背景

按照之前博客【nvidia jetson 系列开发板交叉编译方法,CUDA依赖程序】的方案2准备了环境。

交叉编译的文件系统在/var/files/yanyixiong/jetp512EnvComp0820
然后配置set(CMAKE_SYSROOT /var/files/yanyixiong/jetp512EnvComp0820)

set(CMAKE_SYSTEM_NAME                 Linux)
set(CMAKE_SYSTEM_PROCESSOR            aarch64)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(MY_PATH "/var/files/yanyixiong/jetp512EnvComp0820/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin")  
set(MY_PATH_SYSROOT "/var/files/yanyixiong/jetp512EnvComp0820")
#set(CMAKE_FIND_ROOT_PATH              "/var/files/yanyixiong/jetp512EnvComp0820")
set(CMAKE_SYSROOT              /var/files/yanyixiong/jetp512EnvComp0820)


set(CMAKE_C_COMPILER             ${MY_PATH}/aarch64-linux-gnu-gcc )
set(CMAKE_CXX_COMPILER           ${MY_PATH}/aarch64-linux-gnu-g++ )
set(CMAKE_ASM_COMPILER           ${MY_PATH}/aarch64-linux-gnu-as)
set(CMAKE_ASM_COMPILER_AR        ${MY_PATH}/aarch64-linux-gnu-gcc-ar)
set(CMAKE_ASM_COMPILER_RANLIB    ${MY_PATH}/aarch64-linux-gnu-gcc-ranlib)
set(CMAKE_CXX_COMPILER_AR        ${MY_PATH}/aarch64-linux-gnu-gcc-ar)
set(CMAKE_CXX_COMPILER_RANLIB    ${MY_PATH}/aarch64-linux-gnu-gcc-ranlib)
set(CMAKE_C_COMPILER_AR          ${MY_PATH}/aarch64-linux-gnu-gcc-ar)
set(CMAKE_C_COMPILER_RANLIB      ${MY_PATH}/aarch64-linux-gnu-gcc-ranlib)
set(CMAKE_LINKER                 ${MY_PATH}/aarch64-linux-gnu-ld)
set(CMAKE_STRIP                  ${MY_PATH}/aarch64-linux-gnu-strip)
set(CMAKE_RANLIB                 ${MY_PATH}/aarch64-linux-gnu-ranlib)
set(CMAKE_OBJCOPY                ${MY_PATH}/aarch64-linux-gnu-objcopy)
set(CMAKE_OBJDUMP                ${MY_PATH}/aarch64-linux-gnu-objdump) 
set(CMAKE_READELF                ${MY_PATH}/aarch64-linux-gnu-readelf)
set(CMAKE_AR                     ${MY_PATH}/aarch64-linux-gnu-ar)
set(CMAKE_NM                     ${MY_PATH}/aarch64-linux-gnu-nm)

交叉编译报错：

-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-9 - broken
CMake Error at /usr/local/share/cmake-3.30/Modules/CMakeTestCCompiler.cmake:67 (message):
  The C compiler

    "/usr/bin/aarch64-linux-gnu-gcc-9"

  is not able to compile a simple test program.

  It fails with the following output:

    Change Dir: '/var/files/yanyixiong/jetp512EnvComp0820/OEM/testtrt/build/CMakeFiles/CMakeScratch/TryCompile-7WqLi5'

    Run Build Command(s): /usr/local/bin/cmake -E env VERBOSE=1 /var/files/yanyixiong/jetp512EnvComp0820/usr/bin/make -f Makefile cmTC_6cd87/fast
    /lib/ld-linux-aarch64.so.1: No such file or directory

解决思路

1、确定 ld-linux-aarch64.so.1 位置

在文件系统 /var/files/yanyixiong/jetp512EnvComp0820 的 /lib/ld-linux-aarch64.so.1下

那就软连接过去：
ln -s /var/files/yanyixiong/jetp512EnvComp0820/lib/ld-linux-aarch64.so.1 /lib/ld-linux-aarch64.so.1

2、避免出现 version `GLIBC_2.27' not found (required by ./make)的问题

应该把环境变量配置下：

export LD_LIBRARY_PATH=/var/files/yanyixiong/jetp512EnvComp0820/usr/lib/aarch64-linux-gnu/:$LD_LIBRARY_PATH

检查下

$ echo ${LD_LIBRARY_PATH}
/var/files/yanyixiong/jetp512EnvComp0820/usr/lib/aarch64-linux-gnu

然后 cmake 正常

 cmake ../ -DCMAKE_TOOLCHAIN_FILE=../cross_compile.cmake

3、避免出现warning: libdl.so.2, needed by libcudart.so, not found (try using -rpath or -rpath-link)

我们先用find //var/files/yanyixiong/jetp512EnvComp0820/usr -name 'libdl.so.2'确定库的地址，然后-rpath-link,上去.

应该在CmakeLists配置下

target_link_options(tensorrt_yolov6 PRIVATE "-Wl,-rpath-link,${CMAKE_SYSROOT}/usr/lib/aarch64-linux-gnu")
target_link_options(tensorrt_yolov6 PRIVATE "-Wl,-rpath-link,${CMAKE_SYSROOT}/usr/lib/aarch64-linux-gnu/tegra")
target_link_options(tensorrt_yolov6 PRIVATE "-Wl,-rpath-link,${CUDA_PATH}/lib64")

在这个例子中，-Wl,-rpath-link,/path/to/your/libraries被添加到了MyTarget的链接选项中。-Wl,是CMake用来将后面的参数传递给链接器的标志，而-rpath-link则告诉链接器在链接时去指定的目录中寻找库文件。

4、避免交叉编译gcc 找不到stl

交叉编译器在这里:/var/files/yanyixiong/jetp512EnvComp0820/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu。
我该如何使用他的stl库？解决对‘std::random_device::_M_getentropy() const@GLIBCXX_3.4.25’未定义的引用？

target_link_options(MyTarget PRIVATE "-static-libstdc++")

请注意，并非所有 GCC 版本都支持 -static-libstdc++。如果您的编译器不支持此选项，您将需要找到其他方法来静态链接标准库，或者确保动态库在目标平台上可用。

经过这4步，应该问题都处理完了。

5、代码分享

https://gitee.com/hiyanyx/study-jetson-orin-cross-compile-yolov6-v1-cpp-cmake