VisionWorks Toolkit Reference

April 8, 2016 | 1.4 Release
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Linux Installation

Prerequisites

Before installing NVIDIA® VisionWorks™, ensure you have met the following prerequisites:

  • You have root/sudo access
  • GCC and GNU make are installed on the target system:
    $ sudo apt-get install g++
    $ sudo apt-get install make

Installation instructions

The installation of VisionWorks consists of the following steps:

  1. NVIDIA® CUDA® Installation
  2. VisionWorks Installation

The following sections contain detailed instructions for the installation of these packages. These instructions use the following variables:

  • <distro> specifies the OS version (e.g., ubuntu1404).
  • <architecture> specifies the architecture (e.g. amd64, armhf, arm64).
  • <ocv_version> specifies the package release version (e.g., 2.4.12.3).
  • <cuda_version> specifies the package release version (e.g., 7.0).
  • <visworks_ver> specifies the VisionWorks version (e.g., 1.4).
  • <platform> specifies the supported device.

1. CUDA Installation

The NVIDIA invented CUDA technology provides a parallel computing platform and programming model that enables dramatic increases in computing performance by harnessing the power of the graphics processing unit (GPU). Follow the direct target installation instructions based on your platform:

  • If you are using a host Ubuntu system as a standalone development platform, go to subsection (1-a).
  • If you are using an NVIDIA® Jetson™ Automotive or Embedded platform as a cross development platform, go to subsection (1-b).
  • If you are using a Jetson Automotive platform running Vibrante OS, go to subsection (1-c).
  • If you are using a Jetson Embedded platform running L4T, go to subsection (1-d).
  • For all platforms, see subsection (1-e) after installation.

(1-a) To install CUDA on Ubuntu 14.04 desktop system for stand-alone development

Download the CUDA Debian package from NVIDIA CUDA Downloads.

To install the package, execute the following commands:

    $ sudo dpkg -i cuda-repo-<distro>_<cuda_version>_amd64.deb
    $ sudo apt-get update
    $ sudo apt-get install cuda

CUDA packages are installed to the following location on your host system:

    $ /usr/local/cuda-<cuda_version>

(1-b) To install CUDA for cross-build installation on Ubuntu 14.04 host system

Download the CUDA version defined in the corresponding Platforms section for the target operating system from NVIDIA CUDA Downloads.

The armhf foreign architecture must be enabled in order to install the cross-armhf toolkit. To enable armhf as a foreign architecture, the following commands must be executed:

    $ sudo dpkg --add-architecture armhf

To complete the installation, execute the following:

    $ sudo dpkg -i cuda-repo-<distro>_<cuda_version>_amd64.deb
    $ sudo apt-get update
    $ sudo apt-get install cuda cuda-cross-armhf

The cross-build installation of CUDA includes the standalone development files, which are installed under the same location on your host system:

    $ /usr/local/cuda-<cuda_version>

(1-c) To install CUDA on Jetson™ Automotive platforms running Vibrante OS

CUDA installation on Jetson TK1 Pro and NVIDIA® DRIVE™ PX is part of the Vibrante PDK installation and must be carried out on the host before rootfs setup and first boot of the target using:

    $ bash vibrante-<platform|ver>-cuda-<cuda_version>.run

The CUDA toolkit installs after running the following self-deleting shell script that is intended to be run 1 time from the target console:

    $ vibrante-setup.sh install-run-once-pkgs

This installs all deferred run-once scripts in the target's /etc/rcS.d directory, which is why it is important to run the CUDA installer before flashing and first boot of the target.

Note
To run, some CUDA samples require running a desktop manager, such as xfce4. The following warning message may appear when launching a CUDA application and can safely be ignored:
    libkmod: ERROR ../libkmod/libkmod.c:554 kmod_search_moddep:
    could not open moddep file '/lib/modules/3.10.17-g3850ea5/modules.dep.bin'

(1-d) To install CUDA on Jetson Embedded platforms running L4T OS

Execute the following commands:

    $ sudo dpkg -i cuda-repo-<distro>_<cuda_version>_<architecture>.deb
    $ sudo apt-get update
    $ sudo apt-get install cuda-toolkit-<cuda_version>

(1-e) CUDA Post-Installation Step (all platforms)

To access the CUDA binaries and libraries from any folder on Linux, add the CUDA location to your system's PATH and LD_LIBRARY_PATH environment variables. The exact steps depends on whether your target device has a 32-bit or 64-bit CPU.

For 64-bit systems (e.g., desktop PCs and DRIVE PX boards):

    $ echo "# Add 64-bit CUDA library & binary paths:" >> ~/.bashrc
    $ echo "export PATH=/usr/local/cuda-<cuda_version>/bin:$PATH" >> ~/.bashrc
    $ echo "export
      LD_LIBRARY_PATH=/usr/local/cuda-<cuda_version>/lib64:$LD_LIBRARY_PATH" >>
      ~/.bashrc
    $ source ~/.bashrc

For 32-bit systems (e.g., most ARM systems):

    $ echo "# Add 32-bit CUDA library & binary paths:" >> ~/.bashrc
    $ echo "export PATH=/usr/local/cuda-<cuda_version>/bin:$PATH" >> ~/.bashrc
    $ echo "export
      LD_LIBRARY_PATH=/usr/local/cuda-<cuda_version>/lib:$LD_LIBRARY_PATH" >>
      ~/.bashrc
    $ source ~/.bashrc

2. VisionWorks Installation

NVIDIA provides VisionWorks as a local repository Debian package named libvisionworks-repo_<visworks_ver>_<architecture>.deb. Its installation creates a local repository of all the VisionWorks Debian packages and points the OS software manager to that new repository. Then, you install the VisionWorks components using apt-get or any other Debian package software manager. All the dependent libraries are automatically installed. Follow the directions for installing VisionWorks based on your platform:

  • If you are installing on a desktop system for standalone operation and host system for cross development, go to subsection (2-a).
  • If you are installing on Jetson Automotive platforms running Vibrante OS, go to subsection (2-b).
  • If you are installing on Jetson Embedded platforms running L4T, go to subsection (2-c).

(2-a) To install VisionWorks on host system

    $ sudo dpkg -i libvisionworks-repo_<visworks_ver>_<architecture>.deb
    $ sudo apt-get update
    $ sudo apt-get install libvisionworks libvisionworks-dev libvisionworks-nvxio libvisionworks-nvxio-dev \
                           libvisionworks-samples libvisionworks-docs

(2-b) To install VisionWorks on Jetson™ Automotive platforms running Vibrante OS

    $ sudo dpkg -i libvisionworks-repo_<visworks_ver>_<architecture>.deb
    $ sudo apt-get update
    $ sudo apt-get install libvisionworks libvisionworks-dev libvisionworks-nvxio \
                           libvisionworks-nvxio-dev libvisionworks-samples libvisionworks-docs

(2-c) To install VisionWorks on Jetson Embedded platforms running L4T OS

    $ sudo add-apt-repository universe
    $ sudo dpkg -i libvisionworks-repo_<visworks_ver>_<architecture>.deb
    $ sudo apt-get update
    $ sudo apt-get install libvisionworks libvisionworks-dev libvisionworks-nvxio \
                           libvisionworks-nvxio-dev libvisionworks-samples libvisionworks-docs

At this point, VisionWorks libraries, headers, samples, and documentation (and some extra files) are installed to your Jetson or desktop device.

The following table shows various directories where the VisionWorks packages are located after installation on Jetson Pro, Jetson TK1 and Desktop platforms.

Package Name Description Installed Location
libvisionworks Main package with pre-built shared libraries. /usr/lib
libvisionworks-dev Development package with headers and supplementary CMake and package config files /usr/include
/usr/lib
/usr/lib/pkgconfig
/usr/share/visionworks/cmake
libvisionworks-nvxio Package with prebuilt NVXIO shared library /usr/lib
libvisionworks-nvxio-dev Development NVXIO package with headers, supplementary CMake and package config files /usr/include
/usr/lib
/usr/lib/pkgconfig
/usr/share/VisionWorks-NVXIO/cmake
libvisionworks-samples Package with source code for samples and demos. /usr/share/visionworks/sources
libvisionworks-docs Documentation package for this release of VisionWorks. /usr/share/visionworks/docs

After VisionWorks installation, use the installed script to copy samples from /usr/share/visionworks/sources to a directory with write access and compile them using make:

    $ /usr/share/visionworks/sources/install-samples.sh ~/
    $ cd ~/VisionWorks-<visworks_ver>-Samples/
    $ make
Note
See Supported Software in the release notes for the specific versions required.

Custom VisionWorks NVXIO library build and installation

VisionWorks NVXIO library is also destributed as debian source package. It's possible to download source archives, modify NVXIO sources and build custom debian binary packages:

  • Install build dependencies:
    $ sudo apt-get build-dep libvisionworks-nvxio libvisionworks-nvxio-dev
  • Download source archive:
    $ apt-get source libvisionworks-nvxio
  • Modify sources:
    $ cd libvisionworks-nvxio_<visworks_ver>/
    $ # do something with NVXIO sources
    $ dpkg-buildpackage -j4 -b
  • Install newly built packages:
    $ sudo dpkg -i ../libvisionworks-nvxio_<visworks_ver>_<architecture>.deb \
                   ../libvisionworks-nvxio-dev_<visworks_ver>_all.deb

Uninstall Instructions

In this section uninstallation of VisionWorks and CUDA is described.

Uninstall VisionWorks

Uninstall VisionWorks packages with the following command:

    $ sudo apt-get remove --purge libvisionworks libvisionworks-dev libvisionworks-nvxio \
                                  libvisionworks-nvxio-dev libvisionworks-samples libvisionworks-docs

Then uninstall local repositories:

    $ sudo apt-get purge libvisionworks-repo

Update apt cache after removing the repository:

    $ sudo apt-get update

Uninstall CUDA

Uninstall CUDA repo package, CUDA toolkit package, run autoremove command and update the apt cache using the following commands:

    $ sudo apt-get remove --purge cuda-repo-<distro>
    $ sudo apt-get remove --purge cuda-toolkit-<cuda_version>
    $ sudo apt-get autoremove
    $ sudo apt-get update
Note
The autoremove command removes all abandoned packages on the your system. An abandoned package is a package that was installed as a dependency, and the package that depends on it has since been removed.

Troubleshooting

Custom OpenCV installation

There are optional VisionWorks samples and demos that leverage OpenCV for Tegra packages. For these samples and demos, if OpenCV for Tegra packages is installed prior to VisionWorks installation, all samples will be available. If OpenCV for Tegra is installed after installing VisionWorks, then you must rebuild the samples before the OpenCV for Tegra NPP Interop sample will be available.

If the target system has other OpenCV version pre-installed, it may cause conflicts with the newer version.

If the old OpenCV library was installed from a public Ubuntu repository, it will be automatically replaced by the package manager.

If the old OpenCV library was installed via the make install command, it must be removed manually:

  1. Remove /usr/local/include/opencv* folders.
  2. Remove /usr/local/lib/libopencv* files.
  3. Remove /usr/local/bin/opencv* files
  4. Remove /usr/local/share/OpenCV folder
  5. Remove /usr/local/lib/pkgconfig/opencv.pc file.

CUDA Links

More information on getting started with CUDA is available in the NVIDIA CUDA Getting Started Guide for Linux:

Instructions on cross-compiling are available in the NVIDIA CUDA Compiler Driver NVCC:

More information on CUDA is also available at: