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CMake improvements #163

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CMake improvements #163

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b7d5aef
fix
onurbingol Jun 29, 2023
3f9ea12
first update
onurbingol Jun 29, 2023
1fe77b0
move FindCUDA to <project_root>/cmake
onurbingol Jun 29, 2023
f3605c5
update message on FindCUDA.cmake
onurbingol Jun 29, 2023
478ddf3
add FindNVBUF_UTILS module
onurbingol Jun 29, 2023
80682d9
minor cleaning and updates
onurbingol Jun 29, 2023
315c7d7
NVBUF_UTILS find module fixes
onurbingol Jun 29, 2023
8980c8b
imported targets fail to work for some reason
onurbingol Jun 29, 2023
3588cf1
remove some warnings coming from CUDA find module
onurbingol Jun 29, 2023
cc0959b
Update nvbuf_utils find module
onurbingol Jul 5, 2023
2c627ff
find local nvbuf utils correctly
onurbingol Jul 5, 2023
094ee08
update default install path
onurbingol Jul 5, 2023
50f1983
update app cmakelists
onurbingol Jul 5, 2023
7d120a3
install to /usr/local by default
onurbingol Jul 5, 2023
7ece4ce
move numpy find module to common cmake module path
onurbingol Jul 7, 2023
678e417
upgrade minimum cmake to 3.5
onurbingol Jul 7, 2023
dfac497
Add install dir
Aug 5, 2023
f176a0c
FindOpenGL compatibility updates
Aug 5, 2023
b0a6fee
Add uninstall target
Aug 5, 2023
426a000
minor fixes
Aug 5, 2023
d358066
refactor CMakeLists for the python bindings
Aug 5, 2023
a113f1d
Enable python bindings by default
Aug 5, 2023
05598d5
minor clening
Aug 9, 2023
f6d09c3
use python_add_module for python bindings
Aug 9, 2023
2a4081d
update rpath for python bindings
Aug 9, 2023
0f67b67
fix install rpath on apps
Aug 9, 2023
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359 changes: 248 additions & 111 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,136 +1,273 @@
# jetson-utils -- CMakeLists.txt
cmake_minimum_required(VERSION 3.5)

cmake_minimum_required(VERSION 2.8)
# CMP0048: The project() command manages VERSION variables
# @ref https://cmake.org/cmake/help/latest/policy/CMP0048.html
cmake_policy(SET CMP0048 NEW)

# determine if jetson-utils is being built as a submodule inside another repo,
# or if it's being build standalone (if the later, we need to do some configuration)
get_directory_property(hasParent PARENT_DIRECTORY)
# CMP0028: Double colon in target name means ALIAS or IMPORTED target
# @ref https://cmake.org/cmake/help/latest/policy/CMP0028.html
cmake_policy(SET CMP0028 NEW)

if(hasParent)
message("-- jetson-utils: building as submodule, ${hasParent}")
else()
message("-- jetson-utils: building as standalone")

# standalone project
project(jetson-utils)

# -std=gnu++11
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wno-write-strings")

# setup CUDA
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cuda")
find_package(CUDA)
message("-- CUDA version: ${CUDA_VERSION}")

set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -O3)

if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
message("-- CUDA ${CUDA_VERSION} detected (${CMAKE_SYSTEM_PROCESSOR}), enabling SM_53 SM_62")
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_53,code=sm_53 -gencode arch=compute_62,code=sm_62)

if(CUDA_VERSION_MAJOR GREATER 9)
message("-- CUDA ${CUDA_VERSION} detected (${CMAKE_SYSTEM_PROCESSOR}), enabling SM_72")
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_72,code=sm_72)
endif()

if(CUDA_VERSION_MAJOR GREATER 10)
message("-- CUDA ${CUDA_VERSION} detected (${CMAKE_SYSTEM_PROCESSOR}), enabling SM_87")
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_87,code=sm_87)
endif()
endif()

# setup project output paths
set(PROJECT_OUTPUT_DIR ${PROJECT_BINARY_DIR}/${CMAKE_SYSTEM_PROCESSOR})
set(PROJECT_INCLUDE_DIR ${PROJECT_OUTPUT_DIR}/include)

file(MAKE_DIRECTORY ${PROJECT_INCLUDE_DIR})
file(MAKE_DIRECTORY ${PROJECT_OUTPUT_DIR}/bin)

message("-- system arch: ${CMAKE_SYSTEM_PROCESSOR}")
message("-- output path: ${PROJECT_OUTPUT_DIR}")

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_OUTPUT_DIR}/bin)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_OUTPUT_DIR}/lib)
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_OUTPUT_DIR}/lib)

# detect distro version
find_program(LSB_RELEASE_EXEC lsb_release)

execute_process(COMMAND "${LSB_RELEASE_EXEC}" --short --id OUTPUT_VARIABLE LSB_RELEASE_ID OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process(COMMAND "${LSB_RELEASE_EXEC}" --short --release OUTPUT_VARIABLE LSB_RELEASE_VERSION OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process(COMMAND "${LSB_RELEASE_EXEC}" --short --codename OUTPUT_VARIABLE LSB_RELEASE_CODENAME OUTPUT_STRIP_TRAILING_WHITESPACE)

message("-- distro ID: ${LSB_RELEASE_ID}")
message("-- distro version: ${LSB_RELEASE_VERSION}")
message("-- distro codename: ${LSB_RELEASE_CODENAME}")

# build C/C++ interface
include_directories(${PROJECT_INCLUDE_DIR})
#include_directories(/usr/include/gstreamer-1.0 /usr/lib/aarch64-linux-gnu/gstreamer-1.0/include /usr/include/glib-2.0 /usr/include/libxml2 /usr/lib/aarch64-linux-gnu/glib-2.0/include/)

endif()

# option for enabling/disabling NVMM memory in multimedia stack
find_library(NVBUF_UTILS NAMES nvbuf_utils PATHS /usr/lib/aarch64-linux-gnu/tegra)
message("-- nvbuf_utils: ${NVBUF_UTILS}")

if(NVBUF_UTILS)
set(ENABLE_NVMM_DEFAULT ON)
# Set name of the project
# @ref https://cmake.org/cmake/help/latest/command/project.html
project(jetson-utils LANGUAGES CXX VERSION 1.0.0)

# Include "GNUInstallDirs" module which defines GNU standard installation directories
# @ref https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html
include(GNUInstallDirs)

# Include "CMakePackageConfigHelpers" module which creates package config files for "find_package" command
# @ref https://cmake.org/cmake/help/latest/module/CMakePackageConfigHelpers.html
include(CMakePackageConfigHelpers)

# Include "CheckCXXCompilerFlag" module which checks if the CXX compiler supports a given flag
# @ref https://cmake.org/cmake/help/latest/module/CheckCXXCompilerFlag.html
include(CheckCXXCompilerFlag)

# Disable "ISO C++ forbids converting a string constant to ‘char*’" warnings
# @ref https://stackoverflow.com/a/67299165
check_cxx_compiler_flag(-Wwrite-strings HAVE_WRITE_STRINGS)

# Define PROJECT_IS_TOP_LEVEL variable if necessary
# @ref https://www.scivision.dev/cmake-project-is-top-level/
if(CMAKE_VERSION VERSION_LESS 3.21)
get_property(not_top DIRECTORY PROPERTY PARENT_DIRECTORY)
if(NOT not_top)
set(PROJECT_IS_TOP_LEVEL true)
endif()
endif()

# Set CMake module path
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/cmake)

# Set install directory
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX /usr/local)
endif()
message(STATUS "jetson-utils: install directory ${CMAKE_INSTALL_PREFIX}")

# Detect distro version
find_program(LSB_RELEASE_EXEC lsb_release /usr/bin)

if(NOT DEFINED LSB_RELEASE_EXEC)
message(FATAL_ERROR "-- jetson-utils: Cannot find 'lsb_release' executable. Please install it via 'apt install lsb_release'.")
endif()

execute_process(COMMAND "${LSB_RELEASE_EXEC}" --short --id OUTPUT_VARIABLE LSB_RELEASE_ID OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process(COMMAND "${LSB_RELEASE_EXEC}" --short --release OUTPUT_VARIABLE LSB_RELEASE_VERSION OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process(COMMAND "${LSB_RELEASE_EXEC}" --short --codename OUTPUT_VARIABLE LSB_RELEASE_CODENAME OUTPUT_STRIP_TRAILING_WHITESPACE)

message(STATUS "jetson-utils: distro ID ${LSB_RELEASE_ID}")
message(STATUS "jetson-utils: distro version ${LSB_RELEASE_VERSION}")
message(STATUS "jetson-utils: distro codename ${LSB_RELEASE_CODENAME}")

# Use C++11 standard if no standard defined
if(NOT DEFINED CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
endif()
message(STATUS "jetson-utils: using C++ standard ${CMAKE_CXX_STANDARD}")

# CMP0072: FindOpenGL prefers GLVND by default when available
# @ref https://cmake.org/cmake/help/latest/policy/CMP0072.html
if(POLICY CMP0072)
# TODO: test it with "NEW"
cmake_policy(SET CMP0072 OLD)
endif()

# Setup CUDA
find_package(CUDA)
message(STATUS "jetson-utils: CUDA version ${CUDA_VERSION}")

set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -O3)

if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
message(STATUS "jetson-utils: CUDA ${CUDA_VERSION} detected (${CMAKE_SYSTEM_PROCESSOR}), enabling SM_53 SM_62")
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_53,code=sm_53 -gencode arch=compute_62,code=sm_62)

if(CUDA_VERSION_MAJOR GREATER 9)
message(STATUS "jetson-utils: CUDA ${CUDA_VERSION} detected (${CMAKE_SYSTEM_PROCESSOR}), enabling SM_72")
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_72,code=sm_72)
endif()

if(CUDA_VERSION_MAJOR GREATER 10)
message(STATUS "jetson-utils: CUDA ${CUDA_VERSION} detected (${CMAKE_SYSTEM_PROCESSOR}), enabling SM_87")
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_87,code=sm_87)
endif()
endif()

# Option for enabling/disabling NVMM memory in multimedia stack
find_package(NVBUF_UTILS REQUIRED)
if(NVBUF_UTILS_FOUND)
set(ENABLE_NVMM_DEFAULT ON)
else()
set(ENABLE_NVMM_DEFAULT OFF)
set(ENABLE_NVMM_DEFAULT OFF)
endif()

option(ENABLE_NVMM "Enable use of NVMM zero-copy memory in video and camera streaming" ${ENABLE_NVMM_DEFAULT})
message("-- NVMM zero-copy memory: ENABLE_NVMM=${ENABLE_NVMM}")
message(STATUS "jetson-utils: Enable NVMM zero-copy memory (ENABLE_NVMM): ${ENABLE_NVMM}")

if(ENABLE_NVMM)
add_definitions(-DENABLE_NVMM)
add_definitions(-DENABLE_NVMM)
endif()

# additional paths for includes and libraries
include_directories(${PROJECT_INCLUDE_DIR}/jetson-utils)
include_directories(/usr/include/gstreamer-1.0 /usr/include/glib-2.0 /usr/include/libxml2 /usr/include/json-glib-1.0 /usr/include/libsoup-2.4 /usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu/gstreamer-1.0/include /usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu/glib-2.0/include/)
# Find OpenGL and related packages
find_package(OpenGL REQUIRED)
find_package(GLEW REQUIRED)

if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
include_directories(/usr/src/jetson_multimedia_api/include)
link_directories(/usr/lib/aarch64-linux-gnu/tegra)
endif()
# Find other dependent packages
find_package(PkgConfig REQUIRED)
pkg_search_module(GLIB REQUIRED IMPORTED_TARGET glib-2.0)
pkg_check_modules(GSTREAMER REQUIRED IMPORTED_TARGET gstreamer-1.0)
pkg_check_modules(GSTREAMER_APP REQUIRED IMPORTED_TARGET gstreamer-app-1.0)
pkg_check_modules(GSTREAMER_VIDEO REQUIRED IMPORTED_TARGET gstreamer-video-1.0)
pkg_check_modules(GSTREAMER_PBUTILS REQUIRED IMPORTED_TARGET gstreamer-pbutils-1.0)
pkg_check_modules(GSTREAMER_WEBRTC REQUIRED IMPORTED_TARGET gstreamer-webrtc-1.0)
pkg_check_modules(GSTREAMER_SDP REQUIRED IMPORTED_TARGET gstreamer-sdp-1.0)
pkg_check_modules(GSTREAMER_RTSP_SERVER REQUIRED IMPORTED_TARGET gstreamer-rtsp-server-1.0)
pkg_check_modules(JSON_GLIB REQUIRED IMPORTED_TARGET json-glib-1.0)
pkg_check_modules(SOUP REQUIRED IMPORTED_TARGET libsoup-2.4)

# build library
# Setup source and header files
file(GLOB jetsonUtilitySources *.cpp camera/*.cpp codec/*.cpp cuda/*.cu cuda/*.cpp display/*.cpp image/*.cpp input/*.cpp network/*.cpp threads/*.cpp video/*.cpp)
file(GLOB jetsonUtilityIncludes *.h *.hpp camera/*.h codec/*.h cuda/*.h cuda/*.cuh display/*.h image/*.h image/*.inl input/*.h network/*.h threads/*.h threads/*.inl video/*.h)

cuda_add_library(jetson-utils SHARED ${jetsonUtilitySources})
target_link_libraries(jetson-utils GL GLU GLEW gstreamer-1.0 gstapp-1.0 gstpbutils-1.0 gstwebrtc-1.0 gstsdp-1.0 gstrtspserver-1.0 json-glib-1.0 soup-2.4 ${CUDA_nppicc_LIBRARY})
# Copy all headers to the include directory
file(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/include/${PROJECT_NAME})
foreach(include ${jetsonUtilityIncludes})
message(STATUS "Copying ${include}")
configure_file(${include} ${PROJECT_BINARY_DIR}/include/jetson-utils COPYONLY)
endforeach()

if(NVBUF_UTILS)
target_link_libraries(jetson-utils nvbuf_utils)
# Create the library
cuda_add_library(${PROJECT_NAME} SHARED ${jetsonUtilitySources} ${jetsonUtilityIncludes})
target_link_libraries(${PROJECT_NAME}
GLEW::GLEW
OpenGL::GL
OpenGL::GLU
PkgConfig::GLIB
PkgConfig::GSTREAMER
PkgConfig::GSTREAMER_APP
PkgConfig::GSTREAMER_PBUTILS
PkgConfig::GSTREAMER_WEBRTC
PkgConfig::GSTREAMER_SDP
PkgConfig::GSTREAMER_RTSP_SERVER
PkgConfig::JSON_GLIB
PkgConfig::SOUP
${CUDA_nppicc_LIBRARY}
)

if(NVBUF_UTILS_FOUND)
target_link_libraries(${PROJECT_NAME} ${NVBUF_UTILS_LIBRARY})
endif()

# transfer all headers to the include directory
file(MAKE_DIRECTORY ${PROJECT_INCLUDE_DIR}/jetson-utils)
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include/${PROJECT_NAME}>
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}>
)
set_target_properties(${PROJECT_NAME}
PROPERTIES
PUBLIC_HEADER "${jetsonUtilityIncludes}"
)

foreach(include ${jetsonUtilityIncludes})
message("-- Copying ${include}")
configure_file(${include} ${PROJECT_INCLUDE_DIR}/jetson-utils COPYONLY)
endforeach()

# install headers
foreach(include ${jetsonUtilityIncludes})
install(FILES "${include}" DESTINATION include/jetson-utils)
endforeach()
# Install the library and headers while exporting the targets
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}Targets
PUBLIC_HEADER
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}
LIBRARY
DESTINATION ${CMAKE_INSTALL_LIBDIR}
)

# install the shared library
install(TARGETS jetson-utils DESTINATION lib EXPORT jetson-utilsConfig)
# Install exported targets with a namespace
install(EXPORT ${PROJECT_NAME}Targets
FILE ${PROJECT_NAME}Targets.cmake
NAMESPACE "JetsonUtils::"
DESTINATION
${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}-${PROJECT_VERSION}
)

# install the cmake project, for importing
install(EXPORT jetson-utilsConfig DESTINATION share/jetson-utils/cmake)
# Configure package config files using a template
configure_package_config_file(
${CMAKE_CURRENT_LIST_DIR}/cmake/${PROJECT_NAME}Config.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
INSTALL_DESTINATION
${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}-${PROJECT_VERSION}
)

# build python bindings + samples
add_subdirectory(python)
add_subdirectory(video/video-viewer)
# Generate package config files
write_basic_package_version_file(
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
VERSION ${PROJECT_VERSION}
COMPATIBILITY SameMajorVersion
)

#add_subdirectory(camera/camera-viewer)
#add_subdirectory(display/gl-display-test)
#add_subdirectory(network/webrtc-server)
#add_subdirectory(network/rtsp-server)
# Install package config files
install(
FILES
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
DESTINATION
${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}-${PROJECT_VERSION}
)

# Enable/disable python bindings
set(JU_ENABLE_PYTHON_BINDINGS ON CACHE BOOL "Enable jetson-utils python bindings")
if(${JU_ENABLE_PYTHON_BINDINGS})
add_subdirectory(python)
endif()

# Enable/disable apps
set(JU_ENABLE_CAMERA_VIEWER OFF CACHE BOOL "Enable jetson-utils camera viewer app")
if(${JU_ENABLE_CAMERA_VIEWER})
add_subdirectory(camera/camera-viewer)
endif()

set(JU_ENABLE_V4L2_DISPLAY OFF CACHE BOOL "Enable jetson-utils v4l2 display app")
if(${JU_ENABLE_V4L2_DISPLAY})
add_subdirectory(camera/v4l2-display)
endif()

set(JU_ENABLE_V4L2_CONSOLE OFF CACHE BOOL "Enable jetson-utils v4l2 console app")
if(${JU_ENABLE_V4L2_CONSOLE})
add_subdirectory(camera/v4l2-console)
endif()

set(JU_ENABLE_VIDEO_VIEWER OFF CACHE BOOL "Enable jetson-utils video viewer app")
if(${JU_ENABLE_VIDEO_VIEWER})
add_subdirectory(video/video-viewer)
endif()

set(JU_ENABLE_GL_DISPLAY_TEST OFF CACHE BOOL "Enable jetson-utils gl display test app")
if(${JU_ENABLE_GL_DISPLAY_TEST})
add_subdirectory(display/gl-display-test)
endif()

set(JU_ENABLE_WEBRTC_SERVER OFF CACHE BOOL "Enable jetson-utils webrtc server app")
if(${JU_ENABLE_WEBRTC_SERVER})
add_subdirectory(network/webrtc-server)
endif()

set(JU_ENABLE_RTSP_SERVER OFF CACHE BOOL "Enable jetson-utils rtsp server app")
if(${JU_ENABLE_RTSP_SERVER})
add_subdirectory(network/rtsp-server)
endif()

# Add uninstall target only if this project is the topmost level
# @ref https://gitlab.kitware.com/cmake/community/-/wikis/FAQ#can-i-do-make-uninstall-with-cmake
if(PROJECT_IS_TOP_LEVEL)
if(NOT TARGET uninstall)
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
IMMEDIATE @ONLY
)

add_custom_target(uninstall
COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake
)
endif()
endif()
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