Unknown CMake command “cuda_add_library”.报错
Unknown CMake command “cuda_add_library”.
发现find_package(CUDA)没有被调用， 导致cuda_add_library()命令没有被识别。开启调用即可。
如果需要找到，正确链接 /usr/local/cuda 即可
报错，找不到libnvinfer_plugin.so.8
[11/18/2023-17:14:14] [E] Uncaught exception detected: Unable to open library: libnvinfer_plugin.so.8 due to libcublas.so.12: cannot open shared object file: No such file or directory
&&&& FAILED TensorRT.trtexec [TensorRT v8601] # /usr/src/tensorrt/bin/trtexec --onnx=./model/backbone.onnx --fp16 --plugins=build/libpointpillar_core.so --saveEngine=./model/backbone.plan --inputIOFormats=fp16:chw,int32:chw,int32:chw --verbose --dumpLayerInfo --dumpProfile --separateProfileRun --profilingVerbosity=detailed
root@yxc-MS-7B89:/home/yxc/code/for_new_cuda_pointpillar/CUDA-PointPillars# export LD_LIBRARY_PATH^C
发现不是找不到 libnvinfer_plugin.so.8 而是找不到 libcublas.so.12
find 发现是 libcublas.so.12在 /usr/local/cuda-12.3/targets/x86_64-linux/lib/libcublas.so.12
cuda 路径下
拷贝过去即可：
cp /usr/local/cuda-12.3/targets/x86_64-linux/lib/libcublas.so.12 /usr/lib/x86_64-linux-gnu/
cp /usr/local/cuda-12.3/targets/x86_64-linux/lib/libcublasLt.so.12 /usr/lib/x86_64-linux-gnu/
成功build
[11/18/2023-17:33:59] [I]
[11/18/2023-17:34:03] [I]
[11/18/2023-17:34:03] [I] === Profile (1434 iterations ) ===
[11/18/2023-17:34:03] [I] Time(ms) Avg.(ms) Median(ms) Time(%) Layer
[11/18/2023-17:34:03] [I] 486.12 0.3390 0.3389 21.0 {ForeignNode[771 + (Unnamed Layer* 1) [Shuffle]...dummy_gather_]}
[11/18/2023-17:34:03] [I] 130.88 0.0913 0.0911 5.7 PPScatter_0
[11/18/2023-17:34:03] [I] 109.12 0.0761 0.0758 4.7 Conv_235 + Relu_236
[11/18/2023-17:34:03] [I] 84.73 0.0591 0.0594 3.7 Conv_237 + Relu_238
[11/18/2023-17:34:03] [I] 85.48 0.0596 0.0594 3.7 Conv_239 + Relu_240
[11/18/2023-17:34:03] [I] 84.65 0.0590 0.0594 3.7 Conv_241 + Relu_242
[11/18/2023-17:34:03] [I] 50.08 0.0349 0.0348 2.2 Conv_261 + Relu_262
[11/18/2023-17:34:03] [I] 146.96 0.1025 0.1024 6.4 ConvTranspose_243 + BatchNormalization_244 + Relu_245
[11/18/2023-17:34:03] [I] 73.25 0.0511 0.0512 3.2 Conv_263 + Relu_264
[11/18/2023-17:34:03] [I] 70.12 0.0489 0.0492 3.0 Conv_265 + Relu_266
[11/18/2023-17:34:03] [I] 69.59 0.0485 0.0481 3.0 Conv_267 + Relu_268
[11/18/2023-17:34:03] [I] 69.79 0.0487 0.0489 3.0 Conv_269 + Relu_270
[11/18/2023-17:34:03] [I] 69.57 0.0485 0.0481 3.0 Conv_271 + Relu_272
[11/18/2023-17:34:03] [I] 40.04 0.0279 0.0276 1.7 Conv_291 + Relu_292
[11/18/2023-17:34:03] [I] 74.68 0.0521 0.0522 3.2 ConvTranspose_273 + BatchNormalization_274 + Relu_275
[11/18/2023-17:34:03] [I] 68.07 0.0475 0.0471 2.9 Conv_293 + Relu_294
[11/18/2023-17:34:03] [I] 65.36 0.0456 0.0453 2.8 Conv_295 + Relu_296
[11/18/2023-17:34:03] [I] 65.52 0.0457 0.0461 2.8 Conv_297 + Relu_298
[11/18/2023-17:34:03] [I] 65.31 0.0455 0.0452 2.8 Conv_299 + Relu_300
[11/18/2023-17:34:03] [I] 65.62 0.0458 0.0461 2.8 Conv_301 + Relu_302
[11/18/2023-17:34:03] [I] 96.28 0.0671 0.0675 4.2 ConvTranspose_303 + BatchNormalization_304 + Relu_305
[11/18/2023-17:34:03] [I] 117.43 0.0819 0.0819 5.1 Conv_311 || Conv_308 || Conv_307
[11/18/2023-17:34:03] [I] 15.43 0.0108 0.0113 0.7 Transpose_312
[11/18/2023-17:34:03] [I] 7.58 0.0053 0.0051 0.3 Reformatting CopyNode for Output Tensor 0 to Transpose_312
[11/18/2023-17:34:03] [I] 33.89 0.0236 0.0236 1.5 Transpose_310
[11/18/2023-17:34:03] [I] 31.68 0.0221 0.0225 1.4 Reformatting CopyNode for Output Tensor 0 to Transpose_310
[11/18/2023-17:34:03] [I] 20.70 0.0144 0.0143 0.9 Transpose_309
[11/18/2023-17:34:03] [I] 11.46 0.0080 0.0082 0.5 Reformatting CopyNode for Output Tensor 0 to Transpose_309
[11/18/2023-17:34:03] [I] 2309.39 1.6105 1.6100 100.0 Total
[11/18/2023-17:34:03] [I]
&&&& PASSED TensorRT.trtexec [TensorRT v8601] # /usr/src/tensorrt/bin/trtexec --onnx=./model/backbone.onnx --fp16 --plugins=build/libpointpillar_core.so --saveEngine=./model/backbone.plan --inputIOFormats=fp16:chw,int32:chw,int32:chw --verbose --dumpLayerInfo --dumpProfile --separateProfileRun --profilingVerbosity=detailed
成功运行
root@yxc-MS-7B89:/home/yxc/code/for_new_cuda_pointpillar/CUDA-PointPillars/build# ./pointpillar ../data/ . --timer
GPU has cuda devices: 1
----device id: 0 info----
GPU : NVIDIA GeForce RTX 3080
Capbility: 8.6
Global memory: 10006MB
Const memory: 64KB
SM in a block: 48KB
warp size: 32
threads in a block: 1024
block dim: (1024,1024,64)
grid dim: (2147483647,65535,65535)
Total 10
------------------------------------------------------
Lidar Backbone 🌱 is Static Shape model
Inputs: 3
0.voxels : {10000 x 32 x 10} [Float16]
1.voxel_idxs : {10000 x 4} [Int32]
2.voxel_num : {1} [Int32]
Outputs: 3
0.cls_preds : {1 x 248 x 216 x 18} [Float32]
1.box_preds : {1 x 248 x 216 x 42} [Float32]
2.dir_cls_preds : {1 x 248 x 216 x 12} [Float32]
------------------------------------------------------
<<<<<<<<<<<
Load file: ../data/000003.bin
Lidar points count: 18911
==================PointPillars===================
[⏰ [NoSt] CopyLidar]: 0.12493 ms
[⏰ Lidar Voxelization]: 0.07690 ms
[⏰ Lidar Backbone & Head]: 2.70435 ms
[⏰ Lidar Decoder + NMS]: 3.06573 ms
Total: 5.847 ms
=============================================
Detections after NMS: 5
Saved prediction in: .000003.txt
>>>>>>>>>>>
<<<<<<<<<<<
Load file: ../data/000000.bin
Lidar points count: 20285
==================PointPillars===================
[⏰ [NoSt] CopyLidar]: 0.07651 ms
[⏰ Lidar Voxelization]: 0.03757 ms
[⏰ Lidar Backbone & Head]: 1.69472 ms
[⏰ Lidar Decoder + NMS]: 2.92045 ms
Total: 4.653 ms
=============================================
Detections after NMS: 8
Saved prediction in: .000000.txt
>>>>>>>>>>>
<<<<<<<<<<<
Load file: ../data/000006.bin
Lidar points count: 19473
==================PointPillars===================
[⏰ [NoSt] CopyLidar]: 0.07597 ms
[⏰ Lidar Voxelization]: 0.04058 ms
[⏰ Lidar Backbone & Head]: 1.70496 ms
[⏰ Lidar Decoder + NMS]: 3.04742 ms
Total: 4.793 ms
=============================================
Detections after NMS: 18
Saved prediction in: .000006.txt
>>>>>>>>>>>
<<<<<<<<<<<
Load file: ../data/000008.bin
Lidar points count: 17238
==================PointPillars===================
[⏰ [NoSt] CopyLidar]: 0.06371 ms
[⏰ Lidar Voxelization]: 0.03725 ms
[⏰ Lidar Backbone & Head]: 1.69165 ms
[⏰ Lidar Decoder + NMS]: 2.99734 ms
Total: 4.726 ms
=============================================
Detections after NMS: 24
Saved prediction in: .000008.txt
>>>>>>>>>>>
<<<<<<<<<<<
Load file: ../data/000005.bin
Lidar points count: 19962
==================PointPillars===================
[⏰ [NoSt] CopyLidar]: 0.07789 ms
[⏰ Lidar Voxelization]: 0.04506 ms
[⏰ Lidar Backbone & Head]: 1.70496 ms
[⏰ Lidar Decoder + NMS]: 3.01453 ms
Total: 4.765 ms
=============================================
Detections after NMS: 8
Saved prediction in: .000005.txt
>>>>>>>>>>>
<<<<<<<<<<<
Load file: ../data/000004.bin
Lidar points count: 19063
==================PointPillars===================
[⏰ [NoSt] CopyLidar]: 0.06710 ms
[⏰ Lidar Voxelization]: 0.04054 ms
[⏰ Lidar Backbone & Head]: 1.70189 ms
[⏰ Lidar Decoder + NMS]: 3.00029 ms
Total: 4.743 ms
=============================================
Detections after NMS: 15
Saved prediction in: .000004.txt
>>>>>>>>>>>
<<<<<<<<<<<
Load file: ../data/000002.bin
Lidar points count: 20210
==================PointPillars===================
[⏰ [NoSt] CopyLidar]: 0.07466 ms
[⏰ Lidar Voxelization]: 0.03731 ms
[⏰ Lidar Backbone & Head]: 1.69472 ms
[⏰ Lidar Decoder + NMS]: 2.95325 ms
Total: 4.685 ms
=============================================
Detections after NMS: 14
Saved prediction in: .000002.txt
>>>>>>>>>>>
<<<<<<<<<<<
Load file: ../data/000007.bin
Lidar points count: 19423
==================PointPillars===================
[⏰ [NoSt] CopyLidar]: 0.07462 ms
[⏰ Lidar Voxelization]: 0.04138 ms
[⏰ Lidar Backbone & Head]: 1.70496 ms
[⏰ Lidar Decoder + NMS]: 3.06074 ms
Total: 4.807 ms
=============================================
Detections after NMS: 12
Saved prediction in: .000007.txt
>>>>>>>>>>>
<<<<<<<<<<<
Load file: ../data/000009.bin
Lidar points count: 19411
==================PointPillars===================
[⏰ [NoSt] CopyLidar]: 0.07024 ms
[⏰ Lidar Voxelization]: 0.04096 ms
[⏰ Lidar Backbone & Head]: 1.70291 ms
[⏰ Lidar Decoder + NMS]: 3.11091 ms
Total: 4.855 ms
=============================================
Detections after NMS: 13
Saved prediction in: .000009.txt
>>>>>>>>>>>
<<<<<<<<<<<
Load file: ../data/000001.bin
Lidar points count: 18630
==================PointPillars===================
[⏰ [NoSt] CopyLidar]: 0.07107 ms
[⏰ Lidar Voxelization]: 0.04045 ms
[⏰ Lidar Backbone & Head]: 1.70086 ms
[⏰ Lidar Decoder + NMS]: 3.13741 ms
Total: 4.879 ms
=============================================
Detections after NMS: 10
Saved prediction in: .000001.txt
>>>>>>>>>>>
root@yxc-MS-7B89:/home/yxc/code/for_new_cuda_pointpillar/CUDA-PointPillars/build#
参考
https://www.cnblogs.com/zjutzz/p/12094762.html
https://zhuanlan.zhihu.com/p/657200184