cross compile

CMakeLists.txt

@@ -1,4 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
+
 project(BOS CXX C CUDA)
 
 set(CMAKE_CXX_STANDARD 20)
@@ -10,19 +11,17 @@ set(CMAKE_CUDA_STANDARD_REQUIRED ON)
 set(CMAKE_CUDA_ARCHITECTURES 87)
 set(CMAKE_CUDA20_STANDARD_COMPILE_OPTION "-std=c++20")
 set(CMAKE_CUDA20_EXTENSION_COMPILE_OPTION "-std=c++20")
-set(CMAKE_CUDA_FLAGS "--expt-relaxed-constexpr")
+set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} --expt-relaxed-constexpr")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++20")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
 
 option(ENABLE_CLANG_TIDY "Enable clang-tidy for static analysis" ON)
 
-include_directories(/usr/local/cuda/include)
-link_directories(/usr/local/cuda/lib64)
-
 find_package(wpilib REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(vpi REQUIRED)
+find_package(CUDAToolkit REQUIRED)
 
 add_subdirectory(third_party/json)
 add_subdirectory(third_party/971apriltag)

scripts/build.sh

@@ -26,5 +26,11 @@ if [ "$(pwd)" != "/bos" ]; then
   cp -r constants /bos
 fi
 git submodule update --init --progress --depth 1
-cmake -DENABLE_CLANG_TIDY=OFF -DCMAKE_BUILD_TYPE=Release -B "$BUILD_DIR" -G Ninja .
+ARCH=$(uname -m)
+echo "$ARCH"
+if [[ "$ARCH" == "x86_64" ]]; then
+	cmake -DENABLE_CLANG_TIDY=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=toolchain.cmake -B "$BUILD_DIR" -G Ninja .
+else
+	cmake -DENABLE_CLANG_TIDY=OFF -DCMAKE_BUILD_TYPE=Release -B "$BUILD_DIR" -G Ninja .
+fi
 cmake --build "$BUILD_DIR"

src/CMakeLists.txt

@@ -18,19 +18,7 @@ add_subdirectory(gamepiece)
 add_subdirectory(localization)
 add_subdirectory(calibration)
 add_subdirectory(yolo)
-add_subdirectory(test)
 add_subdirectory(pathing)
-
-add_executable(main_bot_main main_bot_main.cc)
-target_link_libraries(main_bot_main PRIVATE camera localization utils)
-
-add_executable(second_bot_main second_bot_main.cc)
-target_link_libraries(second_bot_main PRIVATE camera localization utils)
-
-add_executable(unambiguous_second unambiguous_second.cc)
-target_link_libraries(unambiguous_second PRIVATE ${OpenCV_LIBS} apriltag ntcore camera nlohmann_json::nlohmann_json Eigen3::Eigen localization utils)
-
-add_executable(unambiguous_first unambiguous_first.cc)
-target_link_libraries(unambiguous_first PRIVATE ${OpenCV_LIBS} apriltag ntcore camera nlohmann_json::nlohmann_json Eigen3::Eigen localization utils)
+add_subdirectory(test)
 
 set(CMAKE_CXX_CLANG_TIDY "")

src/localization/CMakeLists.txt

@@ -1,4 +1,4 @@
 cmake_minimum_required(VERSION 3.10)
 
 add_library(localization gpu_apriltag_detector.cc opencv_apriltag_detector.cc run_localization.cc nvidia_apriltag_detector.cc square_solver.cc joint_solver.cc multi_tag_solver.cc position_receiver.cc unambiguous_estimator.cc simulation_sender.cc networktable_sender.cc)
-target_link_libraries(localization PUBLIC 971apriltag utils camera wpilibc wpiutil vpi absl::status)
+target_link_libraries(localization PUBLIC 971apriltag utils camera wpilibc wpiutil absl::status)

src/localization/gpu_apriltag_detector.cc

@@ -55,7 +55,7 @@ auto GPUAprilTagDetector::GetTagDetections(
   try {
     CHECK(timestamped_frame.frame.channels() == 3);
     cv::Mat gray;
-    cv::cvtColor(timestamped_frame.frame, gray, cv::COLOR_BGR2YUV_YUY2);
+    cv::cvtColor(timestamped_frame.frame, gray, cv::COLOR_BGR2YUV_YUYV);
     cv::Mat mat_ = ToMat(gray);
     absl::Status detection_status = gpu_detector_->Detect(mat_.data, nullptr);
     if (!detection_status.ok()) {

src/test/integration_test/CMakeLists.txt

@@ -4,9 +4,6 @@ target_link_libraries(apriltag_detect_test PRIVATE cscore camera localization ut
 add_executable(intrinsics_test intrinsics_test.cc)
 target_link_libraries(intrinsics_test PRIVATE camera utils)
 
-add_executable(yolo_test yolo_test.cc)
-target_link_libraries(yolo_test PRIVATE camera yolo utils)
-
 add_executable(path_plan_test path_plan_test.cc)
 target_link_libraries(path_plan_test PRIVATE utils)
 
@@ -27,3 +24,7 @@ target_link_libraries(networktable_performance_test PRIVATE utils localization)
 
 add_executable(pva_test pva_test.cc)
 target_link_libraries(pva_test PRIVATE utils localization vpi)
+
+find_package(CUDAToolkit REQUIRED)
+add_executable(yolo_test yolo_test.cc)
+target_link_libraries(yolo_test PRIVATE camera yolo utils CUDA::cudart)

src/test/unit_test/CMakeLists.txt

@@ -13,8 +13,6 @@ add_executable(general_solver_test  general_solver_test.cc)
 target_link_libraries(general_solver_test PRIVATE localization utils GTest::gtest_main)
 
 add_executable(matrix  matrix.cc)
-target_link_libraries(matrix PRIVATE localization utils GTest::gtest_main)
+target_link_libraries(matrix PRIVATE localization utils GTest::gtest_main CUDA::cudart)
 
 include(GoogleTest)
-gtest_discover_tests(multi_tag_test)
-gtest_discover_tests(square_solve_test)

src/utils/CMakeLists.txt

@@ -1,5 +1,5 @@
 add_library(utils timer.cc nt_utils.cc camera_utils.cc log.cc constants_from_json.cc transform.cc) 
-target_link_libraries(utils PUBLIC wpilibc nlohmann_json::nlohmann_json absl::log absl::check absl::flags absl::flags_parse apriltag ntcore vpi)
+target_link_libraries(utils PUBLIC wpilibc nlohmann_json::nlohmann_json absl::log absl::check absl::flags absl::flags_parse apriltag ntcore)
 
 if(!ENABLE_CLANG_TIDY)
   target_precompile_headers(utils PUBLIC pch.h)

src/yolo/CMakeLists.txt

@@ -1,2 +1,4 @@
+find_package(CUDAToolkit REQUIRED)
 add_library(yolo yolo.cc)
-target_link_libraries(yolo PRIVATE nvinfer nvinfer_plugin cudart utils)
+target_link_libraries(yolo PRIVATE nvinfer nvinfer_plugin CUDA::cudart utils)
+

src/yolo/yolo.cc

@@ -4,13 +4,14 @@
 #include <cmath>
 #include <iomanip>
 #include <iostream>
-#include <opencv2/core/cuda.hpp>
-#include <opencv2/cudaarithm.hpp>
 #include <opencv2/opencv.hpp>
 #include <ostream>
 #include <vector>
-#include "opencv2/cudawarping.hpp"
 #include "src/utils/pch.h"
+#include <opencv2/core/cuda.hpp>
+#include <opencv2/cudaimgproc.hpp>
+#include <opencv2/cudawarping.hpp>
+#include <opencv2/cudaarithm.hpp>
 
 namespace yolo {
 auto loadEngineFile(const std::string& filename) -> std::vector<char> {

third_party/971apriltag/CMakeLists.txt

@@ -1,11 +1,6 @@
 cmake_minimum_required(VERSION 3.10)
 
-include_directories(. /usr/local/cuda/include ${OpenCV_INCLUDE_DIRS})
-add_compile_options(-march=armv8-a+simd)
-
-find_package(wpilib REQUIRED)
-enable_language(CUDA)
-
+include_directories(. ${OpenCV_INCLUDE_DIRS})
 
 add_library(971apriltag_dep)
 target_sources(971apriltag_dep
@@ -15,12 +10,11 @@ target_sources(971apriltag_dep
 set_target_properties(971apriltag_dep PROPERTIES LINKER_LANGUAGE C)
 
 add_library(971apriltag_cuda_dep cuda.cc)
-target_link_libraries(971apriltag_cuda_dep PUBLIC apriltag absl::log absl::check 971apriltag_dep cudart)
+target_link_libraries(971apriltag_cuda_dep PUBLIC apriltag absl::log absl::check 971apriltag_dep)
 set_source_files_properties(threshold.cc PROPERTIES LANGUAGE CUDA)
 
-
 add_library(971apriltag_threshold_dep threshold.cc fatal_neon_threshold.cc)
-target_link_libraries(971apriltag_threshold_dep PUBLIC apriltag absl::log absl::check 971apriltag_dep)
+target_link_libraries(971apriltag_threshold_dep PUBLIC absl::log absl::check 971apriltag_dep)
 
 add_library(971apriltag 
   apriltag.cc
@@ -30,9 +24,13 @@ add_library(971apriltag
   points.cc
 )
 
-target_link_libraries(971apriltag PUBLIC apriltag 971apriltag_cuda_dep 971apriltag_threshold_dep absl::log absl::check absl::status 971apriltag_dep)
+target_link_libraries(971apriltag PUBLIC apriltag 971apriltag_cuda_dep 971apriltag_threshold_dep absl::log absl::check absl::status 971apriltag_dep CUDA::cudart CUDA::cudart_static)
 set_source_files_properties(labeling_allegretti_2019_BKE.cc apriltag_detect.cc apriltag.cc line_fit_filter.cc points.cc PROPERTIES LANGUAGE CUDA)
 
+add_executable(test test.cc)
+target_link_libraries(test PRIVATE CUDA::cudart)
+set_source_files_properties(test.cc PROPERTIES LANGUAGE CUDA)
+
 target_compile_options(971apriltag PRIVATE -w)
 target_compile_options(971apriltag_dep PRIVATE -w)
 target_compile_options(971apriltag_threshold_dep PRIVATE -w)