cuda_check builds and works

docker/Dockerfile.arm

@@ -0,0 +1,133 @@
+FROM arm64/ubuntu:22.04
+
+ARG USERNAME=tuas USER_UID=1000 USER_GID=1000 DEBIAN_FRONTEND=noninteractive
+
+# Needed to spawn up a GUI in headless mode for matplotplus to work
+ENV QT_QPA_PLATFORM="vnc"
+
+# Create a non-root user
+RUN groupadd -f --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME
+# exit 0 ensures that it won't prematurely stop if for some reason the user already exists
+
+# https://gist.github.com/SSARCandy/fc960d8905330ac695e71e3f3807ce3d
+# OpenCV dependencies from above
+RUN --mount=target=/var/lib/apt/lists,type=cache,sharing=locked \
+    --mount=target=/var/cache/apt,type=cache,sharing=locked \
+    rm -f /etc/apt/apt.conf.d/docker-clean \ 
+    && apt-get update \
+    && apt-get upgrade -y \
+    && apt-get install -y build-essential \
+                           software-properties-common \
+                           sudo \
+                           gdb \
+                           git \
+                           wget \
+                           ccache \
+                           vim \
+                           curl \
+                           unzip \
+                           protobuf-compiler \
+                           libopencv-dev \
+                           # Need these to install Python 3.11 from pyenv
+                           python3-pip \
+                           libssl-dev \
+                           zlib1g-dev \
+                           libbz2-dev \
+                           libreadline-dev \
+                           libsqlite3-dev \
+                           libncursesw5-dev \
+                           xz-utils \
+                           tk-dev \
+                        #    libxm12-dev \
+                           libxmlsec1-dev \
+                           libffi-dev \
+                           liblzma-dev \
+                           # needed for matplotplus
+                           gnuplot \ 
+                           # imagemagick with c++ dependency
+                           graphicsmagick-libmagick-dev-compat 
+
+RUN apt-add-repository universe
+RUN apt-get install -y cpplint
+
+# Update Python to 3.11 so that libtorch can be properly built from source
+ENV PYENV_ROOT="/.pyenv"
+RUN curl https://pyenv.run | bash
+ENV PATH="${PATH}:${PYENV_ROOT}/bin"
+RUN eval "$(pyenv init -)"
+RUN pyenv install 3.11
+RUN pyenv global 3.11
+RUN pip3 install typing-extensions PyYAML
+
+RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Download latest CMake from their repositories
+RUN --mount=target=/var/lib/apt/lists,type=cache,sharing=locked \
+    --mount=target=/var/cache/apt,type=cache,sharing=locked \
+    rm -f /etc/apt/apt.conf.d/docker-clean \ 
+    && apt-get update \
+    && wget https://github.com/Kitware/CMake/releases/download/v3.27.7/cmake-3.27.7-linux-x86_64.sh \
+      -q -O /tmp/cmake-install.sh \
+      && chmod u+x /tmp/cmake-install.sh \
+      && mkdir /opt/cmake-3.24.1 \
+      && /tmp/cmake-install.sh --skip-license --prefix=/opt/cmake-3.24.1 \
+      && rm /tmp/cmake-install.sh \
+      && ln -s /opt/cmake-3.24.1/bin/* /usr/local/bin
+
+# install prebuilt MAVSDK to system
+# https://github.com/mavlink/MAVSDK/releases
+ARG MAVSDK_VERSION=1.4.17
+ARG MAVSDK_DEB=libmavsdk-dev_${MAVSDK_VERSION}_debian11_arm64.deb
+RUN wget https://github.com/mavlink/MAVSDK/releases/download/v${MAVSDK_VERSION}/${MAVSDK_DEB} \
+    && dpkg -i ${MAVSDK_DEB} \
+    && rm ${MAVSDK_DEB}
+
+# the official docs say also these
+# https://docs.opencv.org/4.x/d7/d9f/tutorial_linux_install.html
+# cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
+# python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
+
+# pull pre-built libtorch
+ARG LIBTORCH_VERSION=2.1.0
+ARG LIBTORCH_INSTALL_DIR=/libtorch-tmp
+WORKDIR ${LIBTORCH_INSTALL_DIR}
+RUN git clone -b main --recurse-submodule https://github.com/pytorch/pytorch.git
+RUN mkdir pytorch-build
+RUN cd pytorch-build
+RUN cmake -D_GLIBCXX_USE_CXX11_ABI=1 -DBUILD_SHARED_LIBS:BOOL=ON -DCMAKE_BUILD_TYPE:STRING=Release -DPYTHON_EXECUTABLE:PATH=`which python3` -DCMAKE_PREFIX_PATH=../pytorch-install ${LIBTORCH_INSTALL_DIR}/pytorch
+RUN cmake --build . --target install
+
+# RUN wget "https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-${LIBTORCH_VERSION}%2Bcpu.zip" \
+#     && unzip "libtorch-cxx11-abi-shared-with-deps-${LIBTORCH_VERSION}+cpu.zip"
+# needed to build torchvision below and to build targets that use libtorch inside the container
+ENV CMAKE_PREFIX_PATH="${LIBTORCH_INSTALL_DIR}/libtorch"
+
+# pull and build torchvision
+# refer to this page for version compatibilty with pytorch (libtorch) https://github.com/pytorch/pytorch/wiki/PyTorch-Versions
+ARG TORCHVISION_VERSION=0.16.0
+ARG TORCHVISION_INSTALL_DIR=/torchvision-tmp
+WORKDIR ${TORCHVISION_INSTALL_DIR} 
+RUN wget "https://github.com/pytorch/vision/archive/refs/tags/v${TORCHVISION_VERSION}.zip" \
+    && unzip "v${TORCHVISION_VERSION}.zip" \
+    && mkdir -p "${TORCHVISION_INSTALL_DIR}/vision-${TORCHVISION_VERSION}/build" \
+    && cd "${TORCHVISION_INSTALL_DIR}/vision-${TORCHVISION_VERSION}/build" \
+    && cmake -DWITH_CUDA=off -D_GLIBCXX_USE_CXX11_ABI=1 -DCMAKE_BUILD_TYPE=Release .. \
+    && make -j2 \
+    && make install
+
+WORKDIR /obcpp
+COPY . .
+
+RUN rm -rf /obcpp/build
+WORKDIR /obcpp/build
+ENV CMAKE_PREFIX_PATH="/usr/local/lib/python3.8/dist-packages/torch/share/cmake/Torch;/usr/local/share/cmake/TorchVision"
+RUN GITHUB_ACTIONS=true cmake -DCMAKE_PREFIX_PATH="/usr/local/lib/python3.8/dist-packages/torch/share/cmake/Torch;/usr/local/share/cmake/TorchVision" -DCMAKE_MODULE_PATH="/usr/local/share/cmake/TorchVision" -DCMAKE_BUILD_TYPE="Debug" ..
+
+RUN make cuda_check VERBOSE=1
+
+# login as non-root user
+# USER $USERNAME
+
+CMD [ "/obcpp/build/bin/obcpp" ]

docker/Dockerfile.nvidia

@@ -50,8 +50,8 @@ RUN --mount=target=/var/lib/apt/lists,type=cache,sharing=locked \
                            # needed for matplotplus
                            gnuplot \ 
                            # imagemagick with c++ dependency
-                           #graphicsmagick-libmagick-dev-compat \
-			   libmagick++-dev \
+                           #graphicsmagick-libmagick-dev-compat libgraphicsmagick++1-dev libmagick++-6-headers \
+                           libmagick++-dev \
 			   # needed for pytorch 
 			   libopenblas-dev
 
@@ -119,38 +119,49 @@ ARG JETPACK_VERSION=512
 # RUN wget "https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-${LIBTORCH_VERSION}%2Bcpu.zip" \
 #     && unzip "libtorch-cxx11-abi-shared-with-deps-${LIBTORCH_VERSION}+cpu.zip"
 # needed to build torchvision below and to build targets that use libtorch inside the container
-ENV CMAKE_PREFIX_PATH="${LIBTORCH_INSTALL_DIR}/libtorch"
+#ENV CMAKE_PREFIX_PATH="${LIBTORCH_INSTALL_DIR}/libtorch"
 
 # pull and build torchvision
 # refer to this page for version compatibilty with pytorch (libtorch) https://github.com/pytorch/pytorch/wiki/PyTorch-Versions
 ARG TORCHVISION_VERSION=0.16.0
-ARG TORCHVISION_INSTALL_DIR=/torchvision-tmp
+#ARG TORCHVISION_INSTALL_DIR=/torchvision-tmp
 WORKDIR ${TORCHVISION_INSTALL_DIR} 
 RUN wget "https://github.com/pytorch/vision/archive/refs/tags/v${TORCHVISION_VERSION}.zip" \
     && unzip "v${TORCHVISION_VERSION}.zip" \
-    #&& python setup.py install
-    && mkdir -p "${TORCHVISION_INSTALL_DIR}/vision-${TORCHVISION_VERSION}/build" \
-    && cd "${TORCHVISION_INSTALL_DIR}/vision-${TORCHVISION_VERSION}/build" \
-    && cmake -DWITH_CUDA=off -D_GLIBCXX_USE_CXX11_ABI=1 -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH="/usr/local/lib/python3.8/dist-packages/torch/share/cmake/Torch" .. \
+    && cd vision-0.16.0 \
+    && mkdir build \
+    && cd build \
+    && cmake -DWITH_CUDA=1 -DCUDA_HAS_FP16=1 -DCUDA_NO_HALF_OPERATORS=1 -DCUDA_NO_HALF_CONVERSIONS=1 -DCUDA_NO_HALF2_OPERATORS=1 -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH="/usr/local/lib/python3.8/dist-packages/torch/share/cmake/Torch" .. \
     && make -j2 \
     && make install
 
-WORKDIR /obcpp
-COPY . .
+    #&& WITH_CUDA=1 python3 setup.py install
+
+    #&& mkdir -p "${TORCHVISION_INSTALL_DIR}/vision-${TORCHVISION_VERSION}/build" \
+    #&& cd "${TORCHVISION_INSTALL_DIR}/vision-${TORCHVISION_VERSION}/build" \
+    #&& cmake -DWITH_CUDA=1 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__=1 -D__CUDA_NO_HALF_CONVERSIONS__=1 -D__CUDA_NO_HALF2_OPERATORS__=1 -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH="/usr/local/lib/python3.8/dist-packages/torch/share/cmake/Torch" .. \
+    #&& make -j2 \
+    #&& make install
 
 # Install g++10 and replace the older version. For some reason some c++ 20 features aren't working with g++9 even though
 # we have CMake configured to use c++ 20 https://stackoverflow.com/questions/69037873/why-am-i-missing-c20-headers-and-how-do-i-fix-this
-RUN apt-get update && apt-get install -y g++-10
+RUN apt-get update && apt-get install -y g++-10 gcc-10
+RUN update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-10 10
 RUN update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-10 10
+RUN update-alternatives --set gcc /usr/bin/gcc-10
+RUN update-alternatives --set g++ /usr/bin/g++-10
 
+WORKDIR /obcpp
+COPY . .
+
+RUN rm -rf /obcpp/build
 WORKDIR /obcpp/build
-RUN GITHUB_ACTIONS=true cmake -DCMAKE_PREFIX_PATH="/usr/local/lib/python3.8/dist-packages/torch/share/cmake/Torch" ..
-RUN make VERBOSE=1
+ENV CMAKE_PREFIX_PATH="/usr/local/lib/python3.8/dist-packages/torch/share/cmake/Torch;/usr/local/share/cmake/TorchVision"
+RUN GITHUB_ACTIONS=true cmake -DCMAKE_PREFIX_PATH="/usr/local/lib/python3.8/dist-packages/torch/share/cmake/Torch;/usr/local/share/cmake/TorchVision" -DCMAKE_MODULE_PATH="/usr/local/share/cmake/TorchVision" -DCMAKE_BUILD_TYPE="Debug" ..
 
-# login as non-root user
-USER $USERNAME
+RUN make load_torchvision_model VERBOSE=1
 
-#RUN pip3 install cpplint
-#ENV PATH="${PATH}:~/.local/bin/"
+# login as non-root user
+# USER $USERNAME
 
 CMD [ "/obcpp/build/bin/obcpp" ]

docker/Makefile

@@ -4,3 +4,9 @@ all:
 
 build-jetson-image:
 	DOCKER_BUILDKIT=1 docker build --tag tritonuas/obcpp:nvidia --file Dockerfile.nvidia ..
+
+build-arm-image:
+	DOCKER_BUILDKIT=1 docker build --tag tritonuas/obcpp:arm --file Dockerfile.arm ..
+
+run-jetson-cuda-check:
+	docker run -it --rm --runtime nvidia -i tritonuas/obcpp:nvidia /obcpp/build/bin/cuda_check

tests/integration/cuda_check.cpp

@@ -1,3 +1,5 @@
+#include <torch/torch.h>
 
 int main() {
+	std::cout << "Have CUDA? " << torch::cuda::is_available() << std::endl;
 }

tests/integration/load_torchvision_model.cpp

@@ -21,6 +21,11 @@ int main (int argc, char *argv[]) {
         return 1;
     }
 
+    if (torch::cuda::is_available()) {
+	    module.to(torch::kCUDA);
+	    std::cout << "successfully moved model to GPU (CUDA)" << std::endl;
+    }
+
     std::cout << "loaded model without crashing" << std::endl;
     return 0;
-}
+}