ffmpeg -hwaccel vaapi -vaapi_device /dev/dri/renderD128 -i rtsp://admin:admin@192.168.1.162/1/1 -vf "format=nv12,hwupload" -y -c:v h264_vaapi 1.mp4

ffmpeg version N-103896-ged65498 Copyright (c) 2000-2021 the FFmpeg developers
  built with gcc 5.4.0 (Ubuntu 5.4.0-6ubuntu1~16.04.12) 20160609
  configuration: --enable-vaapi --disable-x86asm --enable-nonfree
  libavutil      57.  7.100 / 57.  7.100
  libavcodec     59.  9.101 / 59.  9.101
  libavformat    59.  5.100 / 59.  5.100
  libavdevice    59.  0.101 / 59.  0.101
  libavfilter     8.  9.100 /  8.  9.100
  libswscale      6.  1.100 /  6.  1.100
  libswresample   4.  0.100 /  4.  0.100
Guessed Channel Layout for Input Stream #0.1 : mono
Input #0, rtsp, from 'rtsp://admin:admin@192.168.1.162/1/1':
  Metadata:
    title           : SDP Descrption
    comment         : SDP Description
  Duration: N/A, start: 0.000000, bitrate: N/A
  Stream #0:0: Video: h264 (High), yuvj420p(pc, bt709, progressive), 2560x1440, 25 fps, 25 tbr, 90k tbn
  Stream #0:1: Audio: pcm_alaw, 8000 Hz, mono, s16, 64 kb/s
Stream mapping:
  Stream #0:0 -> #0:0 (h264 (native) -> h264 (h264_vaapi))
  Stream #0:1 -> #0:1 (pcm_alaw (native) -> aac (native))
Press [q] to stop, [?] for help

vainfo --display drm | grep H264.*Enc
libva info: VA-API version 1.13.0
libva info: Trying to open /usr/local/lib/dri/iHD_drv_video.so
libva info: Found init function __vaDriverInit_1_13
libva info: va_openDriver() returns 0

  VAProfileH264ConstrainedBaseline:    VAEntrypointEncSlice
  VAProfileH264Main               :    VAEntrypointEncSlice
  VAProfileH264High               :    VAEntrypointEncSlice

使用以下几种方法都可以硬解

ffmpeg -hwaccel vaapi -c:v h264 -i rtsp://admin:admin@192.168.1.162/1/1 -f null -
ffmpeg -hwaccel vaapi -i rtsp://admin:admin@192.168.1.162/1/1 -f null -
ffmpeg -hwaccel vaapi -vaapi_device /dev/dri/renderD128 -i rtsp://admin:admin@192.168.1.162/1/1 -f null -
ffmpeg -init_hw_device vaapi=vaapi:/dev/dri/renderD128 -filter_hw_device vaapi -i rtsp://admin:admin@192.168.1.162:554/1/1 -f null -
软解:
ffmpeg -i rtsp://admin:admin@192.168.1.162/1/1 -f null -

查看CPU占用情况,一下就看出来了。

代码路径在github的doc/examples/vaapi_encode.c
https://github.com/FFmpeg/FFmpeg/blob/master/doc/examples/vaapi_encode.c

#include <stdio.h>
#include <string.h>
#include <errno.h>

#include <libavcodec/avcodec.h>
#include <libavutil/pixdesc.h>
#include <libavutil/hwcontext.h>

static int width, height;
static AVBufferRef *hw_device_ctx = NULL;

static int set_hwframe_ctx(AVCodecContext *ctx, AVBufferRef *hw_device_ctx)
{
    AVBufferRef *hw_frames_ref;
    AVHWFramesContext *frames_ctx = NULL;
    int err = 0;

    if (!(hw_frames_ref = av_hwframe_ctx_alloc(hw_device_ctx))) {
        fprintf(stderr, "Failed to create VAAPI frame context.\n");
        return -1;
    }
    frames_ctx = (AVHWFramesContext *)(hw_frames_ref->data);
    frames_ctx->format    = AV_PIX_FMT_VAAPI;
    frames_ctx->sw_format = AV_PIX_FMT_NV12;
    frames_ctx->width     = width;
    frames_ctx->height    = height;
    frames_ctx->initial_pool_size = 20;
    if ((err = av_hwframe_ctx_init(hw_frames_ref)) < 0) {
        fprintf(stderr, "Failed to initialize VAAPI frame context."
                "Error code: %s\n",av_err2str(err));
        av_buffer_unref(&hw_frames_ref);
        return err;
    }
    ctx->hw_frames_ctx = av_buffer_ref(hw_frames_ref);
    if (!ctx->hw_frames_ctx)
        err = AVERROR(ENOMEM);

    av_buffer_unref(&hw_frames_ref);
    return err;
}

static int encode_write(AVCodecContext *avctx, AVFrame *frame, FILE *fout)
{
    int ret = 0;
    AVPacket *enc_pkt;

    if (!(enc_pkt = av_packet_alloc()))
        return AVERROR(ENOMEM);

    if ((ret = avcodec_send_frame(avctx, frame)) < 0) {
        fprintf(stderr, "Error code: %s\n", av_err2str(ret));
        goto end;
    }
    while (1) {
        ret = avcodec_receive_packet(avctx, enc_pkt);
        if (ret)
            break;

        enc_pkt->stream_index = 0;
        ret = fwrite(enc_pkt->data, enc_pkt->size, 1, fout);
        av_packet_unref(enc_pkt);
    }

end:
    av_packet_free(&enc_pkt);
    ret = ((ret == AVERROR(EAGAIN)) ? 0 : -1);
    return ret;
}

int main(int argc, char *argv[])
{
    int size, err;
    FILE *fin = NULL, *fout = NULL;
    AVFrame *sw_frame = NULL, *hw_frame = NULL;
    AVCodecContext *avctx = NULL;
    const AVCodec *codec = NULL;
    const char *enc_name = "h264_vaapi";

    if (argc < 5) {
        fprintf(stderr, "Usage: %s <width> <height> <input file> <output file>\n", argv[0]);
        return -1;
    }

    width  = atoi(argv[1]);
    height = atoi(argv[2]);
    size   = width * height;

    if (!(fin = fopen(argv[3], "r"))) {
        fprintf(stderr, "Fail to open input file : %s\n", strerror(errno));
        return -1;
    }
    if (!(fout = fopen(argv[4], "w+b"))) {
        fprintf(stderr, "Fail to open output file : %s\n", strerror(errno));
        err = -1;
        goto close;
    }

    err = av_hwdevice_ctx_create(&hw_device_ctx, AV_HWDEVICE_TYPE_VAAPI,
                                 NULL, NULL, 0);
    if (err < 0) {
        fprintf(stderr, "Failed to create a VAAPI device. Error code: %s\n", av_err2str(err));
        goto close;
    }

    if (!(codec = avcodec_find_encoder_by_name(enc_name))) {
        fprintf(stderr, "Could not find encoder.\n");
        err = -1;
        goto close;
    }

    if (!(avctx = avcodec_alloc_context3(codec))) {
        err = AVERROR(ENOMEM);
        goto close;
    }

    avctx->width     = width;
    avctx->height    = height;
    avctx->time_base = (AVRational){1, 25};
    avctx->framerate = (AVRational){25, 1};
    avctx->sample_aspect_ratio = (AVRational){1, 1};
    avctx->pix_fmt   = AV_PIX_FMT_VAAPI;

    /* set hw_frames_ctx for encoder's AVCodecContext */
    if ((err = set_hwframe_ctx(avctx, hw_device_ctx)) < 0) {
        fprintf(stderr, "Failed to set hwframe context.\n");
        goto close;
    }

    if ((err = avcodec_open2(avctx, codec, NULL)) < 0) {
        fprintf(stderr, "Cannot open video encoder codec. Error code: %s\n", av_err2str(err));
        goto close;
    }

    while (1) {
        if (!(sw_frame = av_frame_alloc())) {
            err = AVERROR(ENOMEM);
            goto close;
        }
        /* read data into software frame, and transfer them into hw frame */
        sw_frame->width  = width;
        sw_frame->height = height;
        sw_frame->format = AV_PIX_FMT_NV12;
        if ((err = av_frame_get_buffer(sw_frame, 0)) < 0)
            goto close;
        if ((err = fread((uint8_t*)(sw_frame->data[0]), size, 1, fin)) <= 0)
            break;
        if ((err = fread((uint8_t*)(sw_frame->data[1]), size/2, 1, fin)) <= 0)
            break;

        if (!(hw_frame = av_frame_alloc())) {
            err = AVERROR(ENOMEM);
            goto close;
        }
        if ((err = av_hwframe_get_buffer(avctx->hw_frames_ctx, hw_frame, 0)) < 0) {
            fprintf(stderr, "Error code: %s.\n", av_err2str(err));
            goto close;
        }
        if (!hw_frame->hw_frames_ctx) {
            err = AVERROR(ENOMEM);
            goto close;
        }
        if ((err = av_hwframe_transfer_data(hw_frame, sw_frame, 0)) < 0) {
            fprintf(stderr, "Error while transferring frame data to surface."
                    "Error code: %s.\n", av_err2str(err));
            goto close;
        }

        if ((err = (encode_write(avctx, hw_frame, fout))) < 0) {
            fprintf(stderr, "Failed to encode.\n");
            goto close;
        }
        av_frame_free(&hw_frame);
        av_frame_free(&sw_frame);
    }

    /* flush encoder */
    err = encode_write(avctx, NULL, fout);
    if (err == AVERROR_EOF)
        err = 0;

close:
    if (fin)
        fclose(fin);
    if (fout)
        fclose(fout);
    av_frame_free(&sw_frame);
    av_frame_free(&hw_frame);
    avcodec_free_context(&avctx);
    av_buffer_unref(&hw_device_ctx);

    return err;
}

https://github.com/FFmpeg/FFmpeg/blob/master/doc/examples/vaapi_transcode.c

#include <stdio.h>
#include <errno.h>

#include <libavutil/hwcontext.h>
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>

static AVFormatContext *ifmt_ctx = NULL, *ofmt_ctx = NULL;
static AVBufferRef *hw_device_ctx = NULL;
static AVCodecContext *decoder_ctx = NULL, *encoder_ctx = NULL;
static int video_stream = -1;
static AVStream *ost;
static int initialized = 0;

static enum AVPixelFormat get_vaapi_format(AVCodecContext *ctx,
                                           const enum AVPixelFormat *pix_fmts)
{
    const enum AVPixelFormat *p;

    for (p = pix_fmts; *p != AV_PIX_FMT_NONE; p++) {
        if (*p == AV_PIX_FMT_VAAPI)
            return *p;
    }

    fprintf(stderr, "Unable to decode this file using VA-API.\n");
    return AV_PIX_FMT_NONE;
}

static int open_input_file(const char *filename)
{
    int ret;
    const AVCodec *decoder = NULL;
    AVStream *video = NULL;

    if ((ret = avformat_open_input(&ifmt_ctx, filename, NULL, NULL)) < 0) {
        fprintf(stderr, "Cannot open input file '%s', Error code: %s\n",
                filename, av_err2str(ret));
        return ret;
    }

    if ((ret = avformat_find_stream_info(ifmt_ctx, NULL)) < 0) {
        fprintf(stderr, "Cannot find input stream information. Error code: %s\n",
                av_err2str(ret));
        return ret;
    }

    ret = av_find_best_stream(ifmt_ctx, AVMEDIA_TYPE_VIDEO, -1, -1, &decoder, 0);
    if (ret < 0) {
        fprintf(stderr, "Cannot find a video stream in the input file. "
                "Error code: %s\n", av_err2str(ret));
        return ret;
    }
    video_stream = ret;

    if (!(decoder_ctx = avcodec_alloc_context3(decoder)))
        return AVERROR(ENOMEM);

    video = ifmt_ctx->streams[video_stream];
    if ((ret = avcodec_parameters_to_context(decoder_ctx, video->codecpar)) < 0) {
        fprintf(stderr, "avcodec_parameters_to_context error. Error code: %s\n",
                av_err2str(ret));
        return ret;
    }

    decoder_ctx->hw_device_ctx = av_buffer_ref(hw_device_ctx);
    if (!decoder_ctx->hw_device_ctx) {
        fprintf(stderr, "A hardware device reference create failed.\n");
        return AVERROR(ENOMEM);
    }
    decoder_ctx->get_format    = get_vaapi_format;

    if ((ret = avcodec_open2(decoder_ctx, decoder, NULL)) < 0)
        fprintf(stderr, "Failed to open codec for decoding. Error code: %s\n",
                av_err2str(ret));

    return ret;
}

static int encode_write(AVPacket *enc_pkt, AVFrame *frame)
{
    int ret = 0;

    av_packet_unref(enc_pkt);

    if ((ret = avcodec_send_frame(encoder_ctx, frame)) < 0) {
        fprintf(stderr, "Error during encoding. Error code: %s\n", av_err2str(ret));
        goto end;
    }
    while (1) {
        ret = avcodec_receive_packet(encoder_ctx, enc_pkt);
        if (ret)
            break;

        enc_pkt->stream_index = 0;
        av_packet_rescale_ts(enc_pkt, ifmt_ctx->streams[video_stream]->time_base,
                             ofmt_ctx->streams[0]->time_base);
        ret = av_interleaved_write_frame(ofmt_ctx, enc_pkt);
        if (ret < 0) {
            fprintf(stderr, "Error during writing data to output file. "
                    "Error code: %s\n", av_err2str(ret));
            return -1;
        }
    }

end:
    if (ret == AVERROR_EOF)
        return 0;
    ret = ((ret == AVERROR(EAGAIN)) ? 0:-1);
    return ret;
}

static int dec_enc(AVPacket *pkt, const AVCodec *enc_codec)
{
    AVFrame *frame;
    int ret = 0;

    ret = avcodec_send_packet(decoder_ctx, pkt);
    if (ret < 0) {
        fprintf(stderr, "Error during decoding. Error code: %s\n", av_err2str(ret));
        return ret;
    }

    while (ret >= 0) {
        if (!(frame = av_frame_alloc()))
            return AVERROR(ENOMEM);

        ret = avcodec_receive_frame(decoder_ctx, frame);
        if (ret == AVERROR(EAGAIN) || ret == AVERROR_EOF) {
            av_frame_free(&frame);
            return 0;
        } else if (ret < 0) {
            fprintf(stderr, "Error while decoding. Error code: %s\n", av_err2str(ret));
            goto fail;
        }

        if (!initialized) {
            /* we need to ref hw_frames_ctx of decoder to initialize encoder's codec.
               Only after we get a decoded frame, can we obtain its hw_frames_ctx */
            encoder_ctx->hw_frames_ctx = av_buffer_ref(decoder_ctx->hw_frames_ctx);
            if (!encoder_ctx->hw_frames_ctx) {
                ret = AVERROR(ENOMEM);
                goto fail;
            }
            /* set AVCodecContext Parameters for encoder, here we keep them stay
             * the same as decoder.
             * xxx: now the sample can't handle resolution change case.
             */
            encoder_ctx->time_base = av_inv_q(decoder_ctx->framerate);
            encoder_ctx->pix_fmt   = AV_PIX_FMT_VAAPI;
            encoder_ctx->width     = decoder_ctx->width;
            encoder_ctx->height    = decoder_ctx->height;

            if ((ret = avcodec_open2(encoder_ctx, enc_codec, NULL)) < 0) {
                fprintf(stderr, "Failed to open encode codec. Error code: %s\n",
                        av_err2str(ret));
                goto fail;
            }

            if (!(ost = avformat_new_stream(ofmt_ctx, enc_codec))) {
                fprintf(stderr, "Failed to allocate stream for output format.\n");
                ret = AVERROR(ENOMEM);
                goto fail;
            }

            ost->time_base = encoder_ctx->time_base;
            ret = avcodec_parameters_from_context(ost->codecpar, encoder_ctx);
            if (ret < 0) {
                fprintf(stderr, "Failed to copy the stream parameters. "
                        "Error code: %s\n", av_err2str(ret));
                goto fail;
            }

            /* write the stream header */
            if ((ret = avformat_write_header(ofmt_ctx, NULL)) < 0) {
                fprintf(stderr, "Error while writing stream header. "
                        "Error code: %s\n", av_err2str(ret));
                goto fail;
            }

            initialized = 1;
        }

        if ((ret = encode_write(pkt, frame)) < 0)
            fprintf(stderr, "Error during encoding and writing.\n");

fail:
        av_frame_free(&frame);
        if (ret < 0)
            return ret;
    }
    return 0;
}

int main(int argc, char **argv)
{
    const AVCodec *enc_codec;
    int ret = 0;
    AVPacket *dec_pkt;

    if (argc != 4) {
        fprintf(stderr, "Usage: %s <input file> <encode codec> <output file>\n"
                "The output format is guessed according to the file extension.\n"
                "\n", argv[0]);
        return -1;
    }

    ret = av_hwdevice_ctx_create(&hw_device_ctx, AV_HWDEVICE_TYPE_VAAPI, NULL, NULL, 0);
    if (ret < 0) {
        fprintf(stderr, "Failed to create a VAAPI device. Error code: %s\n", av_err2str(ret));
        return -1;
    }

    dec_pkt = av_packet_alloc();
    if (!dec_pkt) {
        fprintf(stderr, "Failed to allocate decode packet\n");
        goto end;
    }

    if ((ret = open_input_file(argv[1])) < 0)
        goto end;

    if (!(enc_codec = avcodec_find_encoder_by_name(argv[2]))) {
        fprintf(stderr, "Could not find encoder '%s'\n", argv[2]);
        ret = -1;
        goto end;
    }

    if ((ret = (avformat_alloc_output_context2(&ofmt_ctx, NULL, NULL, argv[3]))) < 0) {
        fprintf(stderr, "Failed to deduce output format from file extension. Error code: "
                "%s\n", av_err2str(ret));
        goto end;
    }

    if (!(encoder_ctx = avcodec_alloc_context3(enc_codec))) {
        ret = AVERROR(ENOMEM);
        goto end;
    }

    ret = avio_open(&ofmt_ctx->pb, argv[3], AVIO_FLAG_WRITE);
    if (ret < 0) {
        fprintf(stderr, "Cannot open output file. "
                "Error code: %s\n", av_err2str(ret));
        goto end;
    }

    /* read all packets and only transcoding video */
    while (ret >= 0) {
        if ((ret = av_read_frame(ifmt_ctx, dec_pkt)) < 0)
            break;

        if (video_stream == dec_pkt->stream_index)
            ret = dec_enc(dec_pkt, enc_codec);

        av_packet_unref(dec_pkt);
    }

    /* flush decoder */
    av_packet_unref(dec_pkt);
    ret = dec_enc(dec_pkt, enc_codec);

    /* flush encoder */
    ret = encode_write(dec_pkt, NULL);

    /* write the trailer for output stream */
    av_write_trailer(ofmt_ctx);

end:
    avformat_close_input(&ifmt_ctx);
    avformat_close_input(&ofmt_ctx);
    avcodec_free_context(&decoder_ctx);
    avcodec_free_context(&encoder_ctx);
    av_buffer_unref(&hw_device_ctx);
    av_packet_free(&dec_pkt);
    return ret;
}

下载
https://github.com/FFmpeg/FFmpeg/archive/refs/tags/n4.1.7.zip

unzip n4.1.7.zip
cd FFmpeg-n4.1.7
./configure --enable-shared --enable-nonfree

make -j4

sudo make install

ffmpeg
ffmpeg version 4.1.7 Copyright (c) 2000-2020 the FFmpeg developers
  built with gcc 5.4.0 (Ubuntu 5.4.0-6ubuntu1~16.04.12) 20160609
  configuration: --enable-shared --enable-nonfree
  libavutil      56. 22.100 / 56. 22.100
  libavcodec     58. 35.100 / 58. 35.100
  libavformat    58. 20.100 / 58. 20.100
  libavdevice    58.  5.100 / 58.  5.100
  libavfilter     7. 40.101 /  7. 40.101
  libswscale      5.  3.100 /  5.  3.100
  libswresample   3.  3.100 /  3.  3.100
Hyper fast Audio and Video encoder
usage: ffmpeg [options] [[infile options] -i infile]... {[outfile options] outfile}...

Use -h to get full help or, even better, run 'man ffmpeg'

命令

ffmpeg -codecs |grep vaapi

ffmpeg version 4.1.7 Copyright (c) 2000-2020 the FFmpeg developers
  built with gcc 5.4.0 (Ubuntu 5.4.0-6ubuntu1~16.04.12) 20160609
  configuration: --enable-shared --enable-nonfree
  libavutil      56. 22.100 / 56. 22.100
  libavcodec     58. 35.100 / 58. 35.100
  libavformat    58. 20.100 / 58. 20.100
  libavdevice    58.  5.100 / 58.  5.100
  libavfilter     7. 40.101 /  7. 40.101
  libswscale      5.  3.100 /  5.  3.100
  libswresample   3.  3.100 /  3.  3.100
 DEV.LS h264                 H.264 / AVC / MPEG-4 AVC / MPEG-4 part 10 (decoders: h264 h264_v4l2m2m ) (encoders: h264_v4l2m2m h264_vaapi )
 DEV.L. hevc                 H.265 / HEVC (High Efficiency Video Coding) (encoders: hevc_vaapi )
 DEVIL. mjpeg                Motion JPEG (encoders: mjpeg mjpeg_vaapi )
 DEV.L. mpeg2video           MPEG-2 video (decoders: mpeg2video mpegvideo mpeg2_v4l2m2m ) (encoders: mpeg2video mpeg2_vaapi )
 DEV.L. vp8                  On2 VP8 (decoders: vp8 vp8_v4l2m2m ) (encoders: vp8_v4l2m2m vp8_vaapi )
 DEV.L. vp9                  Google VP9 (encoders: vp9_vaapi )

ffmpeg -hwaccels

ffmpeg version 4.1.7 Copyright (c) 2000-2020 the FFmpeg developers
  built with gcc 5.4.0 (Ubuntu 5.4.0-6ubuntu1~16.04.12) 20160609
  configuration: --enable-shared --enable-nonfree
  libavutil      56. 22.100 / 56. 22.100
  libavcodec     58. 35.100 / 58. 35.100
  libavformat    58. 20.100 / 58. 20.100
  libavdevice    58.  5.100 / 58.  5.100
  libavfilter     7. 40.101 /  7. 40.101
  libswscale      5.  3.100 /  5.  3.100
  libswresample   3.  3.100 /  3.  3.100
Hardware acceleration methods:
vdpau
vaapi

ffmpeg -hwaccel vaapi -i rtsp://admin:admin@192.168.1.162/1/1 -an -f null -

ffmpeg version 4.1.7 Copyright (c) 2000-2020 the FFmpeg developers
  built with gcc 5.4.0 (Ubuntu 5.4.0-6ubuntu1~16.04.12) 20160609
  configuration: --enable-shared --enable-nonfree
  libavutil      56. 22.100 / 56. 22.100
  libavcodec     58. 35.100 / 58. 35.100
  libavformat    58. 20.100 / 58. 20.100
  libavdevice    58.  5.100 / 58.  5.100
  libavfilter     7. 40.101 /  7. 40.101
  libswscale      5.  3.100 /  5.  3.100
  libswresample   3.  3.100 /  3.  3.100
Guessed Channel Layout for Input Stream #0.1 : mono
Input #0, rtsp, from 'rtsp://admin:admin@192.168.1.162/1/1':
  Metadata:
    title           : SDP Descrption
    comment         : SDP Description
  Duration: N/A, start: 0.000000, bitrate: N/A
    Stream #0:0: Video: h264 (High), yuvj420p(pc, bt709, progressive), 2560x1440, 25 fps, 25 tbr, 90k tbn, 50 tbc
    Stream #0:1: Audio: pcm_alaw, 8000 Hz, mono, s16, 64 kb/s
Stream mapping:
  Stream #0:0 -> #0:0 (h264 (native) -> wrapped_avframe (native))
Press [q] to stop, [?] for help
Output #0, null, to 'pipe:':

下载或者git clone opencv

https://github.com/opencv/opencv.git

https://github.com/opencv/opencv/archive/refs/tags/4.5.3.zip

下载或者git clone opencv_contrib

https://github.com/opencv/opencv_contrib.git

https://github.com/opencv/opencv_contrib/archive/refs/tags/4.5.3.zip

将opencv_contrib4.5.3放到opencv4.5.3目录下

目录结构
tree -L 1
.
├── 3rdparty
├── apps
├── build
├── cmake
├── CMakeLists.txt
├── CONTRIBUTING.md
├── COPYRIGHT
├── data
├── doc
├── include
├── LICENSE
├── modules
├── opencv_contrib-4.5.3
├── platforms
├── README.md
├── samples
└── SECURITY.md

make build && cd build

cmake -D CMAKE_BUILD_TYPE=Release -D OPENCV_EXTRA_MODULES=../opencv_contrib/modules ..

make -j4

sudo make install

如果要打开world
cmake -D CMAKE_BUILD_TYPE=Release -D BUILD_opencv_world=ON -D OPENCV_EXTRA_MODULES=../opencv_contrib/modules ..

出现错误:

CMake Error at modules/world/CMakeLists.txt:62 (if):
  if given arguments:
    ";opencv_core;opencv_flann;opencv_imgproc;opencv_ml;opencv_photo;opencv_python_tests;opencv_dnn;opencv_features2d;opencv_imgcodecs;opencv_videoio;opencv_calib3d;opencv_highgui;opencv_objdetect;opencv_stitching;opencv_video;opencv_gapi;opencv_world;opencv_java_bindings_generator;opencv_js_bindings_generator;opencv_objc_bindings_generator;opencv_python_bindings_generator;opencv_ts;" "MATCHES" ";opencv_viz;" "AND" "OPENCV_MODULE_opencv_viz_IS_PART_OF_WORLD" "AND" "VTK_VERSION" "VERSION_GREATER_EQUAL" "8.90.0"

  Unknown arguments specified
Configuring incomplete, errors occurred!

下载编译安装VTK试试
https://www.vtk.org/files/release/9.0/VTK-9.0.3.tar.gz
tar xvf VTK-9.0.3.tar.gz
cd VTK-9.0.3
mkdir build && cd build
cmake ..
make -j4
sudo make install

-- Installing: /usr/local/lib/libvtkDomainsChemistry-9.0.so.9.0.3
-- Installing: /usr/local/lib/libvtkDomainsChemistry-9.0.so.1
-- Set runtime path of "/usr/local/lib/libvtkDomainsChemistry-9.0.so.9.0.3" to ""
-- Installing: /usr/local/lib/libvtkDomainsChemistry-9.0.so
-- Installing: /usr/local/include/vtk-9.0/vtkOpenGLMoleculeMapper.h
-- Installing: /usr/local/include/vtk-9.0/vtkDomainsChemistryOpenGL2Module.h
-- Installing: /usr/local/lib/vtk/hierarchy/VTK/vtkDomainsChemistryOpenGL2-hierarchy.txt
-- Installing: /usr/local/lib/libvtkDomainsChemistryOpenGL2-9.0.so.9.0.3
-- Installing: /usr/local/lib/libvtkDomainsChemistryOpenGL2-9.0.so.1
-- Set runtime path of "/usr/local/lib/libvtkDomainsChemistryOpenGL2-9.0.so.9.0.3" to ""
-- Installing: /usr/local/lib/libvtkDomainsChemistryOpenGL2-9.0.so

下最新的CMake了。

1. 查看现有的cmake版本

cmake --version
卸载现有版本的cmake,也有人建议不用删除,之后更新软链接即可。
sudo apt remove cmake

下载目标版本的CMake,官网链接 https://cmake.org/download/,找到目标版本的 “.sh” 文件。下载后拷贝到/opt/文件夹下。
wget https://github.com/Kitware/CMake/releases/download/v3.21.3/cmake-3.21.3-linux-x86_64.sh
cp cmake-3.21.3-linux-x86_64.sh /opt/

修改 “.sh” 文件权限。
chmod +x /opt/cmake-3.21.3-linux-x86_64.sh

安装cmake。
sudo bash /opt/cmake-3.21.3-linux-x86_64.sh

过程中需要多次点击回车,然后输入两次Y。

将cmake文件软连接到bin。

sudo ln -s /opt/cmake-3.21.3-linux-x86_64/bin/* /usr/bin
安装成功后,输入以下指令查看cmake版本。
cmake --version

Referenced from:https://blog.csdn.net/iLOVEJohnny/article/details/103681032

编译的解决方法:

sudo apt remove cmake
sudo apt-get install build-essential libssl-dev
wget https://github.com/Kitware/CMake/releases/download/v3.20.0/cmake-3.20.0.tar.gz

tar -zxvf cmake-3.20.0.tar.gz
cd cmake-3.20.0
./bootstrap
make
sudo make install
cmake --version