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add cuda build for librealsense2 #1032

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add cuda build for librealsense2 #1032

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baca5e4
add cuda build for librealsense2
n-kai-cj Apr 16, 2021
d472e2b
modified only linux-x86_64 and windows-x86_64
n-kai-cj Apr 17, 2021
db47871
fix
n-kai-cj Apr 17, 2021
326bd4b
fix workflows indent
n-kai-cj Apr 19, 2021
0ea05ce
Merge remote-tracking branch 'origin/master' into librealsense2_cuda
n-kai-cj Feb 20, 2022
1ed111d
Merge remote-tracking branch 'origin/master' into librealsense2_cuda
n-kai-cj Jan 7, 2023
67ca930
remove gpu extension from workflow
n-kai-cj Jan 7, 2023
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15 changes: 10 additions & 5 deletions librealsense2/cppbuild.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@ LIBUSB_VERSION=1.0.22
download https://github.com/IntelRealSense/librealsense/archive/v$LIBREALSENSE2_VERSION.tar.gz librealsense-$LIBREALSENSE2_VERSION.tar.gz
download http://sourceforge.net/projects/libusb/files/libusb-1.0/libusb-$LIBUSB_VERSION/libusb-$LIBUSB_VERSION.tar.bz2/download libusb-$LIBUSB_VERSION.tar.bz2

mkdir -p $PLATFORM
cd $PLATFORM
mkdir -p "$PLATFORM$EXTENSION"
cd "$PLATFORM$EXTENSION"
mkdir -p include lib bin
INSTALL_PATH=`pwd`
echo "Decompressing archives..."
Expand All @@ -24,6 +24,11 @@ cd librealsense-$LIBREALSENSE2_VERSION
patch -Np1 < ../../../librealsense2.patch || true
sedinplace 's/float_t/float/g' `find src/tm2/ -type f`

GPU_FLAGS="-DBUILD_WITH_CUDA=OFF"
if [[ "$EXTENSION" == *gpu ]]; then
GPU_FLAGS="-DBUILD_WITH_CUDA=ON"
fi

case $PLATFORM in
linux-armhf)
cd ../libusb-$LIBUSB_VERSION
Expand All @@ -41,7 +46,7 @@ case $PLATFORM in
make -j $MAKEJ
make install
cd ../librealsense-$LIBREALSENSE2_VERSION
CC=aarch64-linux-gnu-gcc CXX=aarch64-linux-gnu-g++ "$CMAKE" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="$INSTALL_PATH" -DLIBUSB_INC=$INSTALL_PATH/include/libusb-1.0/ -DLIBUSB_LIB=$INSTALL_PATH/lib/libusb-1.0.a -DBUILD_UNIT_TESTS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_GRAPHICAL_EXAMPLES=OFF .
CC=aarch64-linux-gnu-gcc CXX=aarch64-linux-gnu-g++ "$CMAKE" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="$INSTALL_PATH" -DLIBUSB_INC=$INSTALL_PATH/include/libusb-1.0/ -DLIBUSB_LIB=$INSTALL_PATH/lib/libusb-1.0.a -DBUILD_UNIT_TESTS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_GRAPHICAL_EXAMPLES=OFF $GPU_FLAGS .
make -j $MAKEJ
make install/strip
;;
Expand All @@ -61,7 +66,7 @@ case $PLATFORM in
make -j $MAKEJ
make install
cd ../librealsense-$LIBREALSENSE2_VERSION
CC="gcc -m64" CXX="g++ -m64" "$CMAKE" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="$INSTALL_PATH" -DLIBUSB_INC=$INSTALL_PATH/include/libusb-1.0/ -DLIBUSB_LIB=$INSTALL_PATH/lib/libusb-1.0.a -DBUILD_UNIT_TESTS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_GRAPHICAL_EXAMPLES=OFF .
CC="gcc -m64" CXX="g++ -m64" "$CMAKE" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="$INSTALL_PATH" -DLIBUSB_INC=$INSTALL_PATH/include/libusb-1.0/ -DLIBUSB_LIB=$INSTALL_PATH/lib/libusb-1.0.a -DBUILD_UNIT_TESTS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_GRAPHICAL_EXAMPLES=OFF $GPU_FLAGS .
make -j $MAKEJ
make install/strip
;;
Expand All @@ -87,7 +92,7 @@ case $PLATFORM in
cd build
export CC="cl.exe"
export CXX="cl.exe"
"$CMAKE" -G "Ninja" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="$INSTALL_PATH" -DBUILD_UNIT_TESTS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_GRAPHICAL_EXAMPLES=OFF ..
"$CMAKE" -G "Ninja" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="$INSTALL_PATH" -DBUILD_UNIT_TESTS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_GRAPHICAL_EXAMPLES=OFF $GPU_FLAGS ..
ninja -j $MAKEJ
cd ..
cp -a include/* ../include/
Expand Down
128 changes: 128 additions & 0 deletions librealsense2/platform/gpu/pom.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,128 @@
<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/maven-v4_0_0.xsd">
<modelVersion>4.0.0</modelVersion>

<parent>
<groupId>org.bytedeco</groupId>
<artifactId>javacpp-presets</artifactId>
<version>1.5.9-SNAPSHOT</version>
<relativePath>../../</relativePath>
</parent>

<groupId>org.bytedeco</groupId>
<artifactId>librealsense2-platform-gpu</artifactId>
<version>2.50.0-${project.parent.version}</version>
<name>JavaCPP Presets Platform GPU for librealsense2</name>

<properties>
<javacpp.moduleId>librealsense2</javacpp.moduleId>
<javacpp.platform.extension>-gpu</javacpp.platform.extension>
</properties>

<dependencies>
<dependency>
<groupId>org.bytedeco</groupId>
<artifactId>javacpp-platform</artifactId>
<version>${project.parent.version}</version>
</dependency>
<dependency>
<groupId>${project.groupId}</groupId>
<artifactId>${javacpp.moduleId}</artifactId>
<version>${project.version}</version>
</dependency>
<dependency>
<groupId>${project.groupId}</groupId>
<artifactId>${javacpp.moduleId}</artifactId>
<version>${project.version}</version>
<classifier>${javacpp.platform.linux-arm64}</classifier>
</dependency>
<dependency>
<groupId>${project.groupId}</groupId>
<artifactId>${javacpp.moduleId}</artifactId>
<version>${project.version}</version>
<classifier>${javacpp.platform.linux-x86_64}</classifier>
</dependency>
<dependency>
<groupId>${project.groupId}</groupId>
<artifactId>${javacpp.moduleId}</artifactId>
<version>${project.version}</version>
<classifier>${javacpp.platform.windows-x86_64}</classifier>
</dependency>
</dependencies>

<build>
<plugins>
<plugin>
<artifactId>maven-jar-plugin</artifactId>
<executions>
<execution>
<id>default-jar</id>
<configuration>
<archive>
<manifestEntries>
<Class-Path>
${javacpp.moduleId}.jar
${javacpp.moduleId}-linux-arm64-gpu.jar
${javacpp.moduleId}-linux-x86_64-gpu.jar
${javacpp.moduleId}-windows-x86_64-gpu.jar
</Class-Path>
</manifestEntries>
</archive>
</configuration>
</execution>
<execution>
<id>empty-javadoc-jar</id>
<goals>
<goal>jar</goal>
</goals>
<configuration>
<classifier>javadoc</classifier>
</configuration>
</execution>
<execution>
<id>empty-sources-jar</id>
<goals>
<goal>jar</goal>
</goals>
<configuration>
<classifier>sources</classifier>
</configuration>
</execution>
</executions>
</plugin>
<plugin>
<groupId>org.moditect</groupId>
<artifactId>moditect-maven-plugin</artifactId>
<executions>
<execution>
<id>add-module-infos</id>
<phase>none</phase>
</execution>
<execution>
<id>add-platform-module-info</id>
<phase>package</phase>
<goals>
<goal>add-module-info</goal>
</goals>
<configuration>
<modules>
<module>
<file>${project.build.directory}/${project.artifactId}.jar</file>
<moduleInfoSource>
module org.bytedeco.${javacpp.moduleId}.platform.gpu {
requires static org.bytedeco.${javacpp.moduleId}.linux.arm64.gpu;
requires static org.bytedeco.${javacpp.moduleId}.linux.x86_64.gpu;
requires static org.bytedeco.${javacpp.moduleId}.windows.x86_64.gpu;
}
</moduleInfoSource>
</module>
</modules>
</configuration>
</execution>
</executions>
</plugin>
</plugins>
</build>

</project>
4 changes: 2 additions & 2 deletions librealsense2/pom.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,8 @@
<configuration>
<encoding>ISO-8859-1</encoding>
<linkPaths>
<linkPath>${basedir}/cppbuild/${javacpp.platform}/lib/</linkPath>
<linkPath>${basedir}/cppbuild/${javacpp.platform}/lib64/</linkPath>
<linkPath>${basedir}/cppbuild/${javacpp.platform}${javacpp.platform.extension}/lib/</linkPath>
<linkPath>${basedir}/cppbuild/${javacpp.platform}${javacpp.platform.extension}/lib64/</linkPath>
</linkPaths>
</configuration>
</plugin>
Expand Down
5 changes: 4 additions & 1 deletion librealsense2/src/main/java/org/bytedeco/librealsense2/presets/realsense2.java
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,10 @@
},
link = "realsense2@.2.50"
),
@Platform(value = "macosx", preload = "usb-1.0@.0", preloadpath = "/usr/local/lib/")
@Platform(value = "macosx", preload = "usb-1.0@.0", preloadpath = "/usr/local/lib/"),
@Platform(value = {"linux-arm64", "linux-x86_64", "windows-x86_64"},
extension = "-gpu"
)
},
target = "org.bytedeco.librealsense2",
global = "org.bytedeco.librealsense2.global.realsense2"
Expand Down