Add support for JetPack 6 (#16571)

* it builds!

* some fixes

* use python 3.11 (rc1)

* add deadsnakes ppa for more recent python 3.11 in jetson images

* fix pip stuff

* revert to tensor 8.6

* revert changes to docker/main

* add hook to install deadsnakes ppa for tensorrt/jetson

* remove unnecessary pip break-system-packages

* move tflite_runtime to requirements-wheels.txt

.github/workflows/ci.yml

@@ -136,6 +136,35 @@ jobs:
             tensorrt.tags=${{ steps.setup.outputs.image-name }}-tensorrt-jp5
             *.cache-from=type=registry,ref=${{ steps.setup.outputs.cache-name }}-jp5
             *.cache-to=type=registry,ref=${{ steps.setup.outputs.cache-name }}-jp5,mode=max
+  jetson_jp6_build:
+    runs-on: ubuntu-22.04
+    name: Jetson Jetpack 6
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v4
+        with:
+          persist-credentials: false
+      - name: Set up QEMU and Buildx
+        id: setup
+        uses: ./.github/actions/setup
+        with:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - name: Build and push TensorRT (Jetson, Jetpack 6)
+        env:
+          ARCH: arm64
+          BASE_IMAGE: nvcr.io/nvidia/tensorrt:23.12-py3-igpu
+          SLIM_BASE: nvcr.io/nvidia/tensorrt:23.12-py3-igpu
+          TRT_BASE: nvcr.io/nvidia/tensorrt:23.12-py3-igpu
+        uses: docker/bake-action@v6
+        with:
+          source: .
+          push: true
+          targets: tensorrt
+          files: docker/tensorrt/trt.hcl
+          set: |
+            tensorrt.tags=${{ steps.setup.outputs.image-name }}-tensorrt-jp6
+            *.cache-from=type=registry,ref=${{ steps.setup.outputs.cache-name }}-jp6
+            *.cache-to=type=registry,ref=${{ steps.setup.outputs.cache-name }}-jp6,mode=max
   amd64_extra_builds:
     runs-on: ubuntu-22.04
     name: AMD64 Extra Build

docker/main/Dockerfile

@@ -3,14 +3,27 @@
 # https://askubuntu.com/questions/972516/debian-frontend-environment-variable
 ARG DEBIAN_FRONTEND=noninteractive
 
+# Globally set pip break-system-packages option to avoid having to specify it every time
+ARG PIP_BREAK_SYSTEM_PACKAGES=1
+
 ARG BASE_IMAGE=debian:12
 ARG SLIM_BASE=debian:12-slim
 
+# A hook that allows us to inject commands right after the base images
+ARG BASE_HOOK=
+
 FROM ${BASE_IMAGE} AS base
+ARG PIP_BREAK_SYSTEM_PACKAGES
+
+RUN ${BASE_HOOK}
 
 FROM --platform=${BUILDPLATFORM} debian:12 AS base_host
+ARG PIP_BREAK_SYSTEM_PACKAGES
 
 FROM ${SLIM_BASE} AS slim-base
+ARG PIP_BREAK_SYSTEM_PACKAGES
+
+RUN ${BASE_HOOK}
 
 FROM slim-base AS wget
 ARG DEBIAN_FRONTEND
@@ -66,8 +79,8 @@ COPY docker/main/requirements-ov.txt /requirements-ov.txt
 RUN apt-get -qq update \
     && apt-get -qq install -y wget python3 python3-dev python3-distutils gcc pkg-config libhdf5-dev \
     && wget -q https://bootstrap.pypa.io/get-pip.py -O get-pip.py \
-    && python3 get-pip.py "pip" --break-system-packages \
-    && pip install --break-system-packages -r /requirements-ov.txt
+    && python3 get-pip.py "pip" \
+    && pip install -r /requirements-ov.txt
 
 # Get OpenVino Model
 RUN --mount=type=bind,source=docker/main/build_ov_model.py,target=/build_ov_model.py \
@@ -142,8 +155,8 @@ RUN apt-get -qq update \
     apt-transport-https wget \
     && apt-get -qq update \
     && apt-get -qq install -y \
-    python3 \
-    python3-dev \
+    python3.11 \
+    python3.11-dev \
     # opencv dependencies
     build-essential cmake git pkg-config libgtk-3-dev \
     libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
@@ -157,11 +170,13 @@ RUN apt-get -qq update \
     gcc gfortran libopenblas-dev liblapack-dev && \
     rm -rf /var/lib/apt/lists/*
 
+RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.11 1
+
 RUN wget -q https://bootstrap.pypa.io/get-pip.py -O get-pip.py \
-    && python3 get-pip.py "pip" --break-system-packages
+    && python3 get-pip.py "pip"
 
 COPY docker/main/requirements.txt /requirements.txt
-RUN pip3 install -r /requirements.txt --break-system-packages
+RUN pip3 install -r /requirements.txt
 
 # Build pysqlite3 from source
 COPY docker/main/build_pysqlite3.sh /build_pysqlite3.sh
@@ -215,8 +230,8 @@ RUN --mount=type=bind,source=docker/main/install_deps.sh,target=/deps/install_de
     /deps/install_deps.sh
 
 RUN --mount=type=bind,from=wheels,source=/wheels,target=/deps/wheels \
-    python3 -m pip install --upgrade pip --break-system-packages && \
-    pip3 install -U /deps/wheels/*.whl --break-system-packages
+    python3 -m pip install --upgrade pip && \
+    pip3 install -U /deps/wheels/*.whl
 
 COPY --from=deps-rootfs / /
 
@@ -263,7 +278,7 @@ RUN apt-get update \
     && rm -rf /var/lib/apt/lists/*
 
 RUN --mount=type=bind,source=./docker/main/requirements-dev.txt,target=/workspace/frigate/requirements-dev.txt \
-    pip3 install -r requirements-dev.txt --break-system-packages
+    pip3 install -r requirements-dev.txt
 
 HEALTHCHECK NONE
 

docker/main/install_deps.sh

@@ -11,7 +11,7 @@ apt-get -qq install --no-install-recommends -y \
     lbzip2 \
     procps vainfo \
     unzip locales tzdata libxml2 xz-utils \
-    python3 \
+    python3.11 \
     python3-pip \
     curl \
     lsof \
@@ -21,6 +21,8 @@ apt-get -qq install --no-install-recommends -y \
     libglib2.0-0 \
     libusb-1.0.0
 
+update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.11 1
+
 mkdir -p -m 600 /root/.gnupg
 
 # install coral runtime
@@ -29,15 +31,6 @@ unset DEBIAN_FRONTEND
 yes | dpkg -i /tmp/libedgetpu1-max.deb && export DEBIAN_FRONTEND=noninteractive
 rm /tmp/libedgetpu1-max.deb
 
-# install python3 & tflite runtime
-if [[ "${TARGETARCH}" == "amd64" ]]; then
-    pip3 install --break-system-packages https://github.com/frigate-nvr/TFlite-builds/releases/download/v2.17.1/tflite_runtime-2.17.1-cp311-cp311-linux_x86_64.whl
-fi
-
-if [[ "${TARGETARCH}" == "arm64" ]]; then
-    pip3 install --break-system-packages https://github.com/feranick/TFlite-builds/releases/download/v2.17.1/tflite_runtime-2.17.1-cp311-cp311-linux_aarch64.whl
-fi
-
 # btbn-ffmpeg -> amd64
 if [[ "${TARGETARCH}" == "amd64" ]]; then
     mkdir -p /usr/lib/ffmpeg/5.0

docker/main/requirements-wheels.txt

@@ -68,4 +68,7 @@ netaddr==0.8.*
 netifaces==0.10.*
 verboselogs==1.7.*
 virtualenv==20.17.*
-prometheus-client == 0.21.*
+prometheus-client == 0.21.*
+# TFLite
+tflite_runtime @ https://github.com/feranick/TFlite-builds/releases/download/v2.17.1/tflite_runtime-2.17.1-cp311-cp311-linux_x86_64.whl; platform_machine == 'x86_64'
+tflite_runtime @ https://github.com/feranick/TFlite-builds/releases/download/v2.17.1/tflite_runtime-2.17.1-cp311-cp311-linux_aarch64.whl; platform_machine == 'aarch64'

docker/rockchip/Dockerfile

@@ -8,7 +8,6 @@ COPY docker/main/requirements-wheels.txt /requirements-wheels.txt
 COPY docker/rockchip/requirements-wheels-rk.txt /requirements-wheels-rk.txt
 RUN sed -i "/https:\/\//d" /requirements-wheels.txt
 RUN sed -i "/onnxruntime/d" /requirements-wheels.txt
-RUN python3 -m pip config set global.break-system-packages true
 RUN pip3 wheel --wheel-dir=/rk-wheels -c /requirements-wheels.txt -r /requirements-wheels-rk.txt
 RUN rm -rf /rk-wheels/opencv_python-*
 
@@ -16,7 +15,7 @@ FROM deps AS rk-frigate
 ARG TARGETARCH
 
 RUN --mount=type=bind,from=rk-wheels,source=/rk-wheels,target=/deps/rk-wheels \
-    pip3 install --no-deps -U /deps/rk-wheels/*.whl --break-system-packages
+    pip3 install --no-deps -U /deps/rk-wheels/*.whl
 
 WORKDIR /opt/frigate/
 COPY --from=rootfs / /

docker/tensorrt/Dockerfile.amd64

@@ -17,7 +17,7 @@ FROM tensorrt-base AS frigate-tensorrt
 ENV TRT_VER=8.6.1
 RUN python3 -m pip config set global.break-system-packages true
 RUN --mount=type=bind,from=trt-wheels,source=/trt-wheels,target=/deps/trt-wheels \
-    pip3 install -U /deps/trt-wheels/*.whl --break-system-packages && \
+    pip3 install -U /deps/trt-wheels/*.whl && \
     ldconfig
 
 WORKDIR /opt/frigate/
@@ -32,4 +32,4 @@ COPY --from=trt-deps /usr/local/cuda-12.1 /usr/local/cuda
 COPY docker/tensorrt/detector/rootfs/ /
 COPY --from=trt-deps /usr/local/lib/libyolo_layer.so /usr/local/lib/libyolo_layer.so
 RUN --mount=type=bind,from=trt-wheels,source=/trt-wheels,target=/deps/trt-wheels \
-    pip3 install -U /deps/trt-wheels/*.whl --break-system-packages
+    pip3 install -U /deps/trt-wheels/*.whl

docker/tensorrt/Dockerfile.arm64

@@ -7,20 +7,25 @@ ARG BASE_IMAGE
 FROM ${BASE_IMAGE} AS build-wheels
 ARG DEBIAN_FRONTEND
 
+# Add deadsnakes PPA for python3.11
+RUN apt-get -qq update && \
+        apt-get -qq install -y --no-install-recommends \
+        software-properties-common \
+        && add-apt-repository ppa:deadsnakes/ppa
+
 # Use a separate container to build wheels to prevent build dependencies in final image
 RUN apt-get -qq update \
     && apt-get -qq install -y --no-install-recommends \
-    python3.9 python3.9-dev \
+    python3.11 python3.11-dev \
     wget build-essential cmake git \
     && rm -rf /var/lib/apt/lists/*
 
-# Ensure python3 defaults to python3.9
-RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.9 1
+# Ensure python3 defaults to python3.11
+RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.11 1
 
 RUN wget -q https://bootstrap.pypa.io/get-pip.py -O get-pip.py \
     && python3 get-pip.py "pip"
 
-
 FROM build-wheels AS trt-wheels
 ARG DEBIAN_FRONTEND
 ARG TARGETARCH
@@ -41,11 +46,12 @@ RUN --mount=type=bind,source=docker/tensorrt/detector/build_python_tensorrt.sh,t
     && TENSORRT_VER=$(cat /etc/TENSORRT_VER) /deps/build_python_tensorrt.sh
 
 COPY docker/tensorrt/requirements-arm64.txt /requirements-tensorrt.txt
-ADD https://nvidia.box.com/shared/static/psl23iw3bh7hlgku0mjo1xekxpego3e3.whl /tmp/onnxruntime_gpu-1.15.1-cp311-cp311-linux_aarch64.whl
+# See https://elinux.org/Jetson_Zoo#ONNX_Runtime
+ADD https://nvidia.box.com/shared/static/9yvw05k6u343qfnkhdv2x6xhygze0aq1.whl /tmp/onnxruntime_gpu-1.19.0-cp311-cp311-linux_aarch64.whl
 
 RUN pip3 uninstall -y onnxruntime-openvino \
     && pip3 wheel --wheel-dir=/trt-wheels -r /requirements-tensorrt.txt \
-    && pip3 install --no-deps /tmp/onnxruntime_gpu-1.15.1-cp311-cp311-linux_aarch64.whl
+    && pip3 install --no-deps /tmp/onnxruntime_gpu-1.19.0-cp311-cp311-linux_aarch64.whl
 
 FROM build-wheels AS trt-model-wheels
 ARG DEBIAN_FRONTEND
@@ -67,12 +73,18 @@ RUN --mount=type=bind,source=docker/tensorrt/build_jetson_ffmpeg.sh,target=/deps
 # Frigate w/ TensorRT for NVIDIA Jetson platforms
 FROM tensorrt-base AS frigate-tensorrt
 RUN apt-get update \
-    && apt-get install -y python-is-python3 libprotobuf17  \
+    && apt-get install -y python-is-python3 libprotobuf23  \
     && rm -rf /var/lib/apt/lists/*
 
 RUN rm -rf /usr/lib/btbn-ffmpeg/
 COPY --from=jetson-ffmpeg /rootfs /
 
+# ffmpeg runtime dependencies
+RUN apt-get -qq update \
+    && apt-get -qq install -y --no-install-recommends \
+    libx264-163 libx265-199 libegl1 \
+    && rm -rf /var/lib/apt/lists/*
+
 COPY --from=trt-wheels /etc/TENSORRT_VER /etc/TENSORRT_VER
 RUN --mount=type=bind,from=trt-wheels,source=/trt-wheels,target=/deps/trt-wheels \
     --mount=type=bind,from=trt-model-wheels,source=/trt-model-wheels,target=/deps/trt-model-wheels \
@@ -81,3 +93,6 @@ RUN --mount=type=bind,from=trt-wheels,source=/trt-wheels,target=/deps/trt-wheels
 
 WORKDIR /opt/frigate/
 COPY --from=rootfs / /
+
+# Fixes "Error importing detector runtime: /usr/lib/aarch64-linux-gnu/libstdc++.so.6: cannot allocate memory in static TLS block"
+ENV LD_PRELOAD /usr/lib/aarch64-linux-gnu/libstdc++.so.6

docker/tensorrt/build_jetson_ffmpeg.sh

@@ -14,14 +14,27 @@ apt-get -qq install -y --no-install-recommends libx264-dev libx265-dev
 pushd /tmp
 
 # Install libnvmpi to enable nvmpi decoders (h264_nvmpi, hevc_nvmpi)
-if [ -e /usr/local/cuda-10.2 ]; then
+if [ -e /usr/local/cuda-12 ]; then
+    # assume Jetpack 6.2
+    apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc
+    echo "deb https://repo.download.nvidia.com/jetson/common r36.4 main" >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list
+    echo "deb https://repo.download.nvidia.com/jetson/t234 r36.4 main" >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list
+    echo "deb https://repo.download.nvidia.com/jetson/ffmpeg r36.4 main" >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list
+
+    mkdir -p /opt/nvidia/l4t-packages/
+    touch /opt/nvidia/l4t-packages/.nv-l4t-disable-boot-fw-update-in-preinstall
+
+    apt-get update
+    apt-get -qq install -y --no-install-recommends -o Dpkg::Options::="--force-confold" nvidia-l4t-jetson-multimedia-api
+elif [ -e /usr/local/cuda-10.2 ]; then
     # assume Jetpack 4.X
     wget -q https://developer.nvidia.com/embedded/L4T/r32_Release_v5.0/T186/Jetson_Multimedia_API_R32.5.0_aarch64.tbz2 -O jetson_multimedia_api.tbz2
+    tar xaf jetson_multimedia_api.tbz2 -C / && rm jetson_multimedia_api.tbz2
 else
     # assume Jetpack 5.X
     wget -q https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v3.1/release/jetson_multimedia_api_r35.3.1_aarch64.tbz2 -O jetson_multimedia_api.tbz2
+    tar xaf jetson_multimedia_api.tbz2 -C / && rm jetson_multimedia_api.tbz2
 fi
-tar xaf jetson_multimedia_api.tbz2 -C / && rm jetson_multimedia_api.tbz2
 
 wget -q https://github.com/AndBobsYourUncle/jetson-ffmpeg/archive/9c17b09.zip -O jetson-ffmpeg.zip
 unzip jetson-ffmpeg.zip && rm jetson-ffmpeg.zip && mv jetson-ffmpeg-* jetson-ffmpeg && cd jetson-ffmpeg

docker/tensorrt/detector/build_python_tensorrt.sh

@@ -6,23 +6,23 @@ mkdir -p /trt-wheels
 
 if [[ "${TARGETARCH}" == "arm64" ]]; then
 
-  # NVIDIA supplies python-tensorrt for python3.8, but frigate uses python3.9,
+  # NVIDIA supplies python-tensorrt for python3.10, but frigate uses python3.11,
   # so we must build python-tensorrt ourselves.
 
   # Get python-tensorrt source
-  mkdir /workspace
+  mkdir -p /workspace
   cd /workspace
-  git clone -b ${TENSORRT_VER} https://github.com/NVIDIA/TensorRT.git --depth=1
+  git clone -b release/8.6 https://github.com/NVIDIA/TensorRT.git --depth=1
 
   # Collect dependencies
   EXT_PATH=/workspace/external && mkdir -p $EXT_PATH
-  pip3 install pybind11 && ln -s /usr/local/lib/python3.9/dist-packages/pybind11 $EXT_PATH/pybind11
-  ln -s /usr/include/python3.9 $EXT_PATH/python3.9
+  pip3 install pybind11 && ln -s /usr/local/lib/python3.11/dist-packages/pybind11 $EXT_PATH/pybind11
+  ln -s /usr/include/python3.11 $EXT_PATH/python3.11
   ln -s /usr/include/aarch64-linux-gnu/NvOnnxParser.h /workspace/TensorRT/parsers/onnx/
 
   # Build wheel
   cd /workspace/TensorRT/python
-  EXT_PATH=$EXT_PATH PYTHON_MAJOR_VERSION=3 PYTHON_MINOR_VERSION=9 TARGET_ARCHITECTURE=aarch64 /bin/bash ./build.sh
-  mv build/dist/*.whl /trt-wheels/
+  EXT_PATH=$EXT_PATH PYTHON_MAJOR_VERSION=3 PYTHON_MINOR_VERSION=11 TARGET_ARCHITECTURE=aarch64 TENSORRT_MODULE=tensorrt /bin/bash ./build.sh
+  mv build/bindings_wheel/dist/*.whl /trt-wheels/
 
 fi

docker/tensorrt/requirements-arm64.txt

@@ -1 +1 @@
-cuda-python == 11.7; platform_machine == 'aarch64'
+cuda-python == 12.6.*; platform_machine == 'aarch64'

docker/tensorrt/trt.hcl

@@ -13,13 +13,24 @@ variable "TRT_BASE" {
 variable "COMPUTE_LEVEL" {
   default = ""
 }
+variable "BASE_HOOK" {
+  # Ensure an up-to-date python 3.11 is available in tensorrt/jetson image
+  default = <<EOT
+if grep -iq \"ubuntu\" /etc/os-release; then
+  apt-get update &&
+  apt-get install -y software-properties-common &&
+  add-apt-repository ppa:deadsnakes/ppa;
+fi
+EOT
+}
 
 target "_build_args" {
   args = {
     BASE_IMAGE = BASE_IMAGE,
     SLIM_BASE = SLIM_BASE,
     TRT_BASE = TRT_BASE,
-    COMPUTE_LEVEL = COMPUTE_LEVEL
+    COMPUTE_LEVEL = COMPUTE_LEVEL,
+    BASE_HOOK = BASE_HOOK
   }
   platforms = ["linux/${ARCH}"]
 }

docker/tensorrt/trt.mk

@@ -2,9 +2,11 @@ BOARDS += trt
 
 JETPACK4_BASE ?= timongentzsch/l4t-ubuntu20-opencv:latest	# L4T 32.7.1 JetPack 4.6.1
 JETPACK5_BASE ?= nvcr.io/nvidia/l4t-tensorrt:r8.5.2-runtime	# L4T 35.3.1 JetPack 5.1.1
+JETPACK6_BASE ?= nvcr.io/nvidia/tensorrt:23.12-py3-igpu
 X86_DGPU_ARGS := ARCH=amd64 COMPUTE_LEVEL="50 60 70 80 90"
 JETPACK4_ARGS := ARCH=arm64 BASE_IMAGE=$(JETPACK4_BASE) SLIM_BASE=$(JETPACK4_BASE) TRT_BASE=$(JETPACK4_BASE)
 JETPACK5_ARGS := ARCH=arm64 BASE_IMAGE=$(JETPACK5_BASE) SLIM_BASE=$(JETPACK5_BASE) TRT_BASE=$(JETPACK5_BASE)
+JETPACK6_ARGS := ARCH=arm64 BASE_IMAGE=$(JETPACK6_BASE) SLIM_BASE=$(JETPACK6_BASE) TRT_BASE=$(JETPACK6_BASE)
 
 local-trt: version
 	$(X86_DGPU_ARGS) docker buildx bake --file=docker/tensorrt/trt.hcl tensorrt \
@@ -21,6 +23,11 @@ local-trt-jp5: version
 		--set tensorrt.tags=frigate:latest-tensorrt-jp5 \
 		--load
 
+local-trt-jp6: version
+	$(JETPACK6_ARGS) docker buildx bake --file=docker/tensorrt/trt.hcl tensorrt \
+		--set tensorrt.tags=frigate:latest-tensorrt-jp6 \
+		--load
+
 build-trt:
 	$(X86_DGPU_ARGS) docker buildx bake --file=docker/tensorrt/trt.hcl tensorrt \
 		--set tensorrt.tags=$(IMAGE_REPO):${GITHUB_REF_NAME}-$(COMMIT_HASH)-tensorrt
@@ -28,6 +35,8 @@ build-trt:
 		--set tensorrt.tags=$(IMAGE_REPO):${GITHUB_REF_NAME}-$(COMMIT_HASH)-tensorrt-jp4
 	$(JETPACK5_ARGS) docker buildx bake --file=docker/tensorrt/trt.hcl tensorrt \
 		--set tensorrt.tags=$(IMAGE_REPO):${GITHUB_REF_NAME}-$(COMMIT_HASH)-tensorrt-jp5
+	$(JETPACK6_ARGS) docker buildx bake --file=docker/tensorrt/trt.hcl tensorrt \
+		--set tensorrt.tags=$(IMAGE_REPO):${GITHUB_REF_NAME}-$(COMMIT_HASH)-tensorrt-jp6
 
 push-trt: build-trt
 	$(X86_DGPU_ARGS) docker buildx bake --file=docker/tensorrt/trt.hcl tensorrt \
@@ -39,3 +48,6 @@ push-trt: build-trt
 	$(JETPACK5_ARGS) docker buildx bake --file=docker/tensorrt/trt.hcl tensorrt \
 		--set tensorrt.tags=$(IMAGE_REPO):${GITHUB_REF_NAME}-$(COMMIT_HASH)-tensorrt-jp5 \
 		--push
+	$(JETPACK6_ARGS) docker buildx bake --file=docker/tensorrt/trt.hcl tensorrt \
+		--set tensorrt.tags=$(IMAGE_REPO):${GITHUB_REF_NAME}-$(COMMIT_HASH)-tensorrt-jp6 \
+		--push