I have successfully Done Cmake with following option.
$cmake -DGCC_COMPILER_VERSION=\"4.5\" -DSOFTFP=ON -DUSE_NEON=ON -DCMAKE_SKIP_RPATH=ON -DCUDA_TOOLKIT_ROOT_D
It seems like you are using old version of CMake.
Cross-compilation with CUDA requires at least 2.8.10 CMake version. It is not available in Ubuntu repository.
Please download the latest CMake from their website: http://www.cmake.org/cmake/resources/software.html
Here is instruction for CARMA compilation: http://code.opencv.org/projects/opencv/wiki/CARMA_platform_compilation_and_testing
OpenCV can be compiled with UI support using GTK back-end.
Install GTK on target device.
apt-get install libgtk2.0-dev
Install GTK on host (for required header files).
apt-get install libgtk2.0-dev
Copy /lib/arm-linux-gnueabi
and /usr/lib/arm-linux-gnueabi
folders from target to host to the same location.
In addition to the two directories above, copy all files from /usr/lib
on target to the /usr/lib/arm-linux-gnueabi
on host machine.
Install pkg-config-arm-linux-gnueabi
package on host.
apt-get install pkg-config-arm-linux-gnueabi
Add next parameters to cmake command line:
-DPKG_CONFIG_EXECUTABLE=/usr/bin/arm-linux-gnueabi-pkg-config -DWITH_GTK=ON