dasha_f
6e1a22ba8b
assets/conveyors (274 МБ) - ленты и угловая секция NVIDIA, на которые ссылается сцена относительным путём. Раньше исключались как перекачиваемые, но без них сцена не композится из коробки. cv/ - код стереодвижков, которые вызывает control_test, без весов: * defom-stereo - рабочий бейзлайн (DEFOM vitl, вход 480, iters 24) * crestereo - второй движок, точнее по габаритам (MAE 23.5 против 32.8 мм) * fast-foundationstereo - проверялся, в бейзлайн не вошёл * circular_section.py - показатель кругового сечения, перенесён в measure_plane.py: выравнивает облако по СОБСТВЕННЫМ главным осям и режет на пяти высотах вдоль каждой. Три самодельные версии (мировые оси, одно сечение) давали хуже; результаты проверки на эталонной геометрии - в circular_section_results.json Веса по-прежнему не в репозитории - источники в MODELS.md. Наборы кадров прежних прогонов (cv/flow_*, 1.26 ГБ) исключены: это выход, а не исходники. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
157 lines
4.0 KiB
CMake
157 lines
4.0 KiB
CMake
cmake_minimum_required(VERSION 3.18)
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project(fast_foundation_stereo_cpp LANGUAGES CXX CUDA)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CUDA_STANDARD 17)
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set(CMAKE_CUDA_STANDARD_REQUIRED ON)
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if(NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE "Release" CACHE STRING
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"Build type: Debug, Release, RelWithDebInfo" FORCE)
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endif()
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if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
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set(CMAKE_CUDA_ARCHITECTURES "80;86;89;90")
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endif()
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add_compile_options(
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$<$<COMPILE_LANGUAGE:CUDA>:--expt-relaxed-constexpr>
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$<$<COMPILE_LANGUAGE:CUDA>:--diag-suppress=20015>
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$<$<COMPILE_LANGUAGE:CUDA>:--diag-suppress=20013>
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$<$<COMPILE_LANGUAGE:CUDA>:--diag-suppress=20011>
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$<$<COMPILE_LANGUAGE:CUDA>:--diag-suppress=20091>
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)
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find_package(CUDAToolkit REQUIRED)
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# ---- TensorRT ----
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set(TENSORRT_ROOT "/usr" CACHE PATH "TensorRT installation path")
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set(TENSORRT_HINT_DIRS
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${TENSORRT_ROOT}
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$ENV{CONDA_PREFIX}
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/usr
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/usr/local
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/usr/local/tensorrt
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${CUDAToolkit_TARGET_DIR}
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/usr/local/cuda
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/usr/local/cuda/targets/x86_64-linux
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/usr/local/cuda-13.0
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/usr/local/cuda-13.0/targets/x86_64-linux
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/usr/src/tensorrt
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)
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if(DEFINED ENV{CONDA_PREFIX})
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file(GLOB TENSORRT_PY_LIB_DIRS
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"$ENV{CONDA_PREFIX}/lib/python*/site-packages/tensorrt_libs"
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)
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file(GLOB TENSORRT_PY_INCLUDE_DIRS
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"$ENV{CONDA_PREFIX}/lib/python*/site-packages/tensorrt/include"
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)
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endif()
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find_library(NVINFER_LIB
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NAMES nvinfer nvinfer.so.10
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HINTS
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${TENSORRT_HINT_DIRS}
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${TENSORRT_PY_LIB_DIRS}
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PATH_SUFFIXES
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lib
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lib64
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lib/x86_64-linux-gnu
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)
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if(NOT NVINFER_LIB)
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message(FATAL_ERROR "TensorRT nvinfer library not found. Set -DTENSORRT_ROOT=/path/to/tensorrt")
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endif()
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message(STATUS "TensorRT nvinfer: ${NVINFER_LIB}")
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find_library(NVONNXPARSER_LIB
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NAMES nvonnxparser nvonnxparser.so.10
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HINTS
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${TENSORRT_HINT_DIRS}
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${TENSORRT_PY_LIB_DIRS}
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PATH_SUFFIXES
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lib
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lib64
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lib/x86_64-linux-gnu
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)
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if(NOT NVONNXPARSER_LIB)
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message(FATAL_ERROR "TensorRT nvonnxparser library not found. Set -DTENSORRT_ROOT=/path/to/tensorrt")
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endif()
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message(STATUS "TensorRT nvonnxparser: ${NVONNXPARSER_LIB}")
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find_path(NVINFER_INCLUDE_DIR NvInfer.h
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HINTS
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${TENSORRT_HINT_DIRS}
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${TENSORRT_PY_INCLUDE_DIRS}
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PATH_SUFFIXES
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include
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include/x86_64-linux-gnu
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)
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if(NOT NVINFER_INCLUDE_DIR)
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message(FATAL_ERROR "TensorRT headers (NvInfer.h) not found. Set -DTENSORRT_ROOT=/path/to/tensorrt")
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endif()
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find_package(OpenCV QUIET COMPONENTS core imgcodecs imgproc)
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add_library(ffs_gwc_plugin SHARED
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src/gwc_volume_plugin.cpp
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src/depth_kernels.cu
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)
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set_target_properties(ffs_gwc_plugin PROPERTIES
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CUDA_SEPARABLE_COMPILATION ON
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CUDA_RESOLVE_DEVICE_SYMBOLS ON
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OUTPUT_NAME "ffs_gwc_plugin"
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)
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target_include_directories(ffs_gwc_plugin PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${NVINFER_INCLUDE_DIR}
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)
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target_link_libraries(ffs_gwc_plugin PUBLIC
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${NVINFER_LIB}
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CUDA::cudart
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)
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add_library(ffs_depth_inference STATIC
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src/ffs_depth_tensorrt.cpp
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src/ffs_depth_single_tensorrt.cpp
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src/gwc_volume_plugin.cpp
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src/depth_kernels.cu
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)
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set_target_properties(ffs_depth_inference PROPERTIES
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CUDA_SEPARABLE_COMPILATION ON
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CUDA_RESOLVE_DEVICE_SYMBOLS ON
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)
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target_include_directories(ffs_depth_inference PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${NVINFER_INCLUDE_DIR}
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)
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target_link_libraries(ffs_depth_inference PUBLIC
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${NVINFER_LIB}
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CUDA::cudart
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)
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if(OpenCV_FOUND)
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add_executable(ffs_depth_main app/main.cpp)
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target_link_libraries(ffs_depth_main PRIVATE
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ffs_depth_inference
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${OpenCV_LIBS}
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)
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else()
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message(WARNING "OpenCV C++ development package not found; skipping ffs_depth_main and ffs_profile_speed")
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endif()
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add_executable(ffs_build_single_engine app/build_single_engine.cpp)
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target_link_libraries(ffs_build_single_engine PRIVATE
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ffs_depth_inference
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${NVONNXPARSER_LIB}
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)
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if(OpenCV_FOUND)
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add_executable(ffs_profile_speed app/profile_speed.cpp)
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target_link_libraries(ffs_profile_speed PRIVATE
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ffs_depth_inference
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${OpenCV_LIBS}
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)
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endif()
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