Ubuntu 16.04 にOpenCV 3.1.0 をインストールした

白線追従用の画像を処理するためにUbuntu 16.04 にOpenCV 3.1.0 をインストールすることにした。
なお、”Ubuntu 16.04にOpenCV 3.1をインストールする手順”を参考にさせていただいた。

早速、下準備から、
sudo apt-get install build-essential cmake git


sudo apt-get install ffmpeg libopencv-dev libgtk-3-dev python-numpy python3-numpy libdc1394-22 libdc1394-22-dev libjpeg-dev libpng12-dev libtiff5-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libxine2-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libv4l-dev libtbb-dev qtbase5-dev libfaac-dev libmp3lame-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev x264 v4l-utils unzip


wget https://github.com/Itseez/opencv/archive/3.1.0.zip


unzip 3.1.0


cd opencv-3.1.0
mkdir build
cd build


cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D WITH_V4L=ON -D WITH_QT=ON -D WITH_OPENGL=ON ..


成功した。コンフィギュレーションを貼っておく。

-- General configuration for OpenCV 3.1.0 =====================================
--   Version control:               unknown
-- 
--   Platform:
--     Host:                        Linux 4.4.0-87-generic x86_64
--     CMake:                       3.3.2
--     CMake generator:             Unix Makefiles
--     CMake build tool:            /usr/bin/make
--     Configuration:               RELEASE
-- 
--   C/C++:
--     Built as dynamic libs?:      YES
--     C++ Compiler:                /usr/bin/c++  (ver 5.4.0)
--     C++ flags (Release):         -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -mno-avx -msse3 -mno-ssse3 -mno-sse4.1 -mno-sse4.2 -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG  -DNDEBUG
--     C++ flags (Debug):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -mno-avx -msse3 -mno-ssse3 -mno-sse4.1 -mno-sse4.2 -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
--     C Compiler:                  /usr/bin/cc
--     C flags (Release):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -mno-avx -msse3 -mno-ssse3 -mno-sse4.1 -mno-sse4.2 -ffunction-sections -fvisibility=hidden -O3 -DNDEBUG  -DNDEBUG
--     C flags (Debug):             -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -mno-avx -msse3 -mno-ssse3 -mno-sse4.1 -mno-sse4.2 -ffunction-sections -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
--     Linker flags (Release):
--     Linker flags (Debug):
--     Precompiled headers:         YES
--     Extra dependencies:          Qt5::Core Qt5::Gui Qt5::Widgets Qt5::Test Qt5::Concurrent Qt5::OpenGL /usr/lib/x86_64-linux-gnu/libpng.so /usr/lib/x86_64-linux-gnu/libz.so /usr/lib/x86_64-linux-gnu/libtiff.so /usr/lib/x86_64-linux-gnu/libjasper.so /usr/lib/x86_64-linux-gnu/libjpeg.so /usr/lib/x86_64-linux-gnu/libImath.so /usr/lib/x86_64-linux-gnu/libIlmImf.so /usr/lib/x86_64-linux-gnu/libIex.so /usr/lib/x86_64-linux-gnu/libHalf.so /usr/lib/x86_64-linux-gnu/libIlmThread.so gstvideo-1.0 gstapp-1.0 gstbase-1.0 gstriff-1.0 gstpbutils-1.0 gstreamer-1.0 gobject-2.0 glib-2.0 dc1394 v4l1 v4l2 avcodec-ffmpeg avformat-ffmpeg avutil-ffmpeg swscale-ffmpeg dl m pthread rt /usr/lib/x86_64-linux-gnu/libGLU.so /usr/lib/x86_64-linux-gnu/libGL.so tbb atomic cudart nppc nppi npps cufft -L/usr/local/cuda/lib64
--     3rdparty dependencies:       libwebp
-- 
--   OpenCV modules:
--     To be built:                 cudev core cudaarithm flann imgproc ml video cudabgsegm cudafilters cudaimgproc cudawarping imgcodecs photo shape videoio cudacodec highgui objdetect ts features2d calib3d cudafeatures2d cudalegacy cudaobjdetect cudaoptflow cudastereo stitching superres videostab python2
--     Disabled:                    world
--     Disabled by dependency:      -
--     Unavailable:                 java python3 viz
-- 
--   GUI: 
--     QT 5.x:                      YES (ver 5.5.1)
--     QT OpenGL support:           YES (Qt5::OpenGL 5.5.1)
--     OpenGL support:              YES (/usr/lib/x86_64-linux-gnu/libGLU.so /usr/lib/x86_64-linux-gnu/libGL.so)
--     VTK support:                 NO
-- 
--   Media I/O: 
--     ZLib:                        /usr/lib/x86_64-linux-gnu/libz.so (ver 1.2.8)
--     JPEG:                        /usr/lib/x86_64-linux-gnu/libjpeg.so (ver )
--     WEBP:                        build (ver 0.3.1)
--     PNG:                         /usr/lib/x86_64-linux-gnu/libpng.so (ver 1.2.54)
--     TIFF:                        /usr/lib/x86_64-linux-gnu/libtiff.so (ver 42 - 4.0.6)
--     JPEG 2000:                   /usr/lib/x86_64-linux-gnu/libjasper.so (ver 1.900.1)
--     OpenEXR:                     /usr/lib/x86_64-linux-gnu/libImath.so /usr/lib/x86_64-linux-gnu/libIlmImf.so /usr/lib/x86_64-linux-gnu/libIex.so /usr/lib/x86_64-linux-gnu/libHalf.so /usr/lib/x86_64-linux-gnu/libIlmThread.so (ver 2.2.0)
--     GDAL:                        NO
-- 
--   Video I/O:
--     DC1394 1.x:                  NO
--     DC1394 2.x:                  YES (ver 2.2.4)
--     FFMPEG:                      YES
--       codec:                     YES (ver 56.60.100)
--       format:                    YES (ver 56.40.101)
--       util:                      YES (ver 54.31.100)
--       swscale:                   YES (ver 3.1.101)
--       resample:                  NO
--       gentoo-style:              YES
--     GStreamer:                   
--       base:                      YES (ver 1.8.3)
--       video:                     YES (ver 1.8.3)
--       app:                       YES (ver 1.8.3)
--       riff:                      YES (ver 1.8.3)
--       pbutils:                   YES (ver 1.8.3)
--     OpenNI:                      NO
--     OpenNI PrimeSensor Modules:  NO
--     OpenNI2:                     NO
--     PvAPI:                       NO
--     GigEVisionSDK:               NO
--     UniCap:                      NO
--     UniCap ucil:                 NO
--     V4L/V4L2:                    Using libv4l1 (ver 1.10.0) / libv4l2 (ver 1.10.0)
--     XIMEA:                       NO
--     Xine:                        NO
--     gPhoto2:                     NO
-- 
--   Parallel framework:            TBB (ver 4.4 interface 9002)
-- 
--   Other third-party libraries:
--     Use IPP:                     9.0.1 [9.0.1]
--          at:                     /home/masaaki/opencv-3.1.0/3rdparty/ippicv/unpack/ippicv_lnx
--     Use IPP Async:               NO
--     Use VA:                      NO
--     Use Intel VA-API/OpenCL:     NO
--     Use Eigen:                   NO
--     Use Cuda:                    YES (ver 8.0)
--     Use OpenCL:                  YES
--     Use custom HAL:              NO
-- 
--   NVIDIA CUDA
--     Use CUFFT:                   YES
--     Use CUBLAS:                  NO
--     USE NVCUVID:                 NO
--     NVIDIA GPU arch:             20 21 30 35
--     NVIDIA PTX archs:            30
--     Use fast math:               NO
-- 
--   OpenCL:
--     Version:                     dynamic
--     Include path:                /home/masaaki/opencv-3.1.0/3rdparty/include/opencl/1.2
--     Use AMDFFT:                  NO
--     Use AMDBLAS:                 NO
-- 
--   Python 2:
--     Interpreter:                 /usr/bin/python2.7 (ver 2.7.12)
--     Libraries:                   /usr/lib/x86_64-linux-gnu/libpython2.7.so (ver 2.7.12)
--     numpy:                       /home/masaaki/.local/lib/python2.7/site-packages/numpy/core/include (ver 1.11.0)
--     packages path:               lib/python2.7/dist-packages
-- 
--   Python 3:
--     Interpreter:                 /usr/bin/python3 (ver 3.5.2)
-- 
--   Python (for build):            /usr/bin/python2.7
-- 
--   Java:
--     ant:                         NO
--     JNI:                         NO
--     Java wrappers:               NO
--     Java tests:                  NO
-- 
--   Matlab:                        Matlab not found or implicitly disabled
-- 
--   Documentation:
--     Doxygen:                     NO
--     PlantUML:                    NO
-- 
--   Tests and samples:
--     Tests:                       YES
--     Performance tests:           YES
--     C/C++ Examples:              NO
-- 
--   Install path:                  /usr/local
-- 
--   cvconfig.h is in:              /home/masaaki/opencv-3.1.0/build
-- -----------------------------------------------------------------
-- 
-- Configuring done
-- Generating done
-- Build files have been written to: /home/masaaki/opencv-3.1.0/build

make


エラーになってしまった。エラー内容を示す。

/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:120:54: error: ‘NppiGraphcutState’ has not been declared
     typedef NppStatus (*init_func_t)(NppiSize oSize, NppiGraphcutState** ppStat
                                                      ^
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:135:18: error: ‘NppiGraphcutState’ does not name a type
         operator NppiGraphcutState*()
                  ^
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:141:9: error: ‘NppiGraphcutState’ does not name a type
         NppiGraphcutState* pState;
         ^
In file included from /home/masaaki/opencv-3.1.0/build/modules/cudalegacy/precomp.hpp:75:0:
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp: In constructor ‘{anonymous}::NppiGraphcutStateHandler::NppiGraphcutStateHandler(NppiSize, Npp8u*, {anonymous}::init_func_t)’:
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:127:39: error: ‘pState’ was not declared in this scope
             nppSafeCall( func(sznpp, &pState, pDeviceMem) );
                                       ^
/home/masaaki/opencv-3.1.0/modules/core/include/opencv2/core/private.cuda.hpp:165:52: note: in definition of macro ‘nppSafeCall’
 #define nppSafeCall(expr)  cv::cuda::checkNppError(expr, __FILE__, __LINE__, CV
                                                    ^
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp: In destructor ‘{anonymous}::NppiGraphcutStateHandler::~NppiGraphcutStateHandler()’:
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:132:43: error: ‘pState’ was not declared in this scope
             nppSafeCall( nppiGraphcutFree(pState) );
                                           ^
/home/masaaki/opencv-3.1.0/modules/core/include/opencv2/core/private.cuda.hpp:165:52: note: in definition of macro ‘nppSafeCall’
 #define nppSafeCall(expr)  cv::cuda::checkNppError(expr, __FILE__, __LINE__, CV
                                                    ^
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:132:49: error: ‘nppiGraphcutFree’ was not declared in this scope
             nppSafeCall( nppiGraphcutFree(pState) );
                                                 ^
/home/masaaki/opencv-3.1.0/modules/core/include/opencv2/core/private.cuda.hpp:165:52: note: in definition of macro ‘nppSafeCall’
 #define nppSafeCall(expr)  cv::cuda::checkNppError(expr, __FILE__, __LINE__, CV
                                                    ^
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp: In function ‘void cv::cuda::graphcut(cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::Stream&)’:
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:174:51: error: ‘nppiGraphcutGetSize’ was not declared in this scope
     nppSafeCall( nppiGraphcutGetSize(sznpp, &bufsz) );
                                                   ^
/home/masaaki/opencv-3.1.0/modules/core/include/opencv2/core/private.cuda.hpp:165:52: note: in definition of macro ‘nppSafeCall’
 #define nppSafeCall(expr)  cv::cuda::checkNppError(expr, __FILE__, __LINE__, CV
                                                    ^
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:182:61: error: ‘nppiGraphcutInitAlloc’ was not declared in this scope
     NppiGraphcutStateHandler state(sznpp, buf.ptr<Npp8u>(), nppiGraphcutInitAll
                                                             ^
In file included from /home/masaaki/opencv-3.1.0/build/modules/cudalegacy/precomp.hpp:75:0:
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:191:146: error: ‘nppiGraphcut_32s8u’ was not declared in this scope
 nsp.step), sznpp, labels.ptr<Npp8u>(), static_cast<int>(labels.step), state) );
                                                                            ^
/home/masaaki/opencv-3.1.0/modules/core/include/opencv2/core/private.cuda.hpp:165:52: note: in definition of macro ‘nppSafeCall’
 #define nppSafeCall(expr)  cv::cuda::checkNppError(expr, __FILE__, __LINE__, CV
                                                    ^
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:196:146: error: ‘nppiGraphcut_32f8u’ was not declared in this scope
 nsp.step), sznpp, labels.ptr<Npp8u>(), static_cast<int>(labels.step), state) );
                                                                            ^
/home/masaaki/opencv-3.1.0/modules/core/include/opencv2/core/private.cuda.hpp:165:52: note: in definition of macro ‘nppSafeCall’
 #define nppSafeCall(expr)  cv::cuda::checkNppError(expr, __FILE__, __LINE__, CV
                                                    ^
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp: In function ‘void cv::cuda::graphcut(cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::GpuMat&, cv::cuda::Stream&)’:
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:246:52: error: ‘nppiGraphcut8GetSize’ was not declared in this scope
     nppSafeCall( nppiGraphcut8GetSize(sznpp, &bufsz) );
                                                    ^
/home/masaaki/opencv-3.1.0/modules/core/include/opencv2/core/private.cuda.hpp:165:52: note: in definition of macro ‘nppSafeCall’
 #define nppSafeCall(expr)  cv::cuda::checkNppError(expr, __FILE__, __LINE__, CV
                                                    ^
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:254:61: error: ‘nppiGraphcut8InitAlloc’ was not declared in this scope
     NppiGraphcutStateHandler state(sznpp, buf.ptr<Npp8u>(), nppiGraphcut8InitAl
                                                             ^
In file included from /home/masaaki/opencv-3.1.0/build/modules/cudalegacy/precomp.hpp:75:0:
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:267:146: error: ‘nppiGraphcut8_32s8u’ was not declared in this scope
 nsp.step), sznpp, labels.ptr<Npp8u>(), static_cast<int>(labels.step), state) );
                                                                            ^
/home/masaaki/opencv-3.1.0/modules/core/include/opencv2/core/private.cuda.hpp:165:52: note: in definition of macro ‘nppSafeCall’
 #define nppSafeCall(expr)  cv::cuda::checkNppError(expr, __FILE__, __LINE__, CV
                                                    ^
/home/masaaki/opencv-3.1.0/modules/cudalegacy/src/graphcuts.cpp:274:146: error: ‘nppiGraphcut8_32f8u’ was not declared in this scope
 nsp.step), sznpp, labels.ptr<Npp8u>(), static_cast<int>(labels.step), state) );
                                                                            ^
/home/masaaki/opencv-3.1.0/modules/core/include/opencv2/core/private.cuda.hpp:165:52: note: in definition of macro ‘nppSafeCall’
 #define nppSafeCall(expr)  cv::cuda::checkNppError(expr, __FILE__, __LINE__, CV
                                                    ^
modules/cudalegacy/CMakeFiles/opencv_cudalegacy.dir/build.make:362: ターゲット 'modules/cudalegacy/CMakeFiles/opencv_cudalegacy.dir/src/graphcuts.cpp.o' のレシピで失敗しました
make[2]: *** [modules/cudalegacy/CMakeFiles/opencv_cudalegacy.dir/src/graphcuts.cpp.o] エラー 1
CMakeFiles/Makefile2:9285: ターゲット 'modules/cudalegacy/CMakeFiles/opencv_cudalegacy.dir/all' のレシピで失敗しました
make[1]: *** [modules/cudalegacy/CMakeFiles/opencv_cudalegacy.dir/all] エラー 2
Makefile:160: ターゲット 'all' のレシピで失敗しました
make: *** [all] エラー 2

どうやらCUDA 関係のエラーのようだ。
”opencv3.10 does not support cuda8.0rc? #6677”とかを見ていろいろとやってみたが、うまく行かなかった。
ツィッターでdandelion さんから、「CUDA8だと一部モジュールがビルドできない問題があります。OpenCV 3.2で修正されてます。」と教えて頂いた。
よって、OpenCV 3.2 以降をインストールすることにした。