TensorRT C++

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

Hi! I’m trying to build my app in docker and I have this error:

/usr/bin/ld: warning: libnvmedia_tensor.so, needed by /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libnvmedia_dla.so, needed by /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::IProfile::setUseSoftMaxOptz(bool)'
/usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::IPoolingLayer::setPoolingPaddingInclusionType(nvdla::PoolingPaddingInclusionType)'
/usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addSlice(nvdla::ITensor*, nvdla::Weights, nvdla::Weights, nvdla::Weights, nvdla::Weights, nvdla::SliceLayerMode)'
/usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::IProfile::setCanCompressStructuredSparseWeights(bool)'
/usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addResize(nvdla::ITensor*, nvdla::ResizeMode, nvdla::Weights)'
/usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::ISoftMaxLayer::setAxis(int)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/BerlinTest.dir/build.make:183: Test] Error 1
make[1]: *** [CMakeFiles/Makefile2:73: CMakeFiles/Test.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

This is my dockerfile:

FROM nvcr.io/nvidia/l4t-tensorrt:r8.4.1.5-devel

ARG DEBIAN_FRONTEND=noninteractive
ARG OPENCV_VERSION=4.5.0

WORKDIR /root

RUN apt-get update && apt-get install -y build-essential \
    cmake \
    git \
    unzip \
    pkg-config \
    libjpeg-dev \
    libpng-dev \
    libtiff-dev \
    libavcodec-dev \
    libavformat-dev \
    libswscale-dev \
    libgtk2.0-dev \
    libcanberra-gtk* \
    python3-dev \
    python3-numpy \
    python3-pip \
    libxvidcore-dev \
    libx264-dev \
    libgtk-3-dev \
    libtbb2 \
    libtbb-dev \
    libdc1394-22-dev \
    gstreamer1.0-tools \
    libv4l-dev \
    v4l-utils \
    libgstreamer1.0-dev \
    libgstreamer-plugins-base1.0-dev \
    libavresample-dev \
    libvorbis-dev \
    libxine2-dev \
    libfaac-dev \
    libmp3lame-dev \
    libtheora-dev \
    libopencore-amrnb-dev \
    libopencore-amrwb-dev \
    libopenblas-dev \
    libatlas-base-dev libblas-dev \
    liblapack-dev \
    libeigen3-dev \
    gfortran \
    libhdf5-dev \
    protobuf-compiler \
    libprotobuf-dev \
    libgoogle-glog-dev \
    libgflags-dev \
    wget

RUN sh -c "echo '/usr/local/cuda/lib64' >> /etc/ld.so.conf.d/nvidia-tegra.conf" && ldconfig
RUN wget -O opencv.zip https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip
RUN wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/${OPENCV_VERSION}.zip

RUN unzip opencv.zip && unzip opencv_contrib.zip && \
    mv opencv-4.5.0 opencv && mv opencv_contrib-4.5.0 opencv_contrib && \
    rm -rf opencv.zip && rm -rf opencv_contrib.zip

RUN mkdir -p opencv/build && cd opencv/build && \
    cmake -D CMAKE_BUILD_TYPE=RELEASE \
    -D CMAKE_INSTALL_PREFIX=/usr \
    -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib/modules \
    -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \
    -D WITH_OPENCL=OFF \
    -D WITH_CUDA=ON \
    -D CUDA_ARCH_BIN=5.3 \
    -D CUDA_ARCH_PTX="" \
    -D WITH_CUDNN=ON \
    -D WITH_CUBLAS=ON \
    -D ENABLE_FAST_MATH=ON \
    -D CUDA_FAST_MATH=ON \
    -D OPENCV_DNN_CUDA=ON \
    -D ENABLE_NEON=ON \
    -D WITH_QT=OFF \
    -D WITH_OPENMP=ON \
    -D BUILD_TIFF=ON \
    -D WITH_FFMPEG=ON \
    -D WITH_GSTREAMER=ON \
    -D WITH_TBB=ON \
    -D BUILD_TBB=ON \
    -D BUILD_TESTS=OFF \
    -D WITH_EIGEN=ON \
    -D WITH_V4L=ON \
    -D WITH_LIBV4L=ON \
    -D OPENCV_ENABLE_NONFREE=ON \
    -D INSTALL_C_EXAMPLES=OFF \
    -D INSTALL_PYTHON_EXAMPLES=OFF \
    -D BUILD_NEW_PYTHON_SUPPORT=ON \
    -D BUILD_opencv_python3=TRUE \
    -D OPENCV_GENERATE_PKGCONFIG=ON \
    -D BUILD_EXAMPLES=OFF .. && \
    make -j1 && make install

WORKDIR Test/

RUN apt-get install -y libmicrohttpd-dev

ADD . .

RUN mkdir build && cd build && cmake .. && make -j1

EXPOSE 3000:3000

CMD ["./build"]

This is my cmake file:

cmake_minimum_required(VERSION 3.10)
project(Test)

set(CMAKE_CXX_STANDARD 17)
set(CUDA_TOOLKIT_ROOT_DIR /usr/local/cuda)

include_directories(/usr/include/opencv4)
include_directories(/usr/lib/aarch64-linux-gnu)

find_package(OpenCV REQUIRED)
find_package(CUDA REQUIRED)

add_executable(Test main.cpp infer/logger.cpp infer/TRTInference.cpp)

target_include_directories(Test PUBLIC ${OpenCV_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS})
target_link_libraries(Test ${OpenCV_LIBS} ${CUDA_LIBRARIES})
target_link_libraries(Test nvinfer nvonnxparser microhttpd)

I’ve already set default runtime to Nvidia

3

Hi,

TensorRT 8.4 is available for JetPack 5 users.
However, JetPack 5 doesn’t support Jetson Nano.

Could you try nvcr.io/nvidia/l4t-tensorrt:r8.2.1-runtime instead?
Please noticed that this is a runtime version container, you will need to manually install the header via apt.

Thanks.