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The goal of this library is to provide an accessible and robust method for performing efficient, real-time object detection with YOLOv5 using NVIDIA TensorRT. The library was developed with real-world deployment and robustness in mind. Moreover, the library is extensively documented and comes with various guided examples.

platform api license


  • C++ and Python API
  • FP32 and FP16 inference
  • Batch inference
  • Support for varying input dimensions
  • ONNX support
  • CUDA-accelerated pre-processing
  • Integration with OpenCV (with optionally also the OpenCV-CUDA module)
  • Modular logging and error reporting
  • Extensive documentation available on all classes, methods and functions


  • Modern Linux distros
  • NVIDIA L4T (Jetson platform)
  • TensorRT >=8 (including libnvonnxparsers-dev)
  • CUDA >= 10.2
  • OpenCV
  • Pybind11 (optional, for Python API)


Build/Install with Pip (for just Python)

Ensure that at least the TensorRT, CUDA and OpenCV dependencies mentioned above are installed on your system, the rest can be handled by Pip. You can install the library using:

pip3 install .

This will build and install the only the Python API, as well as the example scripts.

Build/Install with CMake (for C++ and Python)

Configure the build with CMake:

mkdir build
cd build

If wish to also build and install the Python API, you can instead set -DBUILD_PYTHON=ON. Next, build and install using

sudo make install

This will build and install all of the example applications, as well as a shared library


Command-line Usage

The library also comes with various tools/demos. If your YOLOv5 model is stored as yolov5.onnx, you can build a TensorRT engine using:

build_engine --model yolov5.onnx --output yolov5.engine

The resulting engine will be stored to disk at yolov5.engine. See build_engine for more information.

After the engine has been stored, you can load it and detect objects as following:

process_image --engine yolov5.engine --input image.png --output result.png

A visualization of the result will be stored to disk at result.png. See process_image for more information.

C++ usage

Include yolov5_builder.hpp in your code. If your YOLOv5 model is stored as yolov5.onnx, you can build the TensorRT engine using three lines of C++ code:

yolov5::Builder builder;
builder.init();"yolov5.onnx", "yolov5.engine");

For detection, include yolov5_detector.hpp in your code. You can detect objects with the following code:

yolov5::Detector detector;

cv::Mat image = cv::imread("image.png");

std::vector<yolov5::Detection> detections;
detector.detect(image, &detections);
Python usage

Import the yolov5tensorrt package in your code. If your YOLOv5 model is stored as yolov5.onnx, you can build the TensorRT engine using three lines of Python code:

builder = yolov5tensorrt.Builder()
builder.init()"yolov5.onnx", "yolov5.engine")

Next, you can detect objects using with the following code:

detector = yolov5tensorrt.Detector()

image = cv2.imread("image.png")

r, detections = detector.detect(image)

Various documented examples can be found in the examples directory.

In order to build a TensorRT engine based on an ONNX model, the following tool/example is available:

  • build_engine (C++/Python): build a TensorRT engine based on your ONNX model

For object detection, the following tools/examples are available:

  • process_image (C++/Python): detect objects in a single image
  • process_live (C++/Python): detect objects live in a video stream (e.g. webcam)
  • process_batch (C++/Python): detect objects in multiple images (batch inference)
Importing the library in your project: CMake

After installing the library, you can include it in your CMake-based project through pkg-config using the following:

find_package(PkgConfig REQUIRED)
pkg_check_modules(YOLOV5_TENSORRT yolov5-tensorrt)


Importing the library in your project: pkg-config

After installing the library, in order to use the library in your own project, you can include and link it in the usual manner through pkg-config. To get the include directories of the library, use:

pkg-config --cflags yolov5-tensorrt

and similarly for linking:

pkg-config --libs yolov5-tensorrt
Additional Resources


This library is developed at VDL RobotSports, an industrial team based in the Netherlands participating in the RoboCup Middle Size League, and currently sees active use on the soccer robots.

RobotSports Demo


If you like this library and would like to cite it, please use the following (LateX):

  author       = {van der Meer, Noah and van Hoof, Charel},
  title        = {{yolov5-tensorrt}: Real-time object detection with {YOLOv5} and {TensorRT}},
  howpublished = {GitHub},
  year         = {2021},
  note         = {\url{}}


Copyright (c) 2021, Noah van der Meer

This software is licenced under the MIT license, which can be found in By using, distributing, or contributing to this project, you agree to the terms and conditions of this license.