OFF
	-D BUILD_WEBP=OFF
	-D BUILD_WITH_DEBUG_INFO=OFF
	-D BUILD_WITH_DYNAMIC_IPP=OFF
	-D BUILD_ZLIB=OFF
	-D BUILD_opencv_apps=OFF
	-D BUILD_opencv_python2=OFF
	-D BUILD_opencv_python3=OFF
	-D CMAKE_BUILD_TYPE=Release
	-D CMAKE_INSTALL_PREFIX=/usr
	-D CV_DISABLE_OPTIMIZATION=OFF
	-D CV_ENABLE_INTRINSICS=ON
	-D ENABLE_CONFIG_VERIFICATION=OFF
	-D ENABLE_FAST_MATH=OFF
	-D ENABLE_LTO=OFF
	-D ENABLE_PIC=ON
	-D ENABLE_PRECOMPILED_HEADERS=OFF
	-D INSTALL_CREATE_DISTRIB=OFF
	-D INSTALL_C_EXAMPLES=OFF
	-D INSTALL_PYTHON_EXAMPLES=OFF
	-D INSTALL_TESTS=OFF
	-D OPENCV_ENABLE_MEMALIGN=OFF
	-D OPENCV_ENABLE_NONFREE=ON
	-D OPENCV_FORCE_3RDPARTY_BUILD=OFF
	-D OPENCV_GENERATE_PKGCONFIG=OFF
	-D PROTOBUF_UPDATE_FILES=OFF
	-D WITH_1394=ON
	-D WITH_ADE=ON
	-D WITH_ARAVIS=OFF
	-D WITH_CLP=OFF
	-D WITH_CUBLAS=OFF
	-D WITH_CUDA=OFF
	-D WITH_CUFFT=OFF
	-D WITH_EIGEN=ON
	-D WITH_FFMPEG=ON
	-D WITH_GDAL=ON
	-D WITH_GDCM=OFF
	-D WITH_GIGEAPI=OFF
	-D WITH_GPHOTO2=ON
	-D WITH_GSTREAMER=ON
	-D WITH_GSTREAMER_0_10=OFF
	-D WITH_GTK=OFF
	-D WITH_GTK_2_X=OFF
	-D WITH_HALIDE=OFF
	-D WITH_IMGCODEC_HDcR=ON
	-D WITH_IMGCODEC_PXM=ON
	-D WITH_IMGCODEC_SUNRASTER=ON
	-D WITH_INF_ENGINE=OFF
	-D WITH_IPP=ON
	-D WITH_ITT=ON
	-D WITH_JASPER=OFF
	-D WITH_JPEG=ON
	-D WITH_LAPACK=ON
	-D WITH_LIBV4L=OFF
	-D WITH_MATLAB=OFF
	-D WITH_MFX=OFF
	-D WITH_OPENCL=OFF
	-D WITH_OPENCLAMDBLAS=OFF
	-D WITH_OPENCLAMDFFT=OFF
	-D WITH_OPENCL_SVM=OFF
	-D WITH_OPENEXR=OFF
	-D WITH_OPENGL=ON
	-D WITH_OPENMP=OFF
	-D WITH_OPENNI2=OFF
	-D WITH_OPENNI=OFF
	-D WITH_OPENVX=OFF
	-D WITH_PNG=ON
	-D WITH_PROTOBUF=ON
	-D WITH_PTHREADS_PF=ON
	-D WITH_PVAPI=OFF
	-D WITH_QT=ON
	-D WITH_QUIRC=ON
	-D WITH_TBB=ON
	-D WITH_TIFF=ON
	-D WITH_UNICAP=OFF
	-D WITH_V4L=ON
	-D WITH_VA=ON
	-D WITH_VA_INTEL=ON
	-D WITH_VTK=ON
	-D WITH_WEBP=ON
	-D WITH_XIMEA=OFF
	-D WITH_XINE=OFF
"

sudo apt-get -y install build-essential cmake

if [[ "${OPENCV_LINKAGE:-dynamic}" == "static" ]]; then # static build
	BUILD_FLAGS="$BUILD_FLAGS
	-D BUILD_JPEG=ON
	-D BUILD_OPENJPEG=ON
	-D BUILD_PNG=ON
	-D BUILD_SHARED_LIBS=OFF
	-D BUILD_TIFF=ON
	-D BUILD_WEBP=ON
	-D BUILD_ZLIB=ON
	-D BUILD_opencv_freetype=OFF
	-D OPENCV_FORCE_3RDPARTY_BUILD=ON
	-D WITH_1394=OFF
	-D WITH_FFMPEG=OFF
	-D WITH_FREETYPE=OFF
	-D WITH_GDAL=OFF
	-D WITH_GPHOTO2=OFF
	-D WITH_GSTREAMER=OFF
	-D WITH_GTK=OFF
	-D WITH_LAPACK=OFF
	-D WITH_OPENGL=OFF
	-D WITH_QT=OFF
"
else # dynamic build
	case "$ubuntu_version" in
	"20.04")
		sudo apt-get -y install \
			libatlas-base-dev \
			libavcodec-dev \
			libavformat-dev \
			libavresample-dev \
			libceres-dev \
			libdc1394-22-dev \
			libeigen3-dev \
			libfreetype6-dev \
			libgdal-dev \
			libgflags-dev \
			libgoogle-glog-dev \
			libgphoto2-dev \
			libgstreamer-plugins-base1.0-dev \
			libharfbuzz-dev \
			libhdf5-dev \
			libjpeg-dev \
			liblapacke-dev \
			libleptonica-dev \
			libopenexr-dev \
			libpng-dev \
			libswscale-dev \
			libtbb-dev \
			libtesseract-dev \
			libtiff-dev \
			libunwind-dev \
			libvtk7-dev \
			libwebp-dev \
			qtbase5-dev
		;;

	"22.04")
		# runtime deps
		sudo apt-get -y install \
			libatlas3-base \
			libavcodec58 \
			libavformat58 \
			libceres2 \
			libdc1394-25 \
			libfreetype6 \
			libgdal30 \
			libgflags2.2 \
			libgoogle-glog0v5 \
			libgphoto2-6 \
			libgstreamer-plugins-base1.0-0 \
			libharfbuzz0b \
			libhdf5-103 \
			libjpeg8 \
			liblapacke \
			liblept5 \
			libopenexr25 \
			libpng16-16 \
			libqt5core5a \
			libqt5gui5 \
			libqt5opengl5 \
			libqt5test5 \
			libqt5widgets5 \
			libswscale5 \
			libtbb2 \
			libtesseract4 \
			libvtk7.1p \
			libwebp7

		# need to do that separately to remove conflicting packages
		sudo apt-get install libunwind-dev

		# build deps
		sudo apt-get -y install \
			libatlas-base-dev \
			libavcodec-dev \
			libavformat-dev \
			libceres-dev \
			libdc1394-dev \
			libeigen3-dev \
			libfreetype6-dev \
			libgdal-dev \
			libgflags-dev \
			libgoogle-glog-dev \
			libgphoto2-dev \
			libgstreamer-plugins-base1.0-dev \
			libharfbuzz-dev \
			libhdf5-dev \
			libjpeg-dev \
			liblapacke-dev \
			libleptonica-dev \
			libopenexr-dev \
			libpng-dev \
			libswscale-dev \
			libtbb2-dev \
			libtesseract-dev \
			libtiff-dev \
			libvtk7-dev \
			libwebp-dev \
			qtbase5-dev
		;;

	"24.04")
		# runtime deps
		sudo apt-get -y install \
			libatlas-base-dev \
			libavcodec-dev \
			libavformat-dev \
			libceres-dev \
			libdc1394-dev \
			libeigen3-dev \
			libfreetype6-dev \
			libgdal-dev \
			libgflags-dev \
			libgoogle-glog-dev \
			libgphoto2-dev \
			libgstreamer-plugins-base1.0-dev \
			libharfbuzz-dev \
			libhdf5-dev \
			libjpeg-dev \
			liblapacke64-dev \
			libleptonica-dev \
			libopenexr-dev \
			libpng-dev \
			libswscale-dev \
			libtbb-dev \
			libtesseract-dev \
			libtiff-dev \
			libunwind-dev \
			libvtk9-dev \
			libwebp-dev \
			qtbase5-dev
		;;
	esac
fi

dist_dir="$HOME/dist/"
build_dir="$HOME/build/opencv/opencv-$OPENCV_VERSION-build/"

mkdir -p "$dist_dir" "$build_dir"

opencv_src="$dist_dir/opencv-$OPENCV_VERSION"
if [ ! -d "$opencv_src" ]; then
	curl -L "https://github.com/opencv/opencv/archive/$OPENCV_VERSION.tar.gz" | tar -xz -C "$dist_dir"
fi

opencv_contrib_src="$dist_dir/opencv_contrib-$OPENCV_VERSION"
if [ ! -d "$opencv_contrib_src" ]; then
	curl -L "https://github.com/opencv/opencv_contrib/archive/$OPENCV_VERSION.tar.gz" | tar -xz -C "$dist_dir"
fi

# Qt build is broken in OpenCV 5.0.0-alpha
if [[ "$OPENCV_VERSION" == "5.0.0-alpha" ]]; then
	BUILD_FLAGS="$BUILD_FLAGS -D WITH_QT=OFF"
fi

pushd "$build_dir" > /dev/null
cmake $BUILD_FLAGS \
	-D CMAKE_INSTALL_PREFIX=/usr \
	-D OPENCV_EXTRA_MODULES_PATH="$opencv_contrib_src/modules" \
	"$opencv_src"
make -j"$(nproc)"
sudo make -j"$(nproc)" install
popd > /dev/null

如果你是其他Debain系统，推荐使用我修改过的版本：

#!/bin/bash

set -xeu

sudo apt-get update

# 安装Clang和libclang-dev
sudo apt-get install -y clang libclang-dev

# 创建libclang.so符号链接（解决clang_sys问题）
CLANG_LIB_PATH=$(find /usr/lib -name 'libclang.so.1*' -print -quit 2>/dev/null)
if [[ -n "$CLANG_LIB_PATH" ]]; then
    CLANG_LIB_DIR=$(dirname "$CLANG_LIB_PATH")
    sudo ln -vfs "libclang.so.1" "$CLANG_LIB_DIR/libclang.so"
else
    echo "警告：未找到libclang.so.1，clang_sys可能无法正常工作" >&2
fi

# 如果系统仓库中存在指定版本的OpenCV，则直接安装并退出
if apt-cache show "libopencv-dev=$OPENCV_VERSION*" &>/dev/null; then
    sudo apt-get -y install "libopencv-dev=$OPENCV_VERSION*"
    exit 0
fi

BUILD_FLAGS="
	-D BUILD_CUDA_STUBS=OFF
	-D BUILD_DOCS=OFF
	-D BUILD_EXAMPLES=OFF
	-D BUILD_IPP_IW=ON
	-D BUILD_ITT=ON
	-D BUILD_JASPER=OFF
	-D BUILD_JAVA=OFF
	-D BUILD_JPEG=OFF
	-D BUILD_OPENEXR=OFF
	-D BUILD_OPENJPEG=OFF
	-D BUILD_PERF_TESTS=OFF
	-D BUILD_PNG=OFF
	-D BUILD_PROTOBUF=ON
	-D BUILD_SHARED_LIBS=ON
	-D BUILD_TBB=OFF
	-D BUILD_TESTS=OFF
	-D BUILD_TIFF=OFF
	-D BUILD_WEBP=OFF
	-D BUILD_WITH_DEBUG_INFO=OFF
	-D BUILD_WITH_DYNAMIC_IPP=OFF
	-D BUILD_ZLIB=OFF
	-D BUILD_opencv_apps=OFF
	-D BUILD_opencv_python2=OFF
	-D BUILD_opencv_python3=OFF
	-D CMAKE_BUILD_TYPE=Release
	-D CMAKE_INSTALL_PREFIX=/usr
	-D CV_DISABLE_OPTIMIZATION=OFF
	-D CV_ENABLE_INTRINSICS=ON
	-D ENABLE_CONFIG_VERIFICATION=OFF
	-D ENABLE_FAST_MATH=OFF
	-D ENABLE_LTO=OFF
	-D ENABLE_PIC=ON
	-D ENABLE_PRECOMPILED_HEADERS=OFF
	-D INSTALL_CREATE_DISTRIB=OFF
	-D INSTALL_C_EXAMPLES=OFF
	-D INSTALL_PYTHON_EXAMPLES=OFF
	-D INSTALL_TESTS=OFF
	-D OPENCV_ENABLE_MEMALIGN=OFF
	-D OPENCV_ENABLE_NONFREE=ON
	-D OPENCV_FORCE_3RDPARTY_BUILD=OFF
	-D OPENCV_GENERATE_PKGCONFIG=OFF
	-D PROTOBUF_UPDATE_FILES=OFF
	-D WITH_1394=ON
	-D WITH_ADE=ON
	-D WITH_ARAVIS=OFF
	-D WITH_CLP=OFF
	-D WITH_CUBLAS=OFF
	-D WITH_CUDA=OFF
	-D WITH_CUFFT=OFF
	-D WITH_EIGEN=ON
	-D WITH_FFMPEG=ON
	-D WITH_GDAL=ON
	-D WITH_GDCM=OFF
	-D WITH_GIGEAPI=OFF
	-D WITH_GPHOTO2=ON
	-D WITH_GSTREAMER=ON
	-D WITH_GSTREAMER_0_10=OFF
	-D WITH_GTK=OFF
	-D WITH_GTK_2_X=OFF
	-D WITH_HALIDE=OFF
	-D WITH_IMGCODEC_HDcR=ON
	-D WITH_IMGCODEC_PXM=ON
	-D WITH_IMGCODEC_SUNRASTER=ON
	-D WITH_INF_ENGINE=OFF
	-D WITH_IPP=ON
	-D WITH_ITT=ON
	-D WITH_JASPER=OFF
	-D WITH_JPEG=ON
	-D WITH_LAPACK=ON
	-D WITH_LIBV4L=OFF
	-D WITH_MATLAB=OFF
	-D WITH_MFX=OFF
	-D WITH_OPENCL=OFF
	-D WITH_OPENCLAMDBLAS=OFF
	-D WITH_OPENCLAMDFFT=OFF
	-D WITH_OPENCL_SVM=OFF
	-D WITH_OPENEXR=OFF
	-D WITH_OPENGL=ON
	-D WITH_OPENMP=OFF
	-D WITH_OPENNI2=OFF
	-D WITH_OPENNI=OFF
	-D WITH_OPENVX=OFF
	-D WITH_PNG=ON
	-D WITH_PROTOBUF=ON
	-D WITH_PTHREADS_PF=ON
	-D WITH_PVAPI=OFF
	-D WITH_QT=ON
	-D WITH_QUIRC=ON
	-D WITH_TBB=ON
	-D WITH_TIFF=ON
	-D WITH_UNICAP=OFF
	-D WITH_V4L=ON
	-D WITH_VA=ON
	-D WITH_VA_INTEL=ON
	-D WITH_VTK=ON
	-D WITH_WEBP=ON
	-D WITH_XIMEA=OFF
	-D WITH_XINE=OFF
"

# 安装构建工具
sudo apt-get -y install build-essential cmake

# 处理静态/动态构建选项
if [[ "${OPENCV_LINKAGE:-dynamic}" == "static" ]]; then
    BUILD_FLAGS="$BUILD_FLAGS
	-D BUILD_JPEG=ON
	-D BUILD_OPENJPEG=ON
	-D BUILD_PNG=ON
	-D BUILD_SHARED_LIBS=OFF
	-D BUILD_TIFF=ON
	-D BUILD_WEBP=ON
	-D BUILD_ZLIB=ON
	-D BUILD_opencv_freetype=OFF
	-D OPENCV_FORCE_3RDPARTY_BUILD=ON
	-D WITH_1394=OFF
	-D WITH_FFMPEG=OFF
	-D WITH_FREETYPE=OFF
	-D WITH_GDAL=OFF
	-D WITH_GPHOTO2=OFF
	-D WITH_GSTREAMER=OFF
	-D WITH_GTK=OFF
	-D WITH_LAPACK=OFF
	-D WITH_OPENGL=OFF
	-D WITH_QT=OFF
"
else
    # 安装动态链接的通用依赖
    sudo apt-get -y install \
        libatlas-base-dev \
        libavcodec-dev \
        libavformat-dev \
        libavresample-dev \
        libdc1394-dev \
        libeigen3-dev \
        libfreetype6-dev \
        libgdal-dev \
        libgflags-dev \
        libgoogle-glog-dev \
        libgphoto2-dev \
        libgstreamer-plugins-base1.0-dev \
        libharfbuzz-dev \
        libhdf5-dev \
        libjpeg-dev \
        liblapacke-dev \
        libleptonica-dev \
        libopenexr-dev \
        libpng-dev \
        libswscale-dev \
        libtbb-dev \
        libtesseract-dev \
        libtiff-dev \
        libunwind-dev \
        libvtk-dev \
        libwebp-dev \
        qtbase5-dev
fi

# 准备源码目录
dist_dir="$HOME/dist/"
build_dir="$HOME/build/opencv/opencv-$OPENCV_VERSION-build/"
mkdir -p "$dist_dir" "$build_dir"

# 下载OpenCV源码
opencv_src="$dist_dir/opencv-$OPENCV_VERSION"
if [[ ! -d "$opencv_src" ]]; then
    curl -L "https://github.com/opencv/opencv/archive/$OPENCV_VERSION.tar.gz" | tar -xz -C "$dist_dir"
fi

# 下载OpenCV贡献模块
opencv_contrib_src="$dist_dir/opencv_contrib-$OPENCV_VERSION"
if [[ ! -d "$opencv_contrib_src" ]]; then
    curl -L "https://github.com/opencv/opencv_contrib/archive/$OPENCV_VERSION.tar.gz" | tar -xz -C "$dist_dir"
fi

# 处理OpenCV 5.0的特殊情况
if [[ "$OPENCV_VERSION" == "5.0.0-alpha" ]]; then
    BUILD_FLAGS="$BUILD_FLAGS -D WITH_QT=OFF"
fi

# 构建并安装
pushd "$build_dir" >/dev/null
cmake $BUILD_FLAGS \
    -D CMAKE_INSTALL_PREFIX=/usr \
    -D OPENCV_EXTRA_MODULES_PATH="$opencv_contrib_src/modules" \
    "$opencv_src"
make -j"$(nproc)"
sudo make -j"$(nproc)" install
popd >/dev/null

最后修改于 2025-03-03

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