colcon build error

[G7-3208]

I tried to build autoware locally on jetson orin nx, but encountered three errors when I used the command 'colcon build - symlink install - cmake args - DCMAKE_SUILD_TYPE=Release'. Their errors are as follows：

Starting >>> autoware_detected_object_validation
--- stderr: autoware_tensorrt_plugins
CMake Warning at CMakeLists.txt:74 (find_package):
By not providing "Findcumm.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "cumm", but
CMake did not find one.

Could not find a package configuration file provided by "cumm" with any of
the following names:

cummConfig.cmake
cumm-config.cmake

Add the installation prefix of "cumm" to CMAKE_PREFIX_PATH or set
"cumm_DIR" to a directory containing one of the above files. If "cumm"
provides a separate development package or SDK, be sure it has been
installed.

CMake Warning at CMakeLists.txt:75 (find_package):
By not providing "Findspconv.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "spconv", but
CMake did not find one.

Could not find a package configuration file provided by "spconv" with any
of the following names:

spconvConfig.cmake
spconv-config.cmake

Add the installation prefix of "spconv" to CMAKE_PREFIX_PATH or set
"spconv_DIR" to a directory containing one of the above files. If "spconv"
provides a separate development package or SDK, be sure it has been
installed.

spconv is NOT available
CMake Error at CMakeLists.txt:128 (add_library):
Target "autoware_tensorrt_plugins" links to target "CUDA::cudart" but the
target was not found. Perhaps a find_package() call is missing for an
IMPORTED target, or an ALIAS target is missing?

CMake Error at CMakeLists.txt:128 (add_library):
Target "autoware_tensorrt_plugins" links to target "spconv::spconv" but the
target was not found. Perhaps a find_package() call is missing for an
IMPORTED target, or an ALIAS target is missing?

CMake Generate step failed. Build files cannot be regenerated correctly.

Failed <<< autoware_tensorrt_plugins [0.95s, exited with code 1]

--- stderr: autoware_elevation_map_loader
/usr/bin/ld: cannot find -lopencv_alphamat: No such file or directory
/usr/bin/ld: cannot find -lopencv_aruco: No such file or directory
/usr/bin/ld: cannot find -lopencv_barcode: No such file or directory
/usr/bin/ld: cannot find -lopencv_bgsegm: No such file or directory
/usr/bin/ld: cannot find -lopencv_bioinspired: No such file or directory
/usr/bin/ld: cannot find -lopencv_ccalib: No such file or directory
/usr/bin/ld: cannot find -lopencv_datasets: No such file or directory
/usr/bin/ld: cannot find -lopencv_dnn_objdetect: No such file or directory
/usr/bin/ld: cannot find -lopencv_dnn_superres: No such file or directory
/usr/bin/ld: cannot find -lopencv_dpm: No such file or directory
/usr/bin/ld: cannot find -lopencv_face: No such file or directory
/usr/bin/ld: cannot find -lopencv_freetype: No such file or directory
/usr/bin/ld: cannot find -lopencv_fuzzy: No such file or directory
/usr/bin/ld: cannot find -lopencv_hdf: No such file or directory
/usr/bin/ld: cannot find -lopencv_hfs: No such file or directory
/usr/bin/ld: cannot find -lopencv_img_hash: No such file or directory
/usr/bin/ld: cannot find -lopencv_intensity_transform: No such file or directory
/usr/bin/ld: cannot find -lopencv_line_descriptor: No such file or directory
/usr/bin/ld: cannot find -lopencv_mcc: No such file or directory
/usr/bin/ld: cannot find -lopencv_optflow: No such file or directory
/usr/bin/ld: cannot find -lopencv_phase_unwrapping: No such file or directory
/usr/bin/ld: cannot find -lopencv_plot: No such file or directory
/usr/bin/ld: cannot find -lopencv_quality: No such file or directory
/usr/bin/ld: cannot find -lopencv_rapid: No such file or directory
/usr/bin/ld: cannot find -lopencv_reg: No such file or directory
/usr/bin/ld: cannot find -lopencv_rgbd: No such file or directory
/usr/bin/ld: cannot find -lopencv_saliency: No such file or directory
/usr/bin/ld: cannot find -lopencv_shape: No such file or directory
/usr/bin/ld: cannot find -lopencv_stereo: No such file or directory
/usr/bin/ld: cannot find -lopencv_structured_light: No such file or directory
/usr/bin/ld: cannot find -lopencv_superres: No such file or directory
/usr/bin/ld: cannot find -lopencv_surface_matching: No such file or directory
/usr/bin/ld: cannot find -lopencv_text: No such file or directory
/usr/bin/ld: cannot find -lopencv_tracking: No such file or directory
/usr/bin/ld: cannot find -lopencv_videostab: No such file or directory
/usr/bin/ld: cannot find -lopencv_viz: No such file or directory
/usr/bin/ld: cannot find -lopencv_wechat_qrcode: No such file or directory
/usr/bin/ld: cannot find -lopencv_ximgproc: No such file or directory
/usr/bin/ld: cannot find -lopencv_xobjdetect: No such file or directory
/usr/bin/ld: cannot find -lopencv_xphoto: No such file or directory
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/autoware_elevation_map_loader.dir/build.make:795: libautoware_elevation_map_loader.so] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/autoware_elevation_map_loader.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2

Failed <<< autoware_elevation_map_loader [13.6s, exited with code 2]

Finished <<< autoware_core [1.11s]
[Processing: yabloc_image_processing]
--- stderr: yabloc_image_processing
In file included from /home/ll/autoware/src/universe/autoware_universe/localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp:15:
/home/ll/autoware/src/universe/autoware_universe/localization/yabloc/yabloc_image_processing/include/yabloc_image_processing/graph_segment/graph_segment.hpp:20:10: fatal error: opencv4/opencv2/ximgproc/segmentation.hpp: No such file or directory
20 | #include <opencv4/opencv2/ximgproc/segmentation.hpp>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/yabloc_image_processing.dir/build.make:90: CMakeFiles/yabloc_image_processing.dir/src/graph_segment/graph_segment_core.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
gmake[1]: *** [CMakeFiles/Makefile2:149: CMakeFiles/yabloc_image_processing.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< yabloc_image_processing [1min 34s, exited with code 2]

[hawl666]

You may need to recompile opencv and let autoware find the error so

[G7-3208]

My current OpenCV is installed through APT. Do I need to download and compile it myself