Jetson Xavier NX编译TensorRT，CMake配置

TensorRT路径

include:/usr/include/aarch64-linux-gnu
lib: /usr/lib/aarch64-linux-gnu
tensorrt:/usr/src/tensorrt

CUDA路径

include:/usr/local/cuda/include
lib: /usr/local/cuda/lib64

CMake

cmake_minimum_required(VERSION 3.10)
project(trt_demo LANGUAGES CXX CUDA)                # 项目信息

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(CMAKE_CUDA_STANDARD 11)                         # 用于指定CUDA编译器应该使用的CUDA C++标准的版本
set(CMAKE_CUDA_STANDARD_REQUIRED ON)                # 表明如果找不到指定版本的CUDA编译器，将发出错误
set(CMAKE_CXX_STANDARD 11)                          # 用于指定 C++ 编译器应该使用的 C++ 标准版本
set(CMAKE_CXX_STANDARD_REQUIRED ON)                 # 表明如果找不到指定版本的 C++ 编译器，将发出错误
set(CMAKE_CUDA_COMPILER /usr/local/cuda/bin/nvcc)   # 设置NVCC编译器

# TensorRT
include_directories(/usr/include/aarch64-linux-gnu)
link_directories(/usr/lib/aarch64-linux-gnu)

# CUDA
set(CUDA_ROOT /usr/local/cuda)
include_directories(${CUDA_ROOT}/include/)
link_directories(${CUDA_ROOT}/lib64)

# opencv
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
link_libraries(${OpenCV_LIBS})

# gflags
#include_directories(${gflags_INCLUDE_DIRS})
#link_libraries(${gflags_LIBRARIES})

if (YES)    # YES: release   NO: debug 
    message("++ Compile and release versions of the program.")
    set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -O3 -arch=sm_72")         # release
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
else()
    message("++ Compile and debug versions of the program.")
    set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -O0 -G -g -arch=sm_72")   # debug
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O0 -g")
endif()

# 添加可执行文件
file(GLOB_RECURSE SRCS ${PROJECT_SOURCE_DIR}/src/cpp/*.cpp ${PROJECT_SOURCE_DIR}/src/cpp/*.cu)
set(INCS ${PROJECT_SOURCE_DIR}/include)
add_executable(trt-demo ${SRCS})
target_include_directories(trt-demo PRIVATE ${INCS}) 

target_link_libraries(trt-demo PRIVATE -lstdc++fs) # 编译experimental/filesystem模块
target_link_libraries(trt-demo PRIVATE nvinfer nvonnxparser nvparsers nvinfer_plugin)  # 链接TensorRT动态库
target_link_libraries(trt-demo PRIVATE cudart)                                         # 链接CUDA动态库

set_target_properties(trt-demo PROPERTIES CUDA_ARCHITECTURES "72") # 目标架构是Compute Capability 7.2