Linux 35.6 + JetPack v5.1.4@DeepStream安装

1. 源由

为了确保在Jetson Orin平台上继续我们追求的 FPV Geek SDK 推进；奠定一些基础技术的经验和基础；

• Ardupilot开源无人机之Geek SDK讨论
• Ardupilot & OpenIPC & 基于WFB-NG构架分析和数据链路思考
• ArduPilot开源飞控之MAVProxy深入研读系列 - 2蜂群链路

目前，在Jetson Orin 8GB的板子上 jetson-fpv 性能不佳的情况，着实令人着急，呵呵！

2. 步骤

Step 1 安装Jetpack 5.1.4 L4T 35.6

参考：《Linux 36.3@Jetson Orin Nano之系统安装》

Step 2 安装依赖组件

$ sudo apt install \
libssl1.1 \
libgstreamer1.0-0 \
gstreamer1.0-tools \
gstreamer1.0-plugins-good \
gstreamer1.0-plugins-bad \
gstreamer1.0-plugins-ugly \
gstreamer1.0-libav \
libgstreamer-plugins-base1.0-dev \
libgstrtspserver-1.0-0 \
libjansson4 \
libyaml-cpp-dev

Step 3 安装librdkafka

1. Clone the librdkafka repository from GitHub:

$ git clone https://github.com/edenhill/librdkafka.git

或者

git clone git@github.com:confluentinc/librdkafka.git

2. Configure and build the library:

$ cd librdkafka
$ git reset --hard 7101c2310341ab3f4675fc565f64f0967e135a6a
$ ./configure
$ make
$ sudo make install

3. Copy the generated libraries to the deepstream directory:

$ sudo mkdir -p /opt/nvidia/deepstream/deepstream-6.3/lib
$ sudo cp /usr/local/lib/librdkafka* /opt/nvidia/deepstream/deepstream-6.3/lib
$ ls /opt/nvidia/deepstream/deepstream-6.3/lib
librdkafka++.a  librdkafka.a  librdkafka++.so  librdkafka.so  librdkafka++.so.1  librdkafka.so.1

Step 4 安装 DeepStream SDK

1. Download DS SDK

$ wget --content-disposition 'https://api.ngc.nvidia.com/v2/resources/org/nvidia/deepstream/6.3/files?redirect=true&path=deepstream_sdk_v6.3.0_jetson.tbz2' -O deepstream_sdk_v6.3.0_jetson.tbz2

或者，通过网页下载：DeepStream SDK

2. Install DS SDK

$ sudo tar -xvf deepstream_sdk_v6.3.0_jetson.tbz2 -C /
$ cd /opt/nvidia/deepstream/deepstream-6.3
$ sudo ./install.sh
$ sudo ldconfig

Step 5 测试 deepstream-app

$ ldd /usr/bin/deepstream-applinux-vdso.so.1 (0x0000ffff9420b000)libgstreamer-1.0.so.0 => /lib/aarch64-linux-gnu/libgstreamer-1.0.so.0 (0x0000ffff93f2f000)libgstvideo-1.0.so.0 => /lib/aarch64-linux-gnu/libgstvideo-1.0.so.0 (0x0000ffff93e7a000)libglib-2.0.so.0 => /lib/aarch64-linux-gnu/libglib-2.0.so.0 (0x0000ffff93d3f000)libgobject-2.0.so.0 => /lib/aarch64-linux-gnu/libgobject-2.0.so.0 (0x0000ffff93ccd000)libgstrtspserver-1.0.so.0 => /lib/aarch64-linux-gnu/libgstrtspserver-1.0.so.0 (0x0000ffff93c5a000)libjson-glib-1.0.so.0 => /lib/aarch64-linux-gnu/libjson-glib-1.0.so.0 (0x0000ffff93c21000)libyaml-cpp.so.0.6 => /lib/aarch64-linux-gnu/libyaml-cpp.so.0.6 (0x0000ffff93bc1000)libnvdsgst_meta.so => /opt/nvidia/deepstream/deepstream-6.3/lib/libnvdsgst_meta.so (0x0000ffff93bab000)libnvdsgst_smartrecord.so => /opt/nvidia/deepstream/deepstream-6.3/lib/libnvdsgst_smartrecord.so (0x0000ffff93b94000)libnvdsgst_helper.so => /opt/nvidia/deepstream/deepstream-6.3/lib/libnvdsgst_helper.so (0x0000ffff93b7c000)libnvdsgst_customhelper.so => /opt/nvidia/deepstream/deepstream-6.3/lib/libnvdsgst_customhelper.so (0x0000ffff93b63000)libnvds_meta.so => /opt/nvidia/deepstream/deepstream-6.3/lib/libnvds_meta.so (0x0000ffff93b4c000)libnvds_utils.so => /opt/nvidia/deepstream/deepstream-6.3/lib/libnvds_utils.so (0x0000ffff93542000)libnvds_msgbroker.so => /opt/nvidia/deepstream/deepstream-6.3/lib/libnvds_msgbroker.so (0x0000ffff93528000)libX11.so.6 => /lib/aarch64-linux-gnu/libX11.so.6 (0x0000ffff933e3000)libdl.so.2 => /lib/aarch64-linux-gnu/libdl.so.2 (0x0000ffff933cf000)libstdc++.so.6 => /lib/aarch64-linux-gnu/libstdc++.so.6 (0x0000ffff931ea000)libpthread.so.0 => /lib/aarch64-linux-gnu/libpthread.so.0 (0x0000ffff931b9000)librt.so.1 => /lib/aarch64-linux-gnu/librt.so.1 (0x0000ffff931a1000)libm.so.6 => /lib/aarch64-linux-gnu/libm.so.6 (0x0000ffff930f6000)libc.so.6 => /lib/aarch64-linux-gnu/libc.so.6 (0x0000ffff92f83000)/lib/ld-linux-aarch64.so.1 (0x0000ffff941db000)libgcc_s.so.1 => /lib/aarch64-linux-gnu/libgcc_s.so.1 (0x0000ffff92f5f000)libgmodule-2.0.so.0 => /lib/aarch64-linux-gnu/libgmodule-2.0.so.0 (0x0000ffff92f4b000)libgstbase-1.0.so.0 => /lib/aarch64-linux-gnu/libgstbase-1.0.so.0 (0x0000ffff92ec6000)liborc-0.4.so.0 => /lib/aarch64-linux-gnu/liborc-0.4.so.0 (0x0000ffff92e37000)libpcre.so.3 => /lib/aarch64-linux-gnu/libpcre.so.3 (0x0000ffff92dc5000)libffi.so.7 => /lib/aarch64-linux-gnu/libffi.so.7 (0x0000ffff92dac000)libgstnet-1.0.so.0 => /lib/aarch64-linux-gnu/libgstnet-1.0.so.0 (0x0000ffff92d85000)libgstrtp-1.0.so.0 => /lib/aarch64-linux-gnu/libgstrtp-1.0.so.0 (0x0000ffff92d4f000)libgstrtsp-1.0.so.0 => /lib/aarch64-linux-gnu/libgstrtsp-1.0.so.0 (0x0000ffff92d1a000)libgstsdp-1.0.so.0 => /lib/aarch64-linux-gnu/libgstsdp-1.0.so.0 (0x0000ffff92cf1000)libgstapp-1.0.so.0 => /lib/aarch64-linux-gnu/libgstapp-1.0.so.0 (0x0000ffff92cd1000)libgio-2.0.so.0 => /lib/aarch64-linux-gnu/libgio-2.0.so.0 (0x0000ffff92ad4000)libgstpbutils-1.0.so.0 => /lib/aarch64-linux-gnu/libgstpbutils-1.0.so.0 (0x0000ffff92a86000)libnvinfer.so.8 => /lib/aarch64-linux-gnu/libnvinfer.so.8 (0x0000ffff8592d000)libnvds_logger.so => /opt/nvidia/deepstream/deepstream-6.3/lib/libnvds_logger.so (0x0000ffff8591b000)libxcb.so.1 => /lib/aarch64-linux-gnu/libxcb.so.1 (0x0000ffff858e4000)libz.so.1 => /lib/aarch64-linux-gnu/libz.so.1 (0x0000ffff858b8000)libmount.so.1 => /lib/aarch64-linux-gnu/libmount.so.1 (0x0000ffff8584a000)libselinux.so.1 => /lib/aarch64-linux-gnu/libselinux.so.1 (0x0000ffff85812000)libresolv.so.2 => /lib/aarch64-linux-gnu/libresolv.so.2 (0x0000ffff857ec000)libgstaudio-1.0.so.0 => /lib/aarch64-linux-gnu/libgstaudio-1.0.so.0 (0x0000ffff85768000)libgsttag-1.0.so.0 => /lib/aarch64-linux-gnu/libgsttag-1.0.so.0 (0x0000ffff8571b000)libnvdla_compiler.so => /usr/lib/aarch64-linux-gnu/tegra/libnvdla_compiler.so (0x0000ffff84fe0000)libcudla.so.1 => /usr/local/cuda/targets/aarch64-linux/lib/libcudla.so.1 (0x0000ffff84fa3000)libXau.so.6 => /lib/aarch64-linux-gnu/libXau.so.6 (0x0000ffff84f8f000)libXdmcp.so.6 => /lib/aarch64-linux-gnu/libXdmcp.so.6 (0x0000ffff84f79000)libblkid.so.1 => /lib/aarch64-linux-gnu/libblkid.so.1 (0x0000ffff84f13000)libpcre2-8.so.0 => /lib/aarch64-linux-gnu/libpcre2-8.so.0 (0x0000ffff84e83000)libnvos.so => /usr/lib/aarch64-linux-gnu/tegra/libnvos.so (0x0000ffff84e63000)libnvdla_runtime.so => /usr/lib/aarch64-linux-gnu/tegra/libnvdla_runtime.so (0x0000ffff8480b000)libcuda.so.1 => /usr/lib/aarch64-linux-gnu/tegra/libcuda.so.1 (0x0000ffff831b4000)libbsd.so.0 => /lib/aarch64-linux-gnu/libbsd.so.0 (0x0000ffff8318d000)libnvrm_host1x.so => /usr/lib/aarch64-linux-gnu/tegra/libnvrm_host1x.so (0x0000ffff8316a000)libnvrm_mem.so => /usr/lib/aarch64-linux-gnu/tegra/libnvrm_mem.so (0x0000ffff83152000)libnvsocsys.so => /usr/lib/aarch64-linux-gnu/tegra/libnvsocsys.so (0x0000ffff8313e000)libnvrm_gpu.so => /usr/lib/aarch64-linux-gnu/tegra/libnvrm_gpu.so (0x0000ffff830d1000)libnvrm_sync.so => /usr/lib/aarch64-linux-gnu/tegra/libnvrm_sync.so (0x0000ffff830ba000)libnvrm_chip.so => /usr/lib/aarch64-linux-gnu/tegra/libnvrm_chip.so (0x0000ffff830a4000)libnvsciipc.so => /usr/lib/aarch64-linux-gnu/tegra/libnvsciipc.so (0x0000ffff8307f000)

Step 6 运行 deepstream-app

$ cd /opt/nvidia/deepstream/deepstream/samples/configs/deepstream-app/
$ deepstream-app -c source4_1080p_dec_infer-resnet_tracker_sgie_tiled_display_int8.yml

3. 总结

NVIDIA提供的硬件及其相关库，原厂维护，不开源。应用相关示例代码开源或者提供源代码。

因此，在安装这些性能加速软件时，尤其要注意其版本的对应关系。

若需要进行大型开发，必须关注原厂开发动态以及版本支持情况。进而，公司软件在规划时需要充分考虑进度、里程碑等相应适配。

• Which DS version for Jetson Orin Nano/Jetpack 5.1.4/L4T 35.6.0?

3.1 版本问题

1. Download DS SDK 6.4.0

$ wget --content-disposition 'https://api.ngc.nvidia.com/v2/resources/org/nvidia/deepstream/6.4/files?redirect=true&path=deepstream_sdk_v6.4.0_jetson.tbz2' -O deepstream_sdk_v6.4.0_jetson.tbz2

或者，通过网页下载：DeepStream SDK

2. Install DS SDK 6.4.0

$ sudo tar -xvf deepstream_sdk_v6.4.0_jetson.tbz2 -C /
$ cd /opt/nvidia/deepstream/deepstream-6.4
$ sudo ./install.sh
$ sudo ldconfig

3. ldd deepstream-app

出现so文件不存在等问题，基本都是链接环节出现的，也就是二进制在编译链接的路径或者库版本不一致的问题。

daniel@daniel-nvidia:~/Work$ ldd /usr/bin/deepstream-app
/usr/bin/deepstream-app: /lib/aarch64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.29' not found (required by /usr/bin/deepstream-app)
/usr/bin/deepstream-app: /lib/aarch64-linux-gnu/libc.so.6: version `GLIBC_2.32' not found (required by /usr/bin/deepstream-app)
/usr/bin/deepstream-app: /lib/aarch64-linux-gnu/libc.so.6: version `GLIBC_2.34' not found (required by /usr/bin/deepstream-app)
/usr/bin/deepstream-app: /lib/aarch64-linux-gnu/libc.so.6: version `GLIBC_2.34' not found (required by /opt/nvidia/deepstream/deepstream-6.4/lib/libnvds_utils.so)
/usr/bin/deepstream-app: /lib/aarch64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.29' not found (required by /opt/nvidia/deepstream/deepstream-6.4/lib/libnvds_msgbroker.so)
/usr/bin/deepstream-app: /lib/aarch64-linux-gnu/libc.so.6: version `GLIBC_2.34' not found (required by /opt/nvidia/deepstream/deepstream-6.4/lib/libnvds_msgbroker.so)linux-vdso.so.1 (0x0000ffffa8400000)libgstreamer-1.0.so.0 => /lib/aarch64-linux-gnu/libgstreamer-1.0.so.0 (0x0000ffffa80f1000)libgstvideo-1.0.so.0 => /lib/aarch64-linux-gnu/libgstvideo-1.0.so.0 (0x0000ffffa803c000)libglib-2.0.so.0 => /lib/aarch64-linux-gnu/libglib-2.0.so.0 (0x0000ffffa7f01000)libgobject-2.0.so.0 => /lib/aarch64-linux-gnu/libgobject-2.0.so.0 (0x0000ffffa7e8f000)libgstrtspserver-1.0.so.0 => /lib/aarch64-linux-gnu/libgstrtspserver-1.0.so.0 (0x0000ffffa7e1c000)libjson-glib-1.0.so.0 => /lib/aarch64-linux-gnu/libjson-glib-1.0.so.0 (0x0000ffffa7de3000)libyaml-cpp.so.0.7 => not foundlibnvdsgst_meta.so => /opt/nvidia/deepstream/deepstream-6.4/lib/libnvdsgst_meta.so (0x0000ffffa7dcd000)libnvdsgst_smartrecord.so => /opt/nvidia/deepstream/deepstream-6.4/lib/libnvdsgst_smartrecord.so (0x0000ffffa7db6000)libnvdsgst_helper.so => /opt/nvidia/deepstream/deepstream-6.4/lib/libnvdsgst_helper.so (0x0000ffffa7d9d000)libnvdsgst_customhelper.so => /opt/nvidia/deepstream/deepstream-6.4/lib/libnvdsgst_customhelper.so (0x0000ffffa7d83000)libnvds_meta.so => /opt/nvidia/deepstream/deepstream-6.4/lib/libnvds_meta.so (0x0000ffffa7d6b000)libnvds_utils.so => /opt/nvidia/deepstream/deepstream-6.4/lib/libnvds_utils.so (0x0000ffffa749a000)libnvds_msgbroker.so => /opt/nvidia/deepstream/deepstream-6.4/lib/libnvds_msgbroker.so (0x0000ffffa747f000)libX11.so.6 => /lib/aarch64-linux-gnu/libX11.so.6 (0x0000ffffa733a000)libstdc++.so.6 => /lib/aarch64-linux-gnu/libstdc++.so.6 (0x0000ffffa7155000)libm.so.6 => /lib/aarch64-linux-gnu/libm.so.6 (0x0000ffffa70aa000)libc.so.6 => /lib/aarch64-linux-gnu/libc.so.6 (0x0000ffffa6f37000)/lib/ld-linux-aarch64.so.1 (0x0000ffffa83d0000)libgcc_s.so.1 => /lib/aarch64-linux-gnu/libgcc_s.so.1 (0x0000ffffa6f13000)libgmodule-2.0.so.0 => /lib/aarch64-linux-gnu/libgmodule-2.0.so.0 (0x0000ffffa6eff000)libdl.so.2 => /lib/aarch64-linux-gnu/libdl.so.2 (0x0000ffffa6eeb000)libpthread.so.0 => /lib/aarch64-linux-gnu/libpthread.so.0 (0x0000ffffa6eba000)libgstbase-1.0.so.0 => /lib/aarch64-linux-gnu/libgstbase-1.0.so.0 (0x0000ffffa6e35000)liborc-0.4.so.0 => /lib/aarch64-linux-gnu/liborc-0.4.so.0 (0x0000ffffa6da6000)libpcre.so.3 => /lib/aarch64-linux-gnu/libpcre.so.3 (0x0000ffffa6d34000)libffi.so.7 => /lib/aarch64-linux-gnu/libffi.so.7 (0x0000ffffa6d1b000)libgstnet-1.0.so.0 => /lib/aarch64-linux-gnu/libgstnet-1.0.so.0 (0x0000ffffa6cf4000)libgstrtp-1.0.so.0 => /lib/aarch64-linux-gnu/libgstrtp-1.0.so.0 (0x0000ffffa6cbe000)libgstrtsp-1.0.so.0 => /lib/aarch64-linux-gnu/libgstrtsp-1.0.so.0 (0x0000ffffa6c89000)libgstsdp-1.0.so.0 => /lib/aarch64-linux-gnu/libgstsdp-1.0.so.0 (0x0000ffffa6c60000)libgstapp-1.0.so.0 => /lib/aarch64-linux-gnu/libgstapp-1.0.so.0 (0x0000ffffa6c40000)libgio-2.0.so.0 => /lib/aarch64-linux-gnu/libgio-2.0.so.0 (0x0000ffffa6a43000)libgstpbutils-1.0.so.0 => /lib/aarch64-linux-gnu/libgstpbutils-1.0.so.0 (0x0000ffffa69f7000)libnvinfer.so.8 => /lib/aarch64-linux-gnu/libnvinfer.so.8 (0x0000ffff9989c000)libnvds_logger.so => /opt/nvidia/deepstream/deepstream-6.4/lib/libnvds_logger.so (0x0000ffff9988a000)libxcb.so.1 => /lib/aarch64-linux-gnu/libxcb.so.1 (0x0000ffff99853000)libz.so.1 => /lib/aarch64-linux-gnu/libz.so.1 (0x0000ffff99829000)libmount.so.1 => /lib/aarch64-linux-gnu/libmount.so.1 (0x0000ffff997b9000)libselinux.so.1 => /lib/aarch64-linux-gnu/libselinux.so.1 (0x0000ffff99781000)libresolv.so.2 => /lib/aarch64-linux-gnu/libresolv.so.2 (0x0000ffff9975b000)libgstaudio-1.0.so.0 => /lib/aarch64-linux-gnu/libgstaudio-1.0.so.0 (0x0000ffff996d7000)libgsttag-1.0.so.0 => /lib/aarch64-linux-gnu/libgsttag-1.0.so.0 (0x0000ffff9968c000)librt.so.1 => /lib/aarch64-linux-gnu/librt.so.1 (0x0000ffff99672000)libnvdla_compiler.so => /usr/lib/aarch64-linux-gnu/tegra/libnvdla_compiler.so (0x0000ffff98f37000)libcudla.so.1 => /usr/local/cuda/targets/aarch64-linux/lib/libcudla.so.1 (0x0000ffff98efa000)libXau.so.6 => /lib/aarch64-linux-gnu/libXau.so.6 (0x0000ffff98ee6000)libXdmcp.so.6 => /lib/aarch64-linux-gnu/libXdmcp.so.6 (0x0000ffff98ed0000)libblkid.so.1 => /lib/aarch64-linux-gnu/libblkid.so.1 (0x0000ffff98e68000)libpcre2-8.so.0 => /lib/aarch64-linux-gnu/libpcre2-8.so.0 (0x0000ffff98dda000)libnvos.so => /usr/lib/aarch64-linux-gnu/tegra/libnvos.so (0x0000ffff98dba000)libnvdla_runtime.so => /usr/lib/aarch64-linux-gnu/tegra/libnvdla_runtime.so (0x0000ffff98762000)libcuda.so.1 => /usr/lib/aarch64-linux-gnu/tegra/libcuda.so.1 (0x0000ffff9710b000)libbsd.so.0 => /lib/aarch64-linux-gnu/libbsd.so.0 (0x0000ffff970e2000)libnvrm_host1x.so => /usr/lib/aarch64-linux-gnu/tegra/libnvrm_host1x.so (0x0000ffff970c1000)libnvrm_mem.so => /usr/lib/aarch64-linux-gnu/tegra/libnvrm_mem.so (0x0000ffff970a9000)libnvsocsys.so => /usr/lib/aarch64-linux-gnu/tegra/libnvsocsys.so (0x0000ffff97095000)libnvrm_gpu.so => /usr/lib/aarch64-linux-gnu/tegra/libnvrm_gpu.so (0x0000ffff97028000)libnvrm_sync.so => /usr/lib/aarch64-linux-gnu/tegra/libnvrm_sync.so (0x0000ffff9700f000)libnvrm_chip.so => /usr/lib/aarch64-linux-gnu/tegra/libnvrm_chip.so (0x0000ffff96ffb000)libnvsciipc.so => /usr/lib/aarch64-linux-gnu/tegra/libnvsciipc.so (0x0000ffff96fd6000)

检查本地依赖库的当前情况：glibc版本不对，

• GLIBC_2.34 or GLIBC_2.32 //存在，版本不对
• GLIBCXX_3.4.29 //存在，版本不对
• libyaml-cpp.so //存在，版本不对

$ whereis libyaml-cpp
libyaml-cpp: /usr/lib/aarch64-linux-gnu/libyaml-cpp.so /usr/lib/aarch64-linux-gnu/libyaml-cpp.a$ whereis libc.so
libc: /usr/lib/aarch64-linux-gnu/libc.a /usr/lib/aarch64-linux-gnu/libc.so$ strings /lib/aarch64-linux-gnu/libstdc++.so.6 | grep GLIBCXX
GLIBCXX_3.4
GLIBCXX_3.4.1
GLIBCXX_3.4.2
GLIBCXX_3.4.3
GLIBCXX_3.4.4
GLIBCXX_3.4.5
GLIBCXX_3.4.6
GLIBCXX_3.4.7
GLIBCXX_3.4.8
GLIBCXX_3.4.9
GLIBCXX_3.4.10
GLIBCXX_3.4.11
GLIBCXX_3.4.12
GLIBCXX_3.4.13
GLIBCXX_3.4.14
GLIBCXX_3.4.15
GLIBCXX_3.4.16
GLIBCXX_3.4.17
GLIBCXX_3.4.18
GLIBCXX_3.4.19
GLIBCXX_3.4.20
GLIBCXX_3.4.21
GLIBCXX_3.4.22
GLIBCXX_3.4.23
GLIBCXX_3.4.24
GLIBCXX_3.4.25
GLIBCXX_3.4.26
GLIBCXX_3.4.27
GLIBCXX_3.4.28
GLIBCXX_DEBUG_MESSAGE_LENGTH

3.2 二进制help

本能的认为“-i 输入文件”；“-c 配置文件”。实际存在两个问题：

1. 示例代码deepstream-app代码hardcoded一个txt文件
2. 这个txt文件若存在，会导入这个配置文件里面的视频文件

$ deepstream-app --help
Usage:deepstream-app [OPTION?] Nvidia DeepStream DemoHelp Options:-h, --help                        Show help options--help-all                        Show all help options--help-gst                        Show GStreamer OptionsApplication Options:-v, --version                     Print DeepStreamSDK version-t, --tiledtext                   Display Bounding box labels in tiled mode--version-all                     Print DeepStreamSDK and dependencies version-c, --cfg-file                    Set the config file-i, --input-uri                   Set the input uri (file://stream or rtsp://stream)

4. 参考资料

【1】DeepStream SDK
【2】DeepStream 6.3 Quick Start