Cross compile on tk1 with jetpack

i already install on apalis tk1, ubuntu with jetpack and i use ready images on easyinstaller.
now i want to cross compile my computer vision program with opencv4tegra and cuda on my host computer. how can i add opencv4tegra and cuda to my host and compile and build my program with g++ or Eclipse on my host then copy it with MINICOM to device

HI @toradexvision

Could you have a look at this article?

Thanks and best regards,