I built OpenCV 4.5.4 on my Jetson AGX Orin using Mdegans nano_build_opencv script. WITH_CUDA=ON and OPENCV_GENERATE_PKGCONFIG=ON. JTOP info reports OpenCV: 4.5.4 with CUDA: YES. The prefix in the build script is /usr/local and pkg-config returns this path. So far so good.
After the build script completes, I can go into build_opencv/opencv/samples/cpp/example_cmake and use cmake and make to successfully build executables that use GpuMat data types with OpenCV functions, but I cannot launch custom kernels this way because the build process is not calling nvcc.
When I try to use nvcc with GpuMats the build complains that OpenCV was not built with CUDA support.
So I made two identical files, differing only in extension, gbi.cu and gbi.cpp. They both call the opencv utility getBuildInformation(). The two source files are compiled using nvcc and g++ respectively:
nvcc gbi.cu -o gbi_cu
pkg-config --cflags --libs opencv4
g++ gbi.cpp -o gbi_cpppkg-config --cflags --libs opencv4
Each returns identical output notably devoid of any CUDA related content. When I build the same gbi.cpp source file using the example_cmake provided by Opencv, I get a different result. This cmake workflow now includes the lines:
NVIDIA CUDA: YES (ver 11.4, CUFFT CUBLAS FAST_MATH)
NVIDIA GPU arch: 87
NVIDIA PTX archs:
The final line from the cmake-based output is:
Install to: /usr/local
whereas the nvcc pkg-config flow results in:
Install to: /usr
gbi.cu and gbi.cpp contents:
#include "opencv2/core/utility.hpp"
#include "opencv2/core/cuda.hpp"
#include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/videoio.hpp"
#include <iostream>
// CUDA structures and methods
#include <opencv2/cudaarithm.hpp>
#include <opencv2/cudafilters.hpp>
using namespace cv;
using namespace std;
int main()
{
cout << "This is built with OpenCV " << CV_VERSION << endl;
cout << getBuildInformation() << endl;
return 0;
}
pkg-config output:
$ echo `pkg-config --cflags --libs opencv4`
-I/usr/local/include/opencv4 -L/usr/local/lib -lopencv_gapi -lopencv_stitching -lopencv_alphamat -lopencv_aruco -lopencv_barcode -lopencv_bgsegm -lopencv_bioinspired -lopencv_ccalib -lopencv_cudabgsegm -lopencv_cudafeatures2d -lopencv_cudaobjdetect -lopencv_cudastereo -lopencv_dnn_objdetect -lopencv_dnn_superres -lopencv_dpm -lopencv_face -lopencv_freetype -lopencv_fuzzy -lopencv_hfs -lopencv_img_hash -lopencv_intensity_transform -lopencv_line_descriptor -lopencv_mcc -lopencv_quality -lopencv_rapid -lopencv_reg -lopencv_rgbd -lopencv_saliency -lopencv_stereo -lopencv_structured_light -lopencv_phase_unwrapping -lopencv_superres -lopencv_cudacodec -lopencv_surface_matching -lopencv_tracking -lopencv_highgui -lopencv_datasets -lopencv_text -lopencv_plot -lopencv_videostab -lopencv_cudaoptflow -lopencv_optflow -lopencv_cudalegacy -lopencv_videoio -lopencv_cudawarping -lopencv_wechat_qrcode -lopencv_xfeatures2d -lopencv_shape -lopencv_ml -lopencv_ximgproc -lopencv_video -lopencv_xobjdetect -lopencv_objdetect -lopencv_calib3d -lopencv_imgcodecs -lopencv_features2d -lopencv_dnn -lopencv_flann -lopencv_xphoto -lopencv_photo -lopencv_cudaimgproc -lopencv_cudafilters -lopencv_imgproc -lopencv_cudaarithm -lopencv_core -lopencv_cudev
getBuildInformation() returned using pkg-config:
This is built with OpenCV 4.5.4
General configuration for OpenCV 4.5.4 =====================================
Version control: 4.5.4-8-g3e4c170df4
Platform:
Timestamp: 2022-01-18T10:01:01Z
Host: Linux 5.10.65-tegra aarch64
CMake: 3.16.3
CMake generator: Unix Makefiles
CMake build tool: /usr/bin/make
Configuration: Release
CPU/HW features:
Baseline: NEON FP16
C/C++:
Built as dynamic libs?: YES
C++ standard: 11
C++ Compiler: /usr/bin/c++ (ver 9.3.0)
C++ flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG -DNDEBUG
C++ flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -fvisibility-inlines-hidden -g -O0 -DDEBUG -D_DEBUG
C Compiler: /usr/bin/cc
C flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -O3 -DNDEBUG -DNDEBUG
C flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -g -O0 -DDEBUG -D_DEBUG
Linker flags (Release): -Wl,--gc-sections -Wl,--as-needed
Linker flags (Debug): -Wl,--gc-sections -Wl,--as-needed
ccache: NO
Precompiled headers: NO
Extra dependencies: dl m pthread rt
3rdparty dependencies:
OpenCV modules:
To be built: calib3d core dnn features2d flann gapi highgui imgcodecs imgproc ml objdetect photo python2 python3 stitching ts video videoio
Disabled: world
Disabled by dependency: -
Unavailable: java
Applications: tests perf_tests examples apps
Documentation: NO
Non-free algorithms: NO
GUI: GTK2
GTK+: YES (ver 2.24.32)
GThread : YES (ver 2.64.6)
GtkGlExt: NO
Media I/O:
ZLib: /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.11)
JPEG: /usr/lib/aarch64-linux-gnu/libjpeg.so (ver 80)
WEBP: build (ver encoder: 0x020f)
PNG: /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.6.37)
TIFF: /usr/lib/aarch64-linux-gnu/libtiff.so (ver 42 / 4.1.0)
JPEG 2000: build (ver 2.4.0)
HDR: YES
SUNRASTER: YES
PXM: YES
PFM: YES
Video I/O:
FFMPEG: YES
avcodec: YES (58.54.100)
avformat: YES (58.29.100)
avutil: YES (56.31.100)
swscale: YES (5.5.100)
avresample: YES (4.0.0)
GStreamer: YES (1.16.2)
v4l/v4l2: YES (linux/videodev2.h)
Parallel framework: TBB (ver 2020.1 interface 11101)
Trace: YES (with Intel ITT)
Other third-party libraries:
Lapack: NO
Eigen: YES (ver 3.3.7)
Custom HAL: YES (carotene (ver 0.0.1))
Protobuf: build (3.5.1)
Python 2:
Interpreter: /usr/bin/python2.7 (ver 2.7.18)
Libraries: /usr/lib/aarch64-linux-gnu/libpython2.7.so (ver 2.7.18)
numpy: /usr/lib/python2.7/dist-packages/numpy/core/include (ver 1.16.5)
install path: lib/python2.7/dist-packages/cv2/python-2.7
Python 3:
Interpreter: /usr/bin/python3 (ver 3.8.10)
Libraries: /usr/lib/aarch64-linux-gnu/libpython3.8.so (ver 3.8.10)
numpy: /usr/lib/python3/dist-packages/numpy/core/include (ver 1.17.4)
install path: lib/python3.8/dist-packages/cv2/python-3.8
Python (for build): /usr/bin/python2.7
Java:
ant: NO
JNI: NO
Java wrappers: NO
Java tests: NO
Install to: /usr
-----------------------------------------------------------------
getBuildInformation() returned using opencv sample cmake:
This is built with OpenCV 4.5.4
General configuration for OpenCV 4.5.4 =====================================
Version control: 4.5.4
Extra modules:
Location (extra): /tmp/build_opencv/opencv_contrib/modules
Version control (extra): 4.5.4
Platform:
Timestamp: 2023-12-08T20:52:28Z
Host: Linux 5.10.104-tegra aarch64
CMake: 3.16.3
CMake generator: Unix Makefiles
CMake build tool: /usr/bin/make
Configuration: RELEASE
CPU/HW features:
Baseline: NEON FP16
required: NEON
C/C++:
Built as dynamic libs?: YES
C++ standard: 11
C++ Compiler: /usr/bin/c++ (ver 9.4.0)
C++ flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG -DNDEBUG
C++ flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -fvisibility-inlines-hidden -g -O0 -DDEBUG -D_DEBUG
C Compiler: /usr/bin/cc
C flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -O3 -DNDEBUG -DNDEBUG
C flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -g -O0 -DDEBUG -D_DEBUG
Linker flags (Release): -Wl,--gc-sections -Wl,--as-needed
Linker flags (Debug): -Wl,--gc-sections -Wl,--as-needed
ccache: NO
Precompiled headers: NO
Extra dependencies: m pthread cudart_static dl rt nppc nppial nppicc nppidei nppif nppig nppim nppist nppisu nppitc npps cublas cudnn cufft -L/usr/local/cuda/lib64 -L/usr/lib/aarch64-linux-gnu
3rdparty dependencies:
OpenCV modules:
To be built: alphamat aruco barcode bgsegm bioinspired calib3d ccalib core cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev datasets dnn dnn_objdetect dnn_superres dpm face features2d flann freetype fuzzy gapi hfs highgui img_hash imgcodecs imgproc intensity_transform line_descriptor mcc ml objdetect optflow phase_unwrapping photo plot python2 python3 quality rapid reg rgbd saliency shape stereo stitching structured_light superres surface_matching text tracking video videoio videostab wechat_qrcode xfeatures2d ximgproc xobjdetect xphoto
Disabled: world
Disabled by dependency: -
Unavailable: cvv hdf java julia matlab ovis sfm ts viz
Applications: apps
Documentation: NO
Non-free algorithms: YES
GUI: GTK3
GTK+: YES (ver 3.24.20)
GThread : YES (ver 2.64.6)
GtkGlExt: NO
OpenGL support: NO
VTK support: NO
Media I/O:
ZLib: /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.11)
JPEG: /usr/lib/aarch64-linux-gnu/libjpeg.so (ver 80)
WEBP: build (ver encoder: 0x020f)
PNG: /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.6.37)
TIFF: /usr/lib/aarch64-linux-gnu/libtiff.so (ver 42 / 4.1.0)
JPEG 2000: build (ver 2.4.0)
OpenEXR: build (ver 2.3.0)
HDR: YES
SUNRASTER: YES
PXM: YES
PFM: YES
Video I/O:
DC1394: YES (2.2.5)
FFMPEG: YES
avcodec: YES (58.54.100)
avformat: YES (58.29.100)
avutil: YES (56.31.100)
swscale: YES (5.5.100)
avresample: YES (4.0.0)
GStreamer: YES (1.16.3)
v4l/v4l2: YES (linux/videodev2.h)
Parallel framework: pthreads
Trace: YES (with Intel ITT)
Other third-party libraries:
Lapack: YES (/usr/lib/aarch64-linux-gnu/liblapack.so /usr/lib/aarch64-linux-gnu/libcblas.so /usr/lib/aarch64-linux-gnu/libatlas.so)
Eigen: YES (ver 3.3.7)
Custom HAL: YES (carotene (ver 0.0.1))
Protobuf: build (3.5.1)
NVIDIA CUDA: YES (ver 11.4, CUFFT CUBLAS FAST_MATH)
NVIDIA GPU arch: 87
NVIDIA PTX archs:
cuDNN: YES (ver 8.6)
OpenCL: YES (no extra features)
Include path: /tmp/build_opencv/opencv/3rdparty/include/opencl/1.2
Link libraries: Dynamic load
Python 2:
Interpreter: /usr/bin/python2.7 (ver 2.7.18)
Libraries: /usr/lib/aarch64-linux-gnu/libpython2.7.so (ver 2.7.18)
numpy: /usr/lib/python2.7/dist-packages/numpy/core/include (ver 1.16.5)
install path: lib/python2.7/dist-packages/cv2/python-2.7
Python 3:
Interpreter: /usr/bin/python3 (ver 3.8.10)
Libraries: /usr/lib/aarch64-linux-gnu/libpython3.8.so (ver 3.8.10)
numpy: /usr/lib/python3/dist-packages/numpy/core/include (ver 1.17.4)
install path: lib/python3.8/dist-packages/cv2/python-3.8
Python (for build): /usr/bin/python2.7
Java:
ant: NO
JNI: NO
Java wrappers: NO
Java tests: NO
Install to: /usr/local
-----------------------------------------------------------------
What am I missing? How do I set the flags for nvcc to get the opencv in /usr/local instead of /usr? As far as I can tell pkg-config is already pointing to the correct directory.