PC系統：ubuntu14.04 LTS
交叉編譯工具鏈：gcc-linaro-6.3.1-2017.05-x86_64_aarch64-linux-gnu
step1：
在opencv源代碼目錄創建文件夾：build，用於存放編譯中間文件。
step2：
打開命令控制檯，輸入cmake-gui運行
step3:
配置源文件路徑和編譯中間文件路徑：
step4:
step5:
C編譯器：/usr/gcc-linaro-6.3.1-2017.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-gcc
C++編譯器：/usr/gcc-linaro-6.3.1-2017.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-g++
頭文件：/usr/gcc-linaro-6.3.1-2017.05-x86_64_aarch64-linux-gnu/aarch64-linux-gnu/libc/usr/include
step6:
step7:
取消選項：with-cuda，with-opencl
step8
更改安裝目錄：
step9
generate:
step10
打開命令控制檯進入build目錄，執行make -j4進行編譯，當然會產生錯誤，後面根據錯誤具體再修改。
Linking CXX shared library ../../lib/libopencv_highgui.so
/usr/gcc-linaro-6.3.1-2017.05-x86_64_aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/6.3.1/../../../../aarch64-linux-gnu/bin/ld: ../../3rdparty/lib/libIlmImf.a(ImfHeader.cpp.obj): relocation R_AARCH64_ADR_PREL_PG_HI21 against external symbol `_ZTVNSt7__cxx1119basic_ostringstreamIcSt11char_traitsIcESaIcEEE@@GLIBCXX_3.4.21' can not be used when making a shared object; recompile with -fPIC
/usr/gcc-linaro-6.3.1-2017.05-x86_64_aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/6.3.1/../../../../aarch64-linux-gnu/bin/ld: ../../3rdparty/lib/libIlmImf.a(ImfHeader.cpp.obj)(.text._ZNK3Imf6Header7writeToERNS_7OStreamEb+0x368): 無法解決 R_AARCH64_ADR_PREL_PG_HI21 重定向於符號 “_ZTVNSt7__cxx1119basic_ostringstreamIcSt11char_traitsIcESaIcEEE@@GLIBCXX_3.4.21” 有衝突
/usr/gcc-linaro-6.3.1-2017.05-x86_64_aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/6.3.1/../../../../aarch64-linux-gnu/bin/ld: 最終連接失敗: 錯誤的值
collect2: error: ld returned 1 exit status
make[2]: *** [lib/libopencv_highgui.so] 錯誤 1
make[1]: *** [modules/highgui/CMakeFiles/opencv_highgui.dir/all] 錯誤 2
make: *** [all] 錯誤 2
解決辦法：
修改編譯目錄build下面的CMakeCache.txt文件，如下所示兩個地方添加 -fPIC 選項。
CMAKE_CXX_FLAGS:STRING=-fPIC
CMAKE_C_FLAGS:STRING=-fPIC
step10
再次編譯，繼續出錯。
Linking CXX executable ../../bin/opencv_test_core
../../lib/libopencv_ts.a(ts_gtest.cpp.obj)：在函數‘testing::internal::UnitTestImpl::SetTestPartResultReporterForCurrentThread(testing::TestPartResultReporterInterface*)’中：
ts_gtest.cpp:(.text._ZN7testing8internal12UnitTestImpl41SetTestPartResultReporterForCurrentThreadEPNS_31TestPartResultReporterInterfaceE+0x18)：對‘pthread_getspecific’未定義的引用
ts_gtest.cpp:(.text._ZN7testing8internal12UnitTestImpl41SetTestPartResultReporterForCurrentThreadEPNS_31TestPartResultReporterInterfaceE+0x108)：對‘pthread_setspecific’未定義的引用
../../lib/libopencv_ts.a(ts_gtest.cpp.obj)：在函數‘testing::internal::UnitTestImpl::GetTestPartResultReporterForCurrentThread()’中：
ts_gtest.cpp:(.text._ZN7testing8internal12UnitTestImpl41GetTestPartResultReporterForCurrentThreadEv+0x14)：對‘pthread_getspecific’未定義的引用
ts_gtest.cpp:(.text._ZN7testing8internal12UnitTestImpl41GetTestPartResultReporterForCurrentThreadEv+0x108)：對‘pthread_setspecific’未定義的引用
../../lib/libopencv_ts.a(ts_gtest.cpp.obj)：在函數‘testing::internal::UnitTestImpl::~UnitTestImpl()’中：
ts_gtest.cpp:(.text._ZN7testing8internal12UnitTestImplD2Ev+0xec)：對‘pthread_getspecific’未定義的引用
ts_gtest.cpp:(.text._ZN7testing8internal12UnitTestImplD2Ev+0x104)：對‘pthread_key_delete’未定義的引用
ts_gtest.cpp:(.text._ZN7testing8internal12UnitTestImplD2Ev+0x268)：對‘pthread_getspecific’未定義的引用
ts_gtest.cpp:(.text._ZN7testing8internal12UnitTestImplD2Ev+0x280)：對‘pthread_key_delete’未定義的引用
../../lib/libopencv_ts.a(ts_gtest.cpp.obj)：在函數‘testing::internal::ThreadLocal<testing::TestPartResultReporterInterface*>::~ThreadLocal()’中：
ts_gtest.cpp:(.text._ZN7testing8internal11ThreadLocalIPNS_31TestPartResultReporterInterfaceEED2Ev[_ZN7testing8internal11ThreadLocalIPNS_31TestPartResultReporterInterfaceEED5Ev]+0x10)：對‘pthread_getspecific’未定義的引用
ts_gtest.cpp:(.text._ZN7testing8internal11ThreadLocalIPNS_31TestPartResultReporterInterfaceEED2Ev[_ZN7testing8internal11ThreadLocalIPNS_31TestPartResultReporterInterfaceEED5Ev]+0x28)：對‘pthread_key_delete’未定義的引用
../../lib/libopencv_ts.a(ts_gtest.cpp.obj)：在函數‘testing::internal::ThreadLocal<std::vector<testing::internal::TraceInfo, std::allocator<testing::internal::TraceInfo> > >::~ThreadLocal()’中：
ts_gtest.cpp:(.text._ZN7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEED2Ev[_ZN7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEED5Ev]+0x14)：對‘pthread_getspecific’未定義的引用
ts_gtest.cpp:(.text._ZN7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEED2Ev[_ZN7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEED5Ev]+0x2c)：對‘pthread_key_delete’未定義的引用
../../lib/libopencv_ts.a(ts_gtest.cpp.obj)：在函數‘testing::internal::UnitTestImpl::UnitTestImpl(testing::UnitTest*)’中：
ts_gtest.cpp:(.text._ZN7testing8internal12UnitTestImplC2EPNS_8UnitTestE+0x90)：對‘pthread_key_create’未定義的引用
ts_gtest.cpp:(.text._ZN7testing8internal12UnitTestImplC2EPNS_8UnitTestE+0x138)：對‘pthread_key_create’未定義的引用
ts_gtest.cpp:(.text._ZN7testing8internal12UnitTestImplC2EPNS_8UnitTestE+0x20c)：對‘pthread_key_create’未定義的引用
../../lib/libopencv_ts.a(ts_gtest.cpp.obj)：在函數‘testing::internal::ThreadLocal<std::vector<testing::internal::TraceInfo, std::allocator<testing::internal::TraceInfo> > >::GetOrCreateValue() const’中：
ts_gtest.cpp:(.text._ZNK7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEE16GetOrCreateValueEv[_ZNK7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEE16GetOrCreateValueEv]+0x1c)：對‘pthread_getspecific’未定義的引用
ts_gtest.cpp:(.text._ZNK7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEE16GetOrCreateValueEv[_ZNK7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEE16GetOrCreateValueEv]+0x114)：對‘pthread_setspecific’未定義的引用
../../lib/libopencv_core.so：對‘pthread_spin_init’未定義的引用
../../lib/libopencv_core.so：對‘pthread_spin_unlock’未定義的引用
../../lib/libopencv_core.so：對‘pthread_spin_lock’未定義的引用
../../lib/libopencv_core.so：對‘pthread_spin_destroy’未定義的引用
../../lib/libopencv_core.so：對‘pthread_once’未定義的引用
../../lib/libopencv_core.so：對‘pthread_spin_trylock’未定義的引用
collect2: error: ld returned 1 exit status
make[2]: *** [bin/opencv_test_core] 錯誤 1
make[1]: *** [modules/core/CMakeFiles/opencv_test_core.dir/all] 錯誤 2
make: *** [all] 錯誤 2
step11
從錯誤可以看出跟pthread有關， 修改build/CMakeCache.txt
CMAKE_EXE_LINKER_FLAGS:STRING=-lpthread -lrt -ldl
step12
繼續編譯出現如下錯誤：
Linking CXX executable ../../bin/opencv_test_nonfree
[ 98%] Built target opencv_test_nonfree
[ 98%] Building CXX object modules/stitching/CMakeFiles/opencv_stitching.dir/src/autocalib.cpp.obj
[ 98%] Building CXX object modules/gpu/CMakeFiles/opencv_perf_gpu.dir/perf/perf_imgproc.cpp.obj
[ 98%] Building CXX object modules/stitching/CMakeFiles/opencv_stitching.dir/src/exposure_compensate.cpp.obj
[ 98%] Building CXX object modules/stitching/CMakeFiles/opencv_stitching.dir/src/warpers.cpp.obj
[ 98%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib.dir/src/fuzzymeanshifttracker.cpp.obj
[ 98%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib.dir/src/selfsimilarity.cpp.obj
[ 99%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib.dir/src/detection_based_tracker.cpp.obj
[ 99%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib.dir/src/octree.cpp.obj
[ 99%] Building CXX object modules/stitching/CMakeFiles/opencv_stitching.dir/src/stitcher.cpp.obj
[ 99%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib.dir/src/colortracker.cpp.obj
[ 99%] Building CXX object modules/stitching/CMakeFiles/opencv_stitching.dir/src/motion_estimators.cpp.obj
[ 99%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib.dir/src/parvoretinafilter.cpp.obj
[ 99%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib.dir/src/logpolar_bsm.cpp.obj
[ 99%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib.dir/src/basicretinafilter.cpp.obj
[ 99%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib.dir/src/chamfermatching.cpp.obj
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/contrib/src/chamfermatching.cpp: In member function ‘void cv::ChamferMatcher::Matching::computeDistanceTransform(cv::Mat&, cv::Mat&, cv::Mat&, float, float, float)’:
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/contrib/src/chamfermatching.cpp:969:30: error: the compiler can assume that the address of ‘annotate_img’ will never be NULL [-Werror=address]
if (&annotate_img!=NULL) {
^
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/contrib/src/chamfermatching.cpp:1016:34: error: the compiler can assume that the address of ‘annotate_img’ will never be NULL [-Werror=address]
if (&annotate_img!=NULL) {
^
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/contrib/src/chamfermatching.cpp: In member function ‘cv::ChamferMatcher::Match* cv::ChamferMatcher::Matching::localChamferDistance(cv::Point, cv::Mat&, cv::Mat&, cv::ChamferMatcher::Template*, float)’:
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/contrib/src/chamfermatching.cpp:1111:25: error: the compiler can assume that the address of ‘orientation_img’ will never be NULL [-Werror=address]
if (&orientation_img!=NULL) {
^
[ 99%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib.dir/src/magnoretinafilter.cpp.obj
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/contrib/src/chamfermatching.cpp:1111:5: warning: nonnull argument ‘orientation_img’ compared to NULL [-Wnonnull-compare]
if (&orientation_img!=NULL) {
^~
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/contrib/src/chamfermatching.cpp: In member function ‘void cv::ChamferMatcher::Matching::computeDistanceTransform(cv::Mat&, cv::Mat&, cv::Mat&, float, float, float)’:
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/contrib/src/chamfermatching.cpp:1016:17: warning: nonnull argument ‘annotate_img’ compared to NULL [-Wnonnull-compare]
if (&annotate_img!=NULL) {
^~
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/contrib/src/chamfermatching.cpp:969:13: warning: nonnull argument ‘annotate_img’ compared to NULL [-Wnonnull-compare]
if (&annotate_img!=NULL) {
^~
[ 99%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib.dir/src/retinafilter.cpp.obj
[ 99%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib.dir/src/rgbdodometry.cpp.obj
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/contrib/src/rgbdodometry.cpp:65:47: fatal error: unsupported/Eigen/MatrixFunctions: 沒有那個文件或目錄
# include <unsupported/Eigen/MatrixFunctions>
^
compilation terminated.
make[2]: *** [modules/contrib/CMakeFiles/opencv_contrib.dir/src/rgbdodometry.cpp.obj] 錯誤 1
make[2]: *** 正在等待未完成的任務....
Linking CXX shared library ../../lib/libopencv_stitching.so
[ 99%] Built target opencv_stitching
Scanning dependencies of target opencv_perf_stitching
Scanning dependencies of target opencv_test_stitching
[ 99%] [ 99%] [ 99%] Building CXX object modules/stitching/CMakeFiles/opencv_test_stitching.dir/test/test_blenders.cpp.obj
Building CXX object modules/stitching/CMakeFiles/opencv_test_stitching.dir/test/test_main.cpp.obj
Building CXX object modules/stitching/CMakeFiles/opencv_perf_stitching.dir/perf/perf_stich.cpp.obj
In file included from /home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/flann/include/opencv2/flann/params.h:33:0,
from /home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/flann/include/opencv2/flann/flann_base.hpp:41,
from /home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/flann/include/opencv2/flann/flann.hpp:50,
from /home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/stitching/perf/perf_stich.cpp:4:
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/flann/include/opencv2/flann/any.h: In member function ‘virtual void cvflann::anyimpl::big_any_policy<T>::static_delete(void**)’:
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/flann/include/opencv2/flann/any.h:83:9: warning: this ‘if’ clause does not guard... [-Wmisleading-indentation]
if (* x) delete (* reinterpret_cast<T**>(x)); *x = NULL;
^~
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/flann/include/opencv2/flann/any.h:83:55: note: ...this statement, but the latter is misleadingly indented as if it is guarded by the ‘if’
if (* x) delete (* reinterpret_cast<T**>(x)); *x = NULL;
^
cc1plus: some warnings being treated as errors
make[2]: *** [modules/contrib/CMakeFiles/opencv_contrib.dir/src/chamfermatching.cpp.obj] 錯誤 1
make[1]: *** [modules/contrib/CMakeFiles/opencv_contrib.dir/all] 錯誤 2
make[1]: *** 正在等待未完成的任務....
[ 99%] Building CXX object modules/stitching/CMakeFiles/opencv_pe
以下錯誤解決辦法：
修改build/modules/contrib/CMakeFiles/opencv_contrib.dir/flags.make
刪除 CXX_FLAGS 中的 -Werror=address
2.4.9/modules/contrib/src/chamfermatching.cpp:969:30: error: the compiler can assume that the address of ‘annotate_img’ will never be NULL [-Werror=address]
if (&annotate_img!=NULL) {
以下錯誤解決辦法：
進入Eigen3庫目錄發現缺少unsupported目錄，下載新的Eigen庫並替換，因爲Eigen庫全部都是頭文件，所以直接替換就好，不依賴具體的平臺。
/home/rootroot/workspace/BAOLE_CLEAN_ROBOT/BL505/CORE-BOARD-PRO/WITHSRC/RK3326/lib/opencv-2.4.9/modules/contrib/src/rgbdodometry.cpp:65:47: fatal error: unsupported/Eigen/MatrixFunctions: 沒有那個文件或目錄
step13
再次編譯，編譯成功。
step14
執行 make install 進行安裝，安裝完成後，可以將Install目錄下的內容拷貝到RK3326板子上/usr目錄下相關的目錄中即可。
參考：
https://blog.csdn.net/lucifer615/article/details/50350751
https://blog.csdn.net/jacke121/article/details/56038046
https://blog.csdn.net/newnewman80/article/details/100017179