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orin部署tensorrt、cuda、cudnn、pytorch、onnx\opencv、JetPack

news 2026/7/16 18:49:59

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’ ! nvidia@nvidia-desktop:/var/cache/apt/archives$ sudo dpkg -i
–force-overwrite libnvidia-compute-535_535.171.04-0ubuntu0.20.04.1_arm64.deb (Reading
database … 255446 files and directories currently installed.)
Preparing to unpack
libnvidia-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 Setting
up libnvidia-compute-535:arm64 (535.171.04-0ubuntu0.20.04.1) …
Processing triggers for libc-bin (2.31-0ubuntu9.9) …
nvidia@nvidia-desktop:/var/cache/apt/archives$ sudo dpkg -i
–force-overwrite nvidia-utils-535_535.171.04-0ubuntu0.20.04.1_arm64.deb (Reading
database … 255467 files and directories currently installed.)
Preparing to unpack
nvidia-utils-535_535.171.04-0ubuntu0.20.04.1_arm64.deb … Unpacking
nvidia-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) … nvidia@nvidia-desktop:/var/cache/apt/archives$ sudo dpkg
-i --force-overwrite libnvidia-extra-535_535.171.04-0ubuntu0.20.04.1_arm64.deb (Reading
database … 255467 files and directories currently installed.)
Preparing to unpack
libnvidia-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 in
package nvidia-l4t-gbm 35.4.1-20230801124926 Setting up
libnvidia-extra-535:arm64 (535.171.04-0ubuntu0.20.04.1) … Processing
triggers for libc-bin (2.31-0ubuntu9.9) …
nvidia@nvidia-desktop:/var/cache/apt/archives$ sudo dpkg -i
–force-overwrite libnvidia-gl-535_535.171.04-0ubuntu0.20.04.1_arm64.deb (Reading
database … 255473 files and directories currently installed.)
Preparing to unpack
libnvidia-gl-535_535.171.04-0ubuntu0.20.04.1_arm64.deb … Unpacking
libnvidia-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.html

pytorch：

必须要用特殊版本
参考https://blog.csdn.net/qq_44235661/article/details/134105151
http://t.csdnimg.cn/Bq4o1

链接：https://pan.baidu.com/s/1bvYujHmJFkGCztC_ymcDFw
提取码：eqeq

onnx：

安装失败:cmake版本不对
参考https://blog.csdn.net/qq_40541102/article/details/130086491

ONNX_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/134694477
onnxruntime-gpu https://zhuanlan.zhihu.com/p/661511110
https://www.cnblogs.com/shaoxx333/p/17044934.html#_label1

opencv

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

１.卸载原有OpenCV

sudoaptpurge libopencv*sudoaptautoremovesudoaptupdate

2.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-config

3.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/4.5.4
https://kkgithub.com/opencv/opencv_contrib/tree/4.5.4

4.编译

进入opencv4.5.4文件夹中，mkdir build && cd build

cmake-DCMAKE_BUILD_TYPE=RELEASE..\-DCMAKE_INSTALL_PREFIX=/usr/local/\-DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.5.4/modules\-DWITH_CUDA=ON\-DCUDA_ARCH_BIN=8.7\-DCUDA_ARCH_PTX=8.7\-DBUILD_opencv_python3=ON\-DENABLE_FAST_MATH=ON\-DCUDA_FAST_MATH=ON\-DWITH_CUBLAS=ON\-DWITH_OPENGL=ON\-DWITH_LIBV4L=ON\-DWITH_GSTREAMER=ON\-DWITH_GSTREAMER_0_10=OFF\-DWITH_QT=ON\-DCUDA_NVCC_FLAGS="--expt-relaxed-constexpr"\-DWITH_TBB=ON\-DOPENCV_GENERATE_PKGCONFIG=ON\-DWITH_GTK_2_X=ON\

或者是`cd ~/opencv-4.5.4-src/build
rm -rf *

cmake -D CMAKE_BUILD_TYPE=RELEASE
-D CMAKE_INSTALL_PREFIX=/usr/local
-D OPENCV_EXTRA_MODULES_PATH=/home/nvidia/opencv_contrib-4.5.4-src/modules
-D WITH_CUDA=ON
-D WITH_CUDNN=ON
-D CUDA_ARCH_BIN=8.7
-D CUDA_ARCH_PTX=8.7
-D CUDA_FAST_MATH=ON
-D WITH_CUBLAS=ON
-D WITH_V4L=ON
-D WITH_GSTREAMER=ON
-D BUILD_opencv_python3=ON
-D BUILD_EXAMPLES=OFF
-D OPENCV_GENERATE_PKGCONFIG=ON
-D WITH_VTK=OFF
-D BUILD_opencv_viz=OFF
-D BUILD_opencv_sfm=OFF
-D BUILD_opencv_hdf=OFF
-D BUILD_opencv_stitching=OFF
-D BUILD_opencv_superres=OFF
-D BUILD_opencv_wechat_qrcode=OFF
-D BUILD_opencv_xfeatures2d=OFF
-D BUILD_opencv_face=OFF
-D BUILD_opencv_cudaoptflow=OFF
-D CMAKE_POLICY_VERSION_MINIMUM=3.5
-D OPENCV_ENABLE_NONFREE=ON
-D WITH_QT=OFF
-D WITH_GTK=ON
…

检查配置结果

if [ $? -eq 0 ]; then
echo “"
echo “CMake 配置成功！”
echo "”
grep CUDA_ARCH CMakeCache.txt
echo “”
echo “开始编译… (这可能需要 30-60 分钟)”
make -j6
else
echo “CMake 配置失败，请检查错误信息”
fi`

5.安装

sudo make install
sudo ldconfig

6.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_PATH

4、source /etc/bash.bashrc

参考：https://blog.csdn.net/weixin_44604409/article/details/135607879
https://blog.csdn.net/weixin_46747526/article/details/143210515?ops_request_misc=&request_id=&biz_id=102&utm_term=opencv%E5%AE%89%E8%A3%85%E6%95%99%E7%A8%8B%20orin&utm_medium=distribute.pc_search_result.none-task-blog-2allsobaiduwebdefault-0-143210515.142^v102^control&spm=1018.2226.3001.4187https://blog.csdn.net/weixin_46747526/article/details/143210515?ops_request_misc=&request_id=&biz_id=102&utm_term=opencv%E5%AE%89%E8%A3%85%E6%95%99%E7%A8%8B%20orin&utm_medium=distribute.pc_search_result.none-task-blog-2allsobaiduwebdefault-0-143210515.142v102control&spm=1018.2226.3001.4187

当前系统环境版本

action-tutorials-py 0.9.4
ament-clang-format 0.9.8
ament-copyright 0.9.8
ament-cppcheck 0.9.8
ament-cpplint 0.9.8
ament-flake8 0.9.8
ament-index-python 1.1.0
ament-lint 0.9.8
ament-lint-cmake 0.9.8
ament-package 0.9.5
ament-pep257 0.9.8
ament-uncrustify 0.9.8
ament-xmllint 0.9.8
apt-clone 0.2.1
apturl 0.5.2
argcomplete 3.2.1
atomicwrites 1.1.5
attrs 19.3.0
autobahn 17.10.1
Automat 0.8.0
bcrypt 3.1.7
beautifulsoup4 4.8.2
blinker 1.4
Brlapi 0.7.0
catkin-pkg-modules 1.0.0
cbor 1.0.0
certifi 2019.11.28
cfgv 3.4.0
chardet 3.0.4
charset-normalizer 3.3.2
clang-format 14.0.6
Click 7.0
cmake 3.27.5
colcon-argcomplete 0.3.3
colcon-bash 0.5.0
colcon-cd 0.1.1
colcon-cmake 0.2.28
colcon-common-extensions 0.3.0
colcon-core 0.15.0
colcon-defaults 0.2.8
colcon-devtools 0.2.4
colcon-installed-package-information 0.1.0
colcon-library-path 0.2.1
colcon-metadata 0.2.5
colcon-mixin 0.2.3
colcon-notification 0.2.15
colcon-output 0.2.13
colcon-override-check 0.0.1
colcon-package-information 0.3.3
colcon-package-selection 0.2.10
colcon-parallel-executor 0.3.0
colcon-pkg-config 0.1.0
colcon-powershell 0.4.0
colcon-python-setup-py 0.2.8
colcon-recursive-crawl 0.2.3
colcon-ros 0.4.1
colcon-test-result 0.3.8
colcon-zsh 0.5.0
colorama 0.4.3
coloredlogs 15.0.1
constantly 15.1.0
contourpy 1.1.1
cov-core 1.15.0
coverage 4.5.2
cryptography 2.8
cupshelpers 1.0
cycler 0.10.0
Cython 3.0.10
dbus-python 1.2.16
decorator 4.4.2
defer 1.0.6
demo-nodes-py 0.9.4
distlib 0.3.8
distro 1.4.0
distro-info 0.23+ubuntu1.1
docutils 0.16
domain-coordinator 0.9.2
duplicity 0.8.12.0
empy 3.3.2
entrypoints 0.3
examples-rclpy-executors 0.9.4
examples-rclpy-minimal-action-client 0.9.4
examples-rclpy-minimal-action-server 0.9.4
examples-rclpy-minimal-client 0.9.4
examples-rclpy-minimal-publisher 0.9.4
examples-rclpy-minimal-service 0.9.4
examples-rclpy-minimal-subscriber 0.9.4
exceptiongroup 1.2.0
fasteners 0.14.1
filelock 3.13.1
flake8 3.7.9
flake8-blind-except 0.2.1
flake8-builtins 2.2.0
flake8-class-newline 1.6.0
flake8-comprehensions 3.14.0
flake8-deprecated 2.2.1
flake8-docstrings 1.7.0
flake8-import-order 0.18.2
flake8-quotes 3.3.2
flatbuffers 24.3.25
fonttools 4.45.1
future 0.18.2
gdown 5.0.0
gitdb 4.0.11
GitPython 3.1.40
graphsurgeon 0.4.6
html5lib 1.0.1
httplib2 0.14.0
humanfriendly 10.0
hyperlink 19.0.0
identify 2.5.33
idna 2.8
ifcfg 0.18
importlib-metadata 1.5.0
importlib-resources 6.1.1
incremental 16.10.1
iniconfig 2.0.0
jetson-stats 4.2.3
Jetson.GPIO 2.0.20
joblib 1.3.2
keyring 18.0.1
kiwisolver 1.0.1
language-selector 0.1
lap 0.4.0
lapx 0.5.9
lark-parser 0.8.1
launch 0.10.10
launch-ros 0.11.7
launch-testing 0.10.10
launch-testing-ros 0.11.7
launch-xml 0.10.10
launch-yaml 0.10.10
launchpadlib 1.10.13
lazr.restfulclient 0.14.2
lazr.uri 1.0.3
lockfile 0.12.2
louis 3.12.0
lxml 4.5.0
lz4 3.0.2+dfsg
macaroonbakery 1.3.1
Mako 1.1.0
markdown-it-py 3.0.0
MarkupSafe 1.1.0
matplotlib 3.7.4
mccabe 0.6.1
mdurl 0.1.2
mock 3.0.5
monotonic 1.5
more-itertools 4.2.0
mpi4py 3.0.3
mpmath 1.3.0
netifaces 0.10.4
nodeenv 1.8.0
nose2 0.9.1
notify2 0.3
numpy 1.24.4
oauthlib 3.1.0
olefile 0.46
onboard 1.4.1
onnx 1.16.1
onnxruntime-gpu 1.12.1
onnxsim 0.4.36
opencv-python 4.6.0.66
osrf-pycommon 0.1.11
packaging 20.3
PAM 0.4.2
pandas 2.0.3
paramiko 2.6.0
pbr 6.0.0
pexpect 4.6.0
Pillow 10.1.0
pip 20.0.2
pipx 1.4.3
platformdirs 4.1.0
pluggy 0.13.0
pre-commit 3.5.0
protobuf 5.27.0
psutil 5.9.6
py 1.8.1
py-cpuinfo 9.0.0
py-ubjson 0.14.0
pyasn1 0.4.2
pyasn1-modules 0.2.1
pycairo 1.16.2
pycodestyle 2.5.0
pycrypto 2.6.1
pycups 1.9.73
pydocstyle 2.1.1
pydot 1.4.1
pyflakes 2.1.1
pygments 2.18.0
PyGObject 3.36.0
PyHamcrest 1.9.0
PyICU 2.4.2
PyJWT 1.7.1
pymacaroons 0.13.0
PyNaCl 1.3.0
pyOpenSSL 19.0.0
pyparsing 2.4.6
pypng 0.0.20
PyQRCode 1.2.1
PyQt5 5.14.1
pyRFC3339 1.1
PySocks 1.7.1
pytest 7.4.4
pytest-cov 2.8.1
pytest-repeat 0.9.3
pytest-rerunfailures 13.0
python-apt 2.0.1+ubuntu0.20.4.1
python-dateutil 2.8.2
python-dbusmock 0.19
python-debian 0.1.36+ubuntu1.1
python-snappy 0.5.3
PyTrie 0.2
pytz 2023.3.post1
pyxdg 0.26
PyYAML 5.3.1
pyzed 4.0
quality-of-service-demo-py 0.9.4
rdp 0.8
requests 2.31.0
requests-unixsocket 0.2.0
rich 13.7.1
roman 2.0.0
ros2action 0.9.13
ros2bag 0.3.11
ros2cli 0.9.13
ros2component 0.9.13
ros2doctor 0.9.13
ros2interface 0.9.13
ros2launch 0.11.7
ros2lifecycle 0.9.13
ros2multicast 0.9.13
ros2node 0.9.13
ros2param 0.9.13
ros2pkg 0.9.13
ros2run 0.9.13
ros2service 0.9.13
ros2topic 0.9.13
rosdep 0.22.2
rosdep-modules 0.22.2
rosdepc 1.1.0
rosdistro-modules 0.9.0
rosidl-runtime-py 0.9.1
rospkg-modules 1.5.0
rpyutils 0.2.0
rqt-action 1.0.2
rqt-console 1.1.2
rqt-graph 1.1.3
rqt-gui 1.1.2
rqt-gui-py 1.1.2
rqt-msg 1.1.1
rqt-plot 1.1.1
rqt-publisher 1.3.0
rqt-py-console 1.0.2
rqt-reconfigure 1.0.8
rqt-service-caller 1.0.5
rqt-shell 1.0.2
rqt-srv 1.0.3
rqt-top 1.0.2
rqt-topic 1.3.0
scikit-learn 1.3.2
scipy 1.10.1
seaborn 0.13.0
SecretStorage 2.3.1
service-identity 18.1.0
setuptools 69.0.3
simplejson 3.16.0
sip 4.19.21
six 1.14.0
smbus2 0.4.3
smmap 5.0.1
snowballstemmer 2.0.0
soupsieve 1.9.5
sros2 0.9.5
sympy 1.12
systemd-python 234
teleop-twist-keyboard 2.3.2
tensorrt 8.4.1.5
testresources 2.0.1
thop 0.1.1.post2209072238
threadpoolctl 3.2.0
tomli 2.0.1
topic-monitor 0.9.4
torch 1.12.0a0+2c916ef.nv22.3
torchvision 0.13.0
tqdm 4.66.1
Twisted 18.9.0
txaio 2.10.0
typing-extensions 4.8.0
tzdata 2023.3
u-msgpack-python 2.1
ubuntu-advantage-tools 8001
ubuntu-drivers-common 0.0.0
uff 0.6.9
ultralytics 8.0.217
urllib3 1.25.8
urwid 2.0.1
userpath 1.9.1
vcstool 0.3.0
virtualenv 20.25.0
wadllib 1.3.3
wcwidth 0.1.8
webencodings 0.5.1
wheel 0.34.2
wsaccel 0.6.2
xkit 0.0.0
zipp 3.17.0
zope.interface 4.7.1


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