OpenCV 4.2.0+dfsg5 built for Jetpack 5.1.3 with GCC 9 and CUDA support

OpenCV version from Ubuntu Focal built with full CUDA 11.4 support for Jetpack 5.1.3. Intended to be run on Nvidia Jetson AGX Xavier or Orin computers. This version doesn't break ROS Noetic packages as the NVidia-provided one does.

To install the binary packages

Install Jetpack 5.1.3 (5.1.2 should also work) + NVidia SDK. Do not try this on other versions!

wget https://github.com/ctu-vras/opencv/releases/download/4.2.0-jetpack5.1.3/opencv-4.2.0-jetpack5.1.3.tar.gz
tar -xvf opencv-4.2.0-jetpack5.1.3.tar.gz
sudo apt install ./*.deb
sudo apt-mark hold libopencv-dev

To build the binary packages (not usually needed)

Optionally install ccache (but it probably doesn't help much).

git clone https://github.com/ctu-vras/opencv -b 4.2.0-jetpack5.1.3 --depth 1
cd opencv
sudo vim /etc/apt/sources.list  # and uncomment all `deb-src` lines.
sudo apt update
sudo apt build-dep opencv
# Now you can again comment the `deb-src` lines.
dpkg-buildpackage -us -uc -b -rfakeroot
# The built deb files are one directory higher.