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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8)
project(jetson-inference)
# submodule warning
message(" ")
message("Note: this project uses git submodules in the source tree.")
message(" if you haven't already, run the following command from")
message(" the project's root directory:")
message(" ")
message(" git submodule update --init")
message("\n")
if( NOT EXISTS "${PROJECT_SOURCE_DIR}/utils/.git" )
message("Note: required git submodules have not been detected.")
message(" first, please run the following command from the")
message(" the project's root directory to clone them:")
message(" ")
message(" git submodule update --init")
message(" ")
message(FATAL_ERROR "missing required git submodules, see instructions above")
endif()
# setup build flags
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wno-write-strings -Wno-deprecated-declarations") # -std=c++14
set(BUILD_DEPS "YES" CACHE BOOL "If YES, will install dependencies into sandbox. Automatically reset to NO after dependencies are installed.")
set(BUILD_INTERACTIVE "YES" CACHE BOOL "If NO, will download/install the default DNN models without prompting the user, and skip installation of PyTorch.")
set(BUILD_EXPERIMENTAL "NO" CACHE BOOL "If YES, will enable support for experimental DNNs, examples, and plugins")
# copy configuration tools to build dir
#file(COPY "tools/download-models.sh" DESTINATION ${PROJECT_BINARY_DIR})
#file(COPY "tools/download-models.rc" DESTINATION ${PROJECT_BINARY_DIR})
file(COPY "tools/install-pytorch.sh" DESTINATION ${PROJECT_BINARY_DIR})
file(COPY "tools/install-pytorch.rc" DESTINATION ${PROJECT_BINARY_DIR})
# detect distro version
find_program(LSB_RELEASE_EXEC lsb_release)
execute_process(COMMAND "${LSB_RELEASE_EXEC}" --short --id OUTPUT_VARIABLE LSB_RELEASE_ID OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process(COMMAND "${LSB_RELEASE_EXEC}" --short --release OUTPUT_VARIABLE LSB_RELEASE_VERSION OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process(COMMAND "${LSB_RELEASE_EXEC}" --short --codename OUTPUT_VARIABLE LSB_RELEASE_CODENAME OUTPUT_STRIP_TRAILING_WHITESPACE)
message("-- distro ID: ${LSB_RELEASE_ID}")
message("-- distro version: ${LSB_RELEASE_VERSION}")
message("-- distro codename: ${LSB_RELEASE_CODENAME}")
# if this is the first time running cmake, perform pre-build dependency install script (or if the user manually triggers re-building the dependencies)
if( ${BUILD_DEPS} )
message("-- Launching pre-build dependency installer script...")
message("-- Build interactive: ${BUILD_INTERACTIVE}")
execute_process(COMMAND sh ../CMakePreBuild.sh ${BUILD_INTERACTIVE}
WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
RESULT_VARIABLE PREBUILD_SCRIPT_RESULT)
set(BUILD_DEPS "NO" CACHE BOOL "If YES, will install dependencies into sandbox. Automatically reset to NO after dependencies are installed." FORCE)
message("-- Finished installing dependencies")
endif()
# setup CUDA
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/utils/cuda" )
find_package(CUDA)
message("-- CUDA version: ${CUDA_VERSION}")
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -O3)
if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
message("-- CUDA ${CUDA_VERSION} detected (${CMAKE_SYSTEM_PROCESSOR}), enabling SM_53 SM_62")
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_53,code=sm_53 -gencode arch=compute_62,code=sm_62)
if(CUDA_VERSION_MAJOR GREATER 9)
message("-- CUDA ${CUDA_VERSION} detected (${CMAKE_SYSTEM_PROCESSOR}), enabling SM_72")
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_72,code=sm_72)
endif()
if(CUDA_VERSION_MAJOR GREATER 10)
message("-- CUDA ${CUDA_VERSION} detected (${CMAKE_SYSTEM_PROCESSOR}), enabling SM_87")
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_87,code=sm_87)
endif()
endif()
# OpenCV used for findHomography() and decomposeHomography()
# OpenCV version >= 3.0.0 required for decomposeHomography()
find_package(OpenCV COMPONENTS core calib3d)
if( NOT OpenCV_FOUND )
message("-- didn't find OpenCV on system, disabling OpenCV")
else()
message("-- OpenCV version: " ${OpenCV_VERSION})
if( ${OpenCV_VERSION_MAJOR} LESS 3 )
message("-- OpenCV version less than 3.0, disabling OpenCV")
else()
message("-- OpenCV version >= 3.0.0, enabling OpenCV")
set(HAS_OPENCV 1)
add_definitions(-DHAS_OPENCV)
endif()
endif()
# check for VPI (TODO: VPI 1.0 support for JetPack 4.x)
find_package(VPI 2.0)
if( NOT VPI_FOUND )
message("-- didn't find VPI on system, disabling VPI")
else()
message("-- VPI version: " ${VPI_VERSION})
set(HAS_VPI 1)
add_definitions(-DHAS_VPI)
endif()
# setup project output paths
set(PROJECT_OUTPUT_DIR ${PROJECT_BINARY_DIR}/${CMAKE_SYSTEM_PROCESSOR})
set(PROJECT_INCLUDE_DIR ${PROJECT_OUTPUT_DIR}/include)
file(MAKE_DIRECTORY ${PROJECT_INCLUDE_DIR})
file(MAKE_DIRECTORY ${PROJECT_OUTPUT_DIR}/bin)
message("-- system arch: ${CMAKE_SYSTEM_PROCESSOR}")
message("-- output path: ${PROJECT_OUTPUT_DIR}")
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_OUTPUT_DIR}/bin)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_OUTPUT_DIR}/lib)
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_OUTPUT_DIR}/lib)
# build C/C++ library
include_directories(${PROJECT_INCLUDE_DIR} ${PROJECT_INCLUDE_DIR}/jetson-inference ${PROJECT_INCLUDE_DIR}/jetson-utils)
include_directories(/usr/include/gstreamer-1.0 /usr/lib/${CMAKE_SYSTEM_PROCESSOR}/gstreamer-1.0/include /usr/include/glib-2.0 /usr/include/libxml2 /usr/lib/${CMAKE_SYSTEM_PROCESSOR}/glib-2.0/include/)
file(GLOB inferenceSources c/*.cpp c/*.cu c/calibration/*.cpp c/tracking/*.cpp)
file(GLOB inferenceIncludes c/*.h c/*.cuh c/calibration/*.h c/tracking/*.h)
if(BUILD_EXPERIMENTAL)
message("-- BUILD_EXPERIMENTAL enabled")
file(GLOB experimentalSources c/experimental/*.cpp c/experimental/*.cu)
file(GLOB experimentalIncludes c/experimental/*.h c/experimental/*.cuh)
file(GLOB_RECURSE pluginSources c/plugins/*.cpp c/plugins/*.cu)
list(APPEND inferenceSources ${experimentalSources})
list(APPEND inferenceIncludes ${experimentalIncludes})
else()
message("-- BUILD_EXPERIMENTAL disabled")
file(GLOB pluginSources c/plugins/*.cpp c/plugins/*.cu c/plugins/pose/trt_pose/parse/*.cpp)
endif()
if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
link_directories(/usr/lib/aarch64-linux-gnu/tegra)
endif()
cuda_add_library(jetson-inference SHARED ${inferenceSources} ${pluginSources})
target_include_directories(jetson-inference PRIVATE ${PROJECT_SOURCE_DIR}/c/plugins/pose/trt_pose/parse)
# transfer all headers to the include directory
file(MAKE_DIRECTORY ${PROJECT_INCLUDE_DIR}/jetson-inference)
foreach(include ${inferenceIncludes})
message("-- Copying ${include}")
configure_file(${include} ${PROJECT_INCLUDE_DIR}/jetson-inference COPYONLY)
endforeach()
#if(BUILD_EXPERIMENTAL)
#endif()
# create symbolic link for network and image data
execute_process( COMMAND "${CMAKE_COMMAND}" "-E" "create_symlink" "${PROJECT_SOURCE_DIR}/data/networks" "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/networks" )
execute_process( COMMAND "${CMAKE_COMMAND}" "-E" "create_symlink" "${PROJECT_SOURCE_DIR}/data/images" "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/images" )
# copy image data (EDIT: these are now symlinked above)
#file(GLOB imageData ${PROJECT_SOURCE_DIR}/data/images/*)
#foreach(image ${imageData})
# message("-- Copying ${image}")
# file(COPY ${image} DESTINATION ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
# #configure_file(${include} ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} COPYONLY)
#endforeach()
# build subdirectories
add_subdirectory(docs)
add_subdirectory(examples)
add_subdirectory(tools)
add_subdirectory(utils)
add_subdirectory(python)
# set linker options
target_link_libraries(jetson-inference jetson-utils nvinfer nvinfer_plugin)
if(CUDA_VERSION_MAJOR GREATER 9)
target_link_libraries(jetson-inference nvonnxparser)
endif()
if(CUDA_VERSION VERSION_LESS "12.6")
target_link_libraries(jetson-inference nvcaffe_parser)
else()
CUDA_ADD_CUBLAS_TO_TARGET(jetson-inference)
endif()
if(HAS_OPENCV)
message("-- linking jetson-inference with OpenCV " ${OpenCV_VERSION})
target_link_libraries(jetson-inference opencv_core opencv_calib3d)
endif()
if(HAS_VPI)
message("-- linking jetson-inference with VPI " ${VPI_VERSION})
target_link_libraries(jetson-inference vpi)
endif()
# install includes
foreach(include ${inferenceIncludes})
install(FILES "${include}" DESTINATION include/jetson-inference)
endforeach()
# install symlink to networks and images
install(CODE "execute_process( COMMAND ${CMAKE_COMMAND} -E create_symlink ${PROJECT_SOURCE_DIR}/data/networks ${CMAKE_INSTALL_PREFIX}/bin/networks )" )
install(CODE "execute_process( COMMAND ${CMAKE_COMMAND} -E create_symlink ${PROJECT_SOURCE_DIR}/data/images ${CMAKE_INSTALL_PREFIX}/bin/images )" )
# install the shared library
install(TARGETS jetson-inference DESTINATION lib EXPORT jetson-inferenceConfig)
# install the cmake project, for importing
install(EXPORT jetson-inferenceConfig DESTINATION share/jetson-inference/cmake)
# run ldconfig after installing
install(CODE "execute_process( COMMAND ldconfig )")