How to arm cross compile with opencv and cuda CMAKE - c++

Question

Hello I tried to cross compile my simple program requiring opencv and cuda but I failed.
I downloaded gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu and it works for a program without opencv but everything fails when I link Opencv.
That is my toolchain.cmake
set(CROSS_COMPILE aarch64-linux-gnu)
set(CC_PREFIX /home/volk/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/)
set(ROOTFS_PATH /home/volk/jetsonROOT/rootfs/)
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_SYSTEM_PROCESSOR arm)
SET(CMAKE_C_COMPILER ${CC_PREFIX}/${CROSS_COMPILE}-gcc)
SET(CMAKE_CXX_COMPILER ${CC_PREFIX}/${CROSS_COMPILE}-g++)
SET(CMAKE_LINKER ${CC_PREFIX}/${CROSS_COMPILE}-ld)
SET(CMAKE_AR ${CC_PREFIX}/${CROSS_COMPILE}-ar)
SET(CMAKE_OBJCOPY ${CC_PREFIX}/${CROSS_COMPILE}-objcopy)
#set(CUDA_TOOLKIT_ROOT_DIR ${ROOTFS_PATH}usr/local/cuda-10.2)
#set(CUDA_NVCC_EXECUTABLE ${ROOTFS_PATH}usr/local/cuda-10.2/bin/nvcc)
#set(CUDA_INCLUDE_DIRS ${ROOTFS_PATH}usr/local/cuda-10.2/include)
#set(CUDA_CUDART_LIBRARY${ROOTFS_PATH}usr/local/cuda-10.2/lib64)
SET(CMAKE_FIND_ROOT_PATH ${ROOTFS_PATH})
SET(CMAKE_SYSROOT ${ROOTFS_PATH})
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
CMakeLists.txt
project(Test )
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIR})
add_executable(Test main.cpp)
target_link_libraries(Test ${OpenCV_LIBS})
I'm trying to compile for a jetson Nano
I downloaded a jetson's rootfs with rsync and checked links with readlink.
Also I tried to add paths to libs from jetson's rootfs to my ld.conf.d but it didn't help.
As you see in toolchain.cmake
I tried to set CUDA_ROOT_DIR I will show the results with it and without.
WITH CUDA_ROOT_DIR
> -- The C compiler identification is GNU 7.3.1
> -- The CXX compiler identification is GNU 7.3.1
> -- Detecting C compiler ABI info
> -- Detecting C compiler ABI info - done
> -- Check for working C compiler: /home/volk/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin//aarch64-linux-gnu-gcc
> - skipped
> -- Detecting C compile features
> -- Detecting C compile features - done
> -- Detecting CXX compiler ABI info
> -- Detecting CXX compiler ABI info - done
> -- Check for working CXX compiler: /home/volk/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin//aarch64-linux-gnu-g++
> - skipped
> -- Detecting CXX compile features
> -- Detecting CXX compile features - done /lib/ld-linux-aarch64.so.1: No such file or directory CMake Error at
> /usr/local/share/cmake-3.19/Modules/FindCUDA.cmake:786 (string):
> string sub-command REGEX, mode REPLACE needs at least 6 arguments
> total to command. Call Stack (most recent call first):
> /home/volk/jetsonROOT/rootfs/usr/local/lib/cmake/opencv4/OpenCVConfig.cmake:86
> (find_package)
> /home/volk/jetsonROOT/rootfs/usr/local/lib/cmake/opencv4/OpenCVConfig.cmake:108
> (find_host_package) CMakeLists.txt:51 (find_package)
>
>
> CMake Error at /usr/local/share/cmake-3.19/Modules/FindCUDA.cmake:787
> (string): string sub-command REGEX, mode REPLACE needs at least 6
> arguments total to command. Call Stack (most recent call first):
> /home/volk/jetsonROOT/rootfs/usr/local/lib/cmake/opencv4/OpenCVConfig.cmake:86
> (find_package)
> /home/volk/jetsonROOT/rootfs/usr/local/lib/cmake/opencv4/OpenCVConfig.cmake:108
> (find_host_package) CMakeLists.txt:51 (find_package)
>
>
> CMake Error at
> /usr/local/share/cmake-3.19/Modules/FindPackageHandleStandardArgs.cmake:218
> (message): Could NOT find CUDA: Found unsuitable version ".", but
> required is exact version "10.2" (found
> /home/volk/jetsonROOT/rootfs/usr/local/cuda-10.2) Call Stack (most
> recent call first):
> /usr/local/share/cmake-3.19/Modules/FindPackageHandleStandardArgs.cmake:575
> (_FPHSA_FAILURE_MESSAGE)
> /usr/local/share/cmake-3.19/Modules/FindCUDA.cmake:1121
> (find_package_handle_standard_args)
> /home/volk/jetsonROOT/rootfs/usr/local/lib/cmake/opencv4/OpenCVConfig.cmake:86
> (find_package)
> /home/volk/jetsonROOT/rootfs/usr/local/lib/cmake/opencv4/OpenCVConfig.cmake:108
> (find_host_package) CMakeLists.txt:51 (find_package)
>
>
> -- Configuring incomplete, errors occurred! See also "/home/volk/armCROSSCOMP/build/CMakeFiles/CMakeOutput.log".
WITHOUT CUDA_ROOT_DIR
-- The C compiler identification is GNU 7.3.1
-- The CXX compiler identification is GNU 7.3.1
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /home/volk/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin//aarch64-linux-gnu-gcc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /home/volk/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin//aarch64-linux-gnu-g++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
/lib/ld-linux-aarch64.so.1: No such file or directory
CMake Error at /usr/local/share/cmake-3.19/Modules/FindCUDA.cmake:786 (string):
string sub-command REGEX, mode REPLACE needs at least 6 arguments total to
command.
Call Stack (most recent call first):
/home/volk/jetsonROOT/rootfs/usr/local/lib/cmake/opencv4/OpenCVConfig.cmake:86 (find_package)
/home/volk/jetsonROOT/rootfs/usr/local/lib/cmake/opencv4/OpenCVConfig.cmake:108 (find_host_package)
CMakeLists.txt:51 (find_package)
CMake Error at /usr/local/share/cmake-3.19/Modules/FindCUDA.cmake:787 (string):
string sub-command REGEX, mode REPLACE needs at least 6 arguments total to
command.
Call Stack (most recent call first):
/home/volk/jetsonROOT/rootfs/usr/local/lib/cmake/opencv4/OpenCVConfig.cmake:86 (find_package)
/home/volk/jetsonROOT/rootfs/usr/local/lib/cmake/opencv4/OpenCVConfig.cmake:108 (find_host_package)
CMakeLists.txt:51 (find_package)
CMake Error at /usr/local/share/cmake-3.19/Modules/FindPackageHandleStandardArgs.cmake:218 (message):
Could NOT find CUDA: Found unsuitable version ".", but required is exact
version "10.2" (found /home/volk/jetsonROOT/rootfs/usr/local/cuda-10.2)
Call Stack (most recent call first):
/usr/local/share/cmake-3.19/Modules/FindPackageHandleStandardArgs.cmake:575 (_FPHSA_FAILURE_MESSAGE)
/usr/local/share/cmake-3.19/Modules/FindCUDA.cmake:1121 (find_package_handle_standard_args)
/home/volk/jetsonROOT/rootfs/usr/local/lib/cmake/opencv4/OpenCVConfig.cmake:86 (find_package)
/home/volk/jetsonROOT/rootfs/usr/local/lib/cmake/opencv4/OpenCVConfig.cmake:108 (find_host_package)
CMakeLists.txt:51 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/volk/armCROSSCOMP/build/CMakeFiles/CMakeOutput.log".
What Am I doing wrong?