Find and Compile TensorRT with CMake

Robotics & Edge Computing Jetson & Embedded Systems Jetson Nano
,
1

Hi,

I am trying to load an TensorRT engine (.engine file) in a cpp program. For doing it I am trying to find and compile it with CMake in my Jetson Nano but I am a little lost and I don’t know how to do it exactly.

cmake_minimum_required(VERSION 3.9)
project(inference_in_trt)

find_package(CUDA)

list(APPEND PLUGINS "nvinfer")
list(APPEND PLUGINS "nvonnxparser")
list(APPEND PLUGINS "nvparsers")

foreach(libName ${PLUGINS})
    find_library(${libName}_lib NAMES ${libName} "/usr" PATH_SUFFIXES lib)
    list(APPEND PLUGIN_LIBS "${${libName}_lib}")
endforeach()

# Make project require C++11
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c14" )
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
endif()

include_directories(${CUDA_INCLUDE_DIRS})

add_executable(inference trt_inference.cpp)

target_link_libraries(inference ${CUDA_INCLUDE_DIRS})

install(TARGETS inference DESTINATION bin)

How could I include the undefined reference? I got this error with CMake:

[ 50%] Building CXX object CMakeFiles/inference.dir/trt_inference.cpp.o
[100%] Linking CXX executable inference
CMakeFiles/inference.dir/trt_inference.cpp.o: In function `nvinfer1::(anonymous namespace)::createInferRuntime(nvinfer1::ILogger&)':
trt_inference.cpp:(.text+0x14): undefined reference to `createInferRuntime_INTERNAL'
collect2: error: ld returned 1 exit status
CMakeFiles/inference.dir/build.make:94: recipe for target 'inference' failed
make[2]: *** [inference] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/inference.dir/all' failed
make[1]: *** [CMakeFiles/inference.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

My Jetson Nano runs with Jetpack 4.3, so my version is TensorRT 6. I just want to deserialize the .engine file.

Thank you for your time

3

Hi,

The TensorRT header and libraries is located at the standard /usr/include/aarch64-linux-gnu and /usr/lib/aarch64-linux-gnu.
So you should be able to link it with this command directly:

Thanks.

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